2021-12-04T08:51:14.386Z,1638607874.386 [Supervisor](DEBUG): Initializing supervisor.
2021-12-04T08:51:14.390Z,1638607874.390 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-12-04T08:51:14.390Z,1638607874.390 [SyncHandler](INFO): Protected caller Thread ID is 834
2021-12-04T08:51:14.391Z,1638607874.391 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-12-04T08:51:14.392Z,1638607874.392 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-12-04T08:51:14.392Z,1638607874.392 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 835
2021-12-04T08:51:14.396Z,1638607874.396 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-12-04T08:51:14.414Z,1638607874.414 [ComponentRegistry](DEBUG): Component "CommandExec" handled in its own thread.
2021-12-04T08:51:14.415Z,1638607874.415 [CommandExec ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-12-04T08:51:14.415Z,1638607874.415 [CommandExec ThreadHandler](INFO): Protected caller Thread ID is 836
2021-12-04T08:51:14.419Z,1638607874.419 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-12-04T08:51:14.420Z,1638607874.420 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-12-04T08:51:14.421Z,1638607874.421 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 837
2021-12-04T08:51:14.423Z,1638607874.423 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-12-04T08:51:14.424Z,1638607874.424 [logger ThreadHandler](DEBUG): Created PCaller Thread at 405114E0
2021-12-04T08:51:14.424Z,1638607874.424 [logger ThreadHandler](INFO): Protected caller Thread ID is 838
2021-12-04T08:51:14.428Z,1638607874.428 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-12-04T08:51:14.428Z,1638607874.428 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-12-04T08:51:14.433Z,1638607874.433 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-12-04T08:51:14.846Z,1638607874.846 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-12-04T08:51:14.848Z,1638607874.848 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-12-04T08:51:14.929Z,1638607874.929 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-12-04T08:51:15.266Z,1638607875.266 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-12-04T08:51:15.268Z,1638607875.268 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-12-04T08:51:15.375Z,1638607875.375 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-12-04T08:51:15.377Z,1638607875.377 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-12-04T08:51:15.570Z,1638607875.570 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-12-04T08:51:15.571Z,1638607875.571 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-12-04T08:51:16.073Z,1638607876.073 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-12-04T08:51:16.073Z,1638607876.073 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-12-04T08:51:16.334Z,1638607876.334 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-12-04T08:51:16.335Z,1638607876.335 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-12-04T08:51:16.482Z,1638607876.482 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-12-04T08:51:16.482Z,1638607876.482 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-12-04T08:51:16.670Z,1638607876.670 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-12-04T08:51:16.672Z,1638607876.672 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-12-04T08:51:16.770Z,1638607876.770 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-12-04T08:51:16.770Z,1638607876.770 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-12-04T08:51:16.987Z,1638607876.987 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-12-04T08:51:16.989Z,1638607876.989 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-12-04T08:51:17.367Z,1638607877.367 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-12-04T08:51:17.369Z,1638607877.369 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-12-04T08:51:17.450Z,1638607877.450 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-12-04T08:51:17.576Z,1638607877.576 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-12-04T08:51:17.577Z,1638607877.577 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-12-04T08:51:18.968Z,1638607878.968 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-12-04T08:51:18.969Z,1638607878.969 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-12-04T08:51:19.323Z,1638607879.323 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-12-04T08:51:19.325Z,1638607879.325 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-polaris/
2021-12-04T08:51:19.329Z,1638607879.329 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/vehicle.cfg
2021-12-04T08:51:19.524Z,1638607879.524 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Control.cfg
2021-12-04T08:51:19.625Z,1638607879.625 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Estimation.cfg
2021-12-04T08:51:19.724Z,1638607879.724 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/BIT.cfg
2021-12-04T08:51:19.823Z,1638607879.823 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Battery.cfg
2021-12-04T08:51:20.079Z,1638607880.079 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-12-04T08:51:20.080Z,1638607880.080 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Simulator.cfg
2021-12-04T08:51:20.165Z,1638607880.165 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Navigation.cfg
2021-12-04T08:51:20.267Z,1638607880.267 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Derivation.cfg
2021-12-04T08:51:20.391Z,1638607880.391 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/logger.cfg
2021-12-04T08:51:20.502Z,1638607880.502 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/secure.cfg
2021-12-04T08:51:20.588Z,1638607880.588 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Dock.cfg
2021-12-04T08:51:20.674Z,1638607880.674 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Servo.cfg
2021-12-04T08:51:20.785Z,1638607880.785 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/workSite.cfg
2021-12-04T08:51:20.883Z,1638607880.883 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Sensor.cfg
2021-12-04T08:51:21.087Z,1638607881.087 [Supervisor](INFO): Opening Config file at: Config/lrauv-polaris/Science.cfg
2021-12-04T08:51:21.247Z,1638607881.247 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-12-04T08:51:21.263Z,1638607881.263 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-12-04T08:51:21.991Z,1638607881.991 [AHRS_M2] Loaded
2021-12-04T08:51:21.991Z,1638607881.991 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-12-04T08:51:22.234Z,1638607882.234 [BackseatComponent] Loaded
2021-12-04T08:51:22.234Z,1638607882.234 [ComponentRegistry](DEBUG): Component "BackseatComponent" handled in its own thread.
2021-12-04T08:51:22.235Z,1638607882.235 [BackseatComponent ThreadHandler](DEBUG): Created PCaller Thread at 407DD4E0
2021-12-04T08:51:22.236Z,1638607882.236 [BackseatComponent ThreadHandler](INFO): Protected caller Thread ID is 932
2021-12-04T08:51:22.238Z,1638607882.238 [LcmUniversalReporter] Loaded
2021-12-04T08:51:22.238Z,1638607882.238 [ComponentRegistry](DEBUG): SyncComponent "LcmUniversalReporter" handled in the control thread.
2021-12-04T08:51:22.986Z,1638607882.986 [BPC1] Loaded
2021-12-04T08:51:22.987Z,1638607882.987 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-12-04T08:51:23.126Z,1638607883.126 [DataOverHttps] Loaded
2021-12-04T08:51:23.126Z,1638607883.126 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-12-04T08:51:23.127Z,1638607883.127 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4080D4E0
2021-12-04T08:51:23.128Z,1638607883.128 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 933
2021-12-04T08:51:23.150Z,1638607883.150 [DDM] Loaded
2021-12-04T08:51:23.151Z,1638607883.151 [ComponentRegistry](DEBUG): SyncComponent "DDM" handled in the control thread.
2021-12-04T08:51:23.169Z,1638607883.169 [Depth_Keller] Loaded
2021-12-04T08:51:23.169Z,1638607883.169 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-12-04T08:51:23.174Z,1638607883.174 [DropWeight] Loaded
2021-12-04T08:51:23.174Z,1638607883.174 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-12-04T08:51:23.216Z,1638607883.216 [DUSBL_Hydroid] Loaded
2021-12-04T08:51:23.217Z,1638607883.217 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-12-04T08:51:23.262Z,1638607883.262 [Micromodem] Loaded
2021-12-04T08:51:23.262Z,1638607883.262 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-12-04T08:51:23.318Z,1638607883.318 [NAL9602] Loaded
2021-12-04T08:51:23.318Z,1638607883.318 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-12-04T08:51:23.346Z,1638607883.346 [Onboard] Loaded
2021-12-04T08:51:23.346Z,1638607883.346 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-12-04T08:51:23.347Z,1638607883.347 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 4083D4E0
2021-12-04T08:51:23.348Z,1638607883.348 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 934
2021-12-04T08:51:23.359Z,1638607883.359 [Power24vConverter] Loaded
2021-12-04T08:51:23.359Z,1638607883.359 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread.
2021-12-04T08:51:23.373Z,1638607883.373 [Radio_Surface] Loaded
2021-12-04T08:51:23.373Z,1638607883.373 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-12-04T08:51:23.374Z,1638607883.374 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 4086D4E0
2021-12-04T08:51:23.374Z,1638607883.374 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 935
2021-12-04T08:51:23.415Z,1638607883.415 [RDI_Pathfinder] Loaded
2021-12-04T08:51:23.415Z,1638607883.415 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-12-04T08:51:23.440Z,1638607883.440 [RDI_PathfinderUp] Loaded
2021-12-04T08:51:23.440Z,1638607883.440 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-12-04T08:51:23.441Z,1638607883.441 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-12-04T08:51:23.443Z,1638607883.443 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-12-04T08:51:23.459Z,1638607883.459 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-12-04T08:51:23.459Z,1638607883.459 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-12-04T08:51:23.595Z,1638607883.595 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-12-04T08:51:23.595Z,1638607883.595 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-12-04T08:51:23.619Z,1638607883.619 [LBLNavigation] Loaded
2021-12-04T08:51:23.619Z,1638607883.619 [ComponentRegistry](DEBUG): SyncComponent "LBLNavigation" handled in the control thread.
2021-12-04T08:51:23.631Z,1638607883.631 [NavChart] Loaded
2021-12-04T08:51:23.632Z,1638607883.632 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-12-04T08:51:23.637Z,1638607883.637 [UniversalFixResidualReporter] Loaded
2021-12-04T08:51:23.637Z,1638607883.637 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-12-04T08:51:23.647Z,1638607883.647 [WorkSite] Loaded
2021-12-04T08:51:23.648Z,1638607883.648 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-12-04T08:51:23.648Z,1638607883.648 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-12-04T08:51:23.664Z,1638607883.664 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-12-04T08:51:24.458Z,1638607884.458 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-12-04T08:51:24.458Z,1638607884.458 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-12-04T08:51:24.711Z,1638607884.711 [BuoyancyServo] Loaded
2021-12-04T08:51:24.712Z,1638607884.712 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-12-04T08:51:24.732Z,1638607884.732 [ElevatorServo] Loaded
2021-12-04T08:51:24.733Z,1638607884.733 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-12-04T08:51:24.753Z,1638607884.753 [MassServo] Loaded
2021-12-04T08:51:24.753Z,1638607884.753 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-12-04T08:51:24.772Z,1638607884.772 [RudderServo] Loaded
2021-12-04T08:51:24.772Z,1638607884.772 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-12-04T08:51:24.788Z,1638607884.788 [ThrusterHE] Loaded
2021-12-04T08:51:24.788Z,1638607884.788 [ComponentRegistry](DEBUG): SyncComponent "ThrusterHE" handled in the control thread.
2021-12-04T08:51:24.789Z,1638607884.789 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-12-04T08:51:24.789Z,1638607884.789 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-12-04T08:51:24.980Z,1638607884.980 [WetLabsSeaOWL_UV_A] Loaded
2021-12-04T08:51:24.980Z,1638607884.980 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-12-04T08:51:24.981Z,1638607884.981 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409AA4E0
2021-12-04T08:51:24.982Z,1638607884.982 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 936
2021-12-04T08:51:24.982Z,1638607884.982 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-12-04T08:51:24.984Z,1638607884.984 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-12-04T08:51:25.353Z,1638607885.353 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-12-04T08:51:25.354Z,1638607885.354 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-12-04T08:51:25.414Z,1638607885.414 [DepthRateCalculator] Loaded
2021-12-04T08:51:25.414Z,1638607885.414 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-12-04T08:51:25.419Z,1638607885.419 [PitchRateCalculator] Loaded
2021-12-04T08:51:25.420Z,1638607885.420 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-12-04T08:51:25.428Z,1638607885.428 [SpeedCalculator] Loaded
2021-12-04T08:51:25.429Z,1638607885.429 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-12-04T08:51:25.442Z,1638607885.442 [TempGradientCalculator] Loaded
2021-12-04T08:51:25.442Z,1638607885.442 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-12-04T08:51:25.458Z,1638607885.458 [VerticalHomogeneityIndexCalculator] Loaded
2021-12-04T08:51:25.458Z,1638607885.458 [ComponentRegistry](DEBUG): SyncComponent "VerticalHomogeneityIndexCalculator" handled in the control thread.
2021-12-04T08:51:25.462Z,1638607885.462 [YawRateCalculator] Loaded
2021-12-04T08:51:25.463Z,1638607885.463 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-12-04T08:51:25.483Z,1638607885.483 [ElevatorOffsetCalculator] Loaded
2021-12-04T08:51:25.484Z,1638607885.484 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-12-04T08:51:25.484Z,1638607885.484 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-12-04T08:51:25.485Z,1638607885.485 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-12-04T08:51:25.652Z,1638607885.652 [SBIT](DEBUG): Construct Startup Built In Test.
2021-12-04T08:51:25.664Z,1638607885.664 [SBIT] Loaded
2021-12-04T08:51:25.664Z,1638607885.664 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-12-04T08:51:25.667Z,1638607885.667 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-12-04T08:51:25.680Z,1638607885.680 [IBIT] Loaded
2021-12-04T08:51:25.680Z,1638607885.680 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-12-04T08:51:25.686Z,1638607885.686 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-12-04T08:51:25.786Z,1638607885.786 [CBIT] Loaded
2021-12-04T08:51:25.786Z,1638607885.786 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-12-04T08:51:25.786Z,1638607885.786 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-12-04T08:51:25.787Z,1638607885.787 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-12-04T08:51:25.867Z,1638607885.867 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-12-04T08:51:25.867Z,1638607885.867 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-12-04T08:51:25.999Z,1638607885.999 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-12-04T08:51:25.999Z,1638607885.999 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-12-04T08:51:26.067Z,1638607886.067 [VerticalControl](DEBUG): Construct VerticalControl.
2021-12-04T08:51:26.118Z,1638607886.118 [VerticalControl] Loaded
2021-12-04T08:51:26.118Z,1638607886.118 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-12-04T08:51:26.121Z,1638607886.121 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-12-04T08:51:26.156Z,1638607886.156 [HorizontalControl] Loaded
2021-12-04T08:51:26.156Z,1638607886.156 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-12-04T08:51:26.159Z,1638607886.159 [SpeedControl](DEBUG): Construct SpeedControl.
2021-12-04T08:51:26.160Z,1638607886.160 [SpeedControl] Loaded
2021-12-04T08:51:26.161Z,1638607886.161 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-12-04T08:51:26.163Z,1638607886.163 [LoopControl](DEBUG): Construct LoopControl.
2021-12-04T08:51:26.164Z,1638607886.164 [LoopControl] Loaded
2021-12-04T08:51:26.164Z,1638607886.164 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-12-04T08:51:26.165Z,1638607886.165 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-12-04T08:51:26.166Z,1638607886.166 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-12-04T08:51:26.208Z,1638607886.208 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-12-04T08:51:26.214Z,1638607886.214 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-12-04T08:51:26.217Z,1638607886.217 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-12-04T08:51:26.227Z,1638607886.227 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-12-04T08:51:26.229Z,1638607886.229 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40B594E0
2021-12-04T08:51:26.229Z,1638607886.229 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 937
2021-12-04T08:51:26.233Z,1638607886.233 [Supervisor](INFO): Main Thread ID is 828
2021-12-04T08:51:26.233Z,1638607886.233 [Supervisor](DEBUG): Running supervisor.
2021-12-04T08:51:26.234Z,1638607886.234 [CommandExec ThreadHandler](INFO): Handler Thread ID is 938
2021-12-04T08:51:26.235Z,1638607886.235 [CommandExec](INFO): Initializing the command executive.
2021-12-04T08:51:26.236Z,1638607886.236 [CommandLine ThreadHandler](INFO): Handler Thread ID is 939
2021-12-04T08:51:26.238Z,1638607886.238 [controlThread ThreadHandler](INFO): Handler Thread ID is 940
2021-12-04T08:51:26.239Z,1638607886.239 [controlThread](DEBUG): Initializing ControlThread
2021-12-04T08:51:26.244Z,1638607886.244 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-12-04T08:51:26.244Z,1638607886.244 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-12-04T08:51:26.245Z,1638607886.245 [WorkSite](DEBUG): Initializing WorkSite component.
2021-12-04T08:51:26.246Z,1638607886.246 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-12-04T08:51:26.246Z,1638607886.246 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-12-04T08:51:26.246Z,1638607886.246 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-12-04T08:51:26.247Z,1638607886.247 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-12-04T08:51:26.247Z,1638607886.247 [VerticalHomogeneityIndexCalculator](DEBUG): (re)initializing
2021-12-04T08:51:26.248Z,1638607886.248 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-12-04T08:51:26.248Z,1638607886.248 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-12-04T08:51:26.249Z,1638607886.249 [SBIT](INFO): Initialize SBIT Component.
2021-12-04T08:51:26.250Z,1638607886.250 [SBIT](IMPORTANT): git: 2021-11-30-lbl
2021-12-04T08:51:26.250Z,1638607886.250 [SBIT](INFO): git hash: 2ce1af2abd247bf924fbb0cc867c96d6301afd98
2021-12-04T08:51:26.250Z,1638607886.250 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-12-04T08:51:26.251Z,1638607886.251 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2021-12-04T08:51:26.252Z,1638607886.252 [SBIT](INFO): Beginning SBIT in 32.000000 seconds.
2021-12-04T08:51:26.253Z,1638607886.253 [IBIT](INFO): Initialize IBIT Component.
2021-12-04T08:51:26.254Z,1638607886.254 [CBIT](DEBUG): Initialize CBIT Component.
2021-12-04T08:51:26.255Z,1638607886.255 [logger ThreadHandler](INFO): Handler Thread ID is 941
2021-12-04T08:51:26.265Z,1638607886.265 [CBIT](DEBUG): Initialized mux pins.
2021-12-04T08:51:26.265Z,1638607886.265 [CBIT](DEBUG): Initializing the watchdog timer.
2021-12-04T08:51:26.273Z,1638607886.273 [BackseatComponent ThreadHandler](INFO): Handler Thread ID is 942
2021-12-04T08:51:26.285Z,1638607886.285 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 943
2021-12-04T08:51:26.286Z,1638607886.286 [DataOverHttps](DEBUG): dashIP=128.128.181.226 starts with a digit so assuming it is a numeric IP
2021-12-04T08:51:26.289Z,1638607886.289 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-12-04T08:51:26.294Z,1638607886.294 [Onboard ThreadHandler](INFO): Handler Thread ID is 944
2021-12-04T08:51:26.295Z,1638607886.295 [CBIT](FAULT): Found backtrace file:
1638596215.552070 [Micromodem]: SIGSEGV: address not mapped to object
1638596215.552070 [Micromodem]: Backtrace:
./bin/LRAUV(_ZN7PCaller20DefaultSignalHandlerEiP7siginfoPv+0x20) [0x1a58a8]
Modules/Sensor.so(_ZN10Micromodem8runnableEv+0x274) [0x405b8d54]
./bin/LRAUV(_ZN9Component15executeRunStateEv+0x7c) [0xe405c]
./bin/LRAUV(_ZN7PCaller10PThreadRunEPv+0xc8) [0x1a52f4]


2021-12-04T08:51:26.323Z,1638607886.323 [CBIT](FAULT): Renaming backtrace file to Data/backtrace24
2021-12-04T08:51:26.323Z,1638607886.323 [CBIT](DEBUG): Initializing heartbeat.
2021-12-04T08:51:26.337Z,1638607886.337 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 945
2021-12-04T08:51:26.338Z,1638607886.338 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 946
2021-12-04T08:51:26.339Z,1638607886.339 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-12-04T08:51:26.350Z,1638607886.350 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 947
2021-12-04T08:51:26.358Z,1638607886.358 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-12-04T08:51:26.358Z,1638607886.358 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-12-04T08:51:26.358Z,1638607886.358 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-12-04T08:51:26.358Z,1638607886.358 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-12-04T08:51:26.358Z,1638607886.358 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-12-04T08:51:26.358Z,1638607886.358 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-12-04T08:51:26.359Z,1638607886.359 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-12-04T08:51:26.359Z,1638607886.359 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-12-04T08:51:26.359Z,1638607886.359 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-12-04T08:51:26.359Z,1638607886.359 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-12-04T08:51:26.359Z,1638607886.359 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-12-04T08:51:26.359Z,1638607886.359 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-12-04T08:51:26.360Z,1638607886.360 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-12-04T08:51:26.360Z,1638607886.360 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-12-04T08:51:26.360Z,1638607886.360 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-12-04T08:51:26.360Z,1638607886.360 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-12-04T08:51:26.393Z,1638607886.393 [CBIT](DEBUG): Deactivating GF circuits.
2021-12-04T08:51:26.393Z,1638607886.393 [CBIT](DEBUG): Deactivating emergency mode.
2021-12-04T08:51:26.429Z,1638607886.429 [CBIT](DEBUG): Backplane powered.
2021-12-04T08:51:26.429Z,1638607886.429 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-12-04T08:51:26.431Z,1638607886.431 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-12-04T08:51:26.432Z,1638607886.432 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-12-04T08:51:26.432Z,1638607886.432 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-12-04T08:51:26.433Z,1638607886.433 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-12-04T08:51:26.464Z,1638607886.464 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-04T08:51:26.475Z,1638607886.475 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

    <Guidance:GoToSurface>
        <Progression/>
    </Guidance:GoToSurface>

    <Aggregate Id="StartupSatComms">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:latitude_fix/>
        </ReadDatum>

        <ReadDatum>
            <Timeout Duration="P1M" />
            <Universal:platform_communications/>
        </ReadDatum>

    </Aggregate>

</Mission>


2021-12-04T08:51:26.475Z,1638607886.475 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-12-04T08:51:26.605Z,1638607886.605 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-12-04T08:51:26.611Z,1638607886.611 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-12-04T08:51:26.615Z,1638607886.615 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2 count
2021-12-04T08:51:26.627Z,1638607886.627 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-12-04T08:51:26.631Z,1638607886.631 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-12-04T08:51:26.666Z,1638607886.666 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-12-04T08:51:26.667Z,1638607886.667 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-12-04T08:51:26.741Z,1638607886.741 [Radio_Surface](INFO): Powering up
2021-12-04T08:51:26.795Z,1638607886.795 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-12-04T08:51:26.795Z,1638607886.795 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T08:51:26.852Z,1638607886.852 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-04T08:51:26.895Z,1638607886.895 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-12-04T08:51:26.898Z,1638607886.898 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-12-04T08:51:26.923Z,1638607886.923 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-12-04T08:51:26.945Z,1638607886.945 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.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/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

    <DefineArg Name="ElapsedSinceDefaultStarted"><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="DetachTimeout"><Description>
        Maximum time duration for the vehicle to detach form the dock.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        Dock transponder address.
    </Description><Dock:Dock.transponderCode/></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        Time duration between acoustic range queries while the mission is
        detaching from the dock.
    </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="DetachModeDDM"><Description>
        DDM DETACH mode enumeration (whiskers retracted, latch open).
    </Description><Units:count/><Value>2</Value></DefineArg>

    <Guidance:Wait>
        <Description>
            Wait a moment to see if the scheduler starts a new mission before
            starting to actually run Default.
        </Description>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Units:second/><Value>30</Value></Setting>
    </Guidance:Wait>

    <Aggregate Id="LeaveDock">

        <Sequence/>

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out while trying to detach from dock at current depth of <Universal:depth/><Units:meter/>.</Syslog>
        </Timeout>

<!-- Acoustic tracking directives -->

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

<!-- Leave the dock -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

            <While>
                <Universal:depth/>
                <Gt><Control:VerticalControl.surfaceThreshold/></Gt>
            </While>

<!-- Power the Docking Module -->

            <ReadData>
                <Dock:Dock.docking_state/>
            </ReadData>

<!-- Hold the DDM in DETACH mode (whiskers retracted, latch open) -->

            <Assign><Parallel/><Dock:Dock.docking_state_cmd/><Arg Name="DetachModeDDM"/></Assign>

        </Aggregate>

<!-- This mission assumes open water so from here on it's the same old default that's always used -->

        <Guidance:GoToSurface>
            <Progression/>
        </Guidance:GoToSurface>

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

            <ReadDatum Id="Read_GPS">
                <Timeout Duration="P5M"/>
                <Universal:time_fix/>
            </ReadDatum>

            <ReadDatum Id="Read_Iridium">
                <Timeout Duration="P2H">
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>Burn on</String></Setting>
                    </Guidance:Execute>
                    <Syslog Severity="Critical">Dropped weight due to communications timeout.</Syslog>
                </Timeout>
                <Universal:platform_communications/>
            </ReadDatum>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Units:minute/><Value>5</Value></Setting>
            </Guidance:Wait>

            <Assign><Sequence/><Arg Name="ElapsedSinceDefaultStarted"/><Elapsed><Universal:mission_started/></Elapsed></Assign>

            <Syslog Severity="Important">Default mission has been running for <Arg Name="ElapsedSinceDefaultStarted"/><Units:minute/></Syslog>

        </Aggregate>

    </Aggregate>

    <Syslog Severity="Important">Restarting logs and Default mission.</Syslog>

    <Guidance:Execute>
        <Sequence/>
        <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
    </Guidance:Execute>

</Mission>


2021-12-04T08:51:26.950Z,1638607886.950 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,DDM,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Power24vConverter,RDI_Pathfinder,RDI_PathfinderUp,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,VerticalHomogeneityIndexCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,LBLNavigation,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterHE,SBIT,IBIT,CBIT,LcmUniversalReporter,Reporter,LogSplitter,
2021-12-04T08:51:26.961Z,1638607886.961 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-12-04T08:51:27.117Z,1638607887.117 [DDM](INFO): Powering up
2021-12-04T08:51:27.117Z,1638607887.117 [DDM](DEBUG): Initializing DDM.
2021-12-04T08:51:27.141Z,1638607887.141 [Depth_Keller](ERROR): Pressure reading out of range: 1913.424561 decibar
2021-12-04T08:51:27.142Z,1638607887.142 [DUSBL_Hydroid](INFO): Powering up
2021-12-04T08:51:27.142Z,1638607887.142 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-12-04T08:51:27.161Z,1638607887.161 [Power24vConverter](INFO): Powering up.
2021-12-04T08:51:27.181Z,1638607887.181 [DepthRateCalculator](ERROR): Depth measurement is not active
2021-12-04T08:51:27.209Z,1638607887.209 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-04T08:51:27.217Z,1638607887.217 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-04T08:51:27.218Z,1638607887.218 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-12-04T08:51:27.225Z,1638607887.225 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-12-04T08:51:27.226Z,1638607887.226 [MassServo](DEBUG): Initializing EZServoServo.
2021-12-04T08:51:27.233Z,1638607887.233 [MassServo](DEBUG): Initializing MassServo.
2021-12-04T08:51:27.234Z,1638607887.234 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-04T08:51:27.241Z,1638607887.241 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-04T08:51:27.242Z,1638607887.242 [ThrusterHE](DEBUG): Initializing EZServoServo.
2021-12-04T08:51:27.249Z,1638607887.249 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2021-12-04T08:51:27.380Z,1638607887.380 [Micromodem](INFO): Powering up
2021-12-04T08:51:27.381Z,1638607887.381 [Micromodem](DEBUG): Initializing Micromodem.
2021-12-04T08:51:28.089Z,1638607888.089 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-12-04T08:51:28.089Z,1638607888.089 [RudderServo](FAULT): Rudder failed to initialize
2021-12-04T08:51:28.089Z,1638607888.089 [RudderServo] Communications Fault, FailCount= 1
2021-12-04T08:51:28.089Z,1638607888.089 [RudderServo](ERROR): Communications Fault
2021-12-04T08:51:28.093Z,1638607888.093 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-12-04T08:51:28.306Z,1638607888.306 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-12-04T08:51:28.306Z,1638607888.306 [RudderServo](INFO): Powering down
2021-12-04T08:51:28.988Z,1638607888.988 [RudderServo](DEBUG): Initializing EZServoServo.
2021-12-04T08:51:29.106Z,1638607889.106 [RudderServo](DEBUG): Initializing RudderServo.
2021-12-04T08:51:29.109Z,1638607889.109 [CBIT](INFO): Clearing failed state for component RudderServo
2021-12-04T08:51:29.110Z,1638607889.110 [RudderServo] No Fault, FailCount= 1
2021-12-04T08:51:31.508Z,1638607891.508 [Micromodem](INFO): Nmea in: $CAREV,085133,INIT,2.1.4000*7E

2021-12-04T08:51:31.848Z,1638607891.848 [Micromodem](INFO): Nmea in: $CAREV,085133,SLOT1,2.1.4000*51

2021-12-04T08:51:32.252Z,1638607892.252 [Micromodem](INFO): Nmea in: $CAREV,085133,AUV,2.1.4000*26

2021-12-04T08:51:32.253Z,1638607892.253 [Micromodem](INFO): Nmea in: $CAREV,085133,COPROC,0.20.0.39330*77

2021-12-04T08:51:32.254Z,1638607892.254 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-12-04T08:51:32.656Z,1638607892.656 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T08:51:33.076819Z,RTC,RTC*5B

2021-12-04T08:51:32.656Z,1638607892.656 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-12-04T08:51:33.076819Z,RTC,RTC*5B

2021-12-04T08:51:33.059Z,1638607893.059 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-12-04T08:51:33.060Z,1638607893.060 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2021-12-04T08:51:33.463Z,1638607893.463 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2021-12-04T08:51:33.463Z,1638607893.463 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-12-04T08:51:33.867Z,1638607893.867 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-12-04T08:51:33.867Z,1638607893.867 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-12-04T08:51:34.271Z,1638607894.271 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-12-04T08:51:34.272Z,1638607894.272 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-12-04T08:51:34.675Z,1638607894.675 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-12-04T08:51:34.675Z,1638607894.675 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-12-04T08:51:35.075Z,1638607895.075 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-12-04T08:51:35.075Z,1638607895.075 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-12-04T08:51:35.471Z,1638607895.471 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-12-04T08:51:35.471Z,1638607895.471 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-12-04T08:51:35.863Z,1638607895.863 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-12-04T08:51:35.863Z,1638607895.863 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-12-04T08:51:36.257Z,1638607896.257 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-12-04T08:51:36.261Z,1638607896.261 [Micromodem](INFO): Nmea out: $CCCLK,2021,12,04,08,51,37*4A

2021-12-04T08:51:36.662Z,1638607896.662 [Micromodem](INFO): Nmea in: $CACLK,2021,12,4,8,51,37*48

2021-12-04T08:51:36.663Z,1638607896.663 [Micromodem](INFO): Nmea in: $CATMS,0,2021-12-04T08:51:38Z*77

2021-12-04T08:51:36.665Z,1638607896.665 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T08:51:38.027301Z,USER_CMD,RTC*17

2021-12-04T08:51:41.507Z,1638607901.507 [Micromodem](INFO): Nmea in: $CAREV,085143,AUV,2.1.4000*21

2021-12-04T08:51:41.508Z,1638607901.508 [Micromodem](INFO): Nmea in: $CAREV,085143,COPROC,0.20.0.39330*70

2021-12-04T08:51:42.713Z,1638607902.713 [DDM](INFO): Latch/Whisker Boards:V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
2021-12-04T08:51:42.813Z,1638607902.813 [DDM](INFO): Dynamic Docking Module:C REMUS Capture Rev 1.1
2021-12-04T08:51:45.142Z,1638607905.142 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-12-04T08:51:51.607Z,1638607911.607 [Micromodem](INFO): Nmea in: $CAREV,085153,AUV,2.1.4000*20

2021-12-04T08:51:51.608Z,1638607911.608 [Micromodem](INFO): Nmea in: $CAREV,085153,COPROC,0.20.0.39330*71

2021-12-04T08:51:53.623Z,1638607913.623 [NAL9602](INFO): Powering up NAL9602
2021-12-04T08:51:58.938Z,1638607918.938 [SBIT](IMPORTANT): Beginning Startup BIT
2021-12-04T08:51:58.946Z,1638607918.946 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-04T08:52:01.719Z,1638607921.719 [Micromodem](INFO): Nmea in: $CAREV,085203,AUV,2.1.4000*26

2021-12-04T08:52:01.721Z,1638607921.721 [Micromodem](INFO): Nmea in: $CAREV,085203,COPROC,0.20.0.39330*77

2021-12-04T08:52:04.544Z,1638607924.544 [NAL9602](INFO): NAL9602 initialized
2021-12-04T08:52:09.949Z,1638607929.949 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.006589
CHAN A1 (24V): -0.022295
CHAN A2 (12V): -0.005175
CHAN A3 (5V): -0.001301
CHAN B0 (3.3V): 0.000694
CHAN B1 (3.15aV): 0.000081
CHAN B2 (3.15bV): 0.000151
CHAN B3 (GND): 0.001838
OPEN: 0.008010
Full Scale: +/- 1 mA
2021-12-04T08:52:11.419Z,1638607931.419 [Micromodem](INFO): Nmea in: $CAREV,085213,AUV,2.1.4000*27

2021-12-04T08:52:11.425Z,1638607931.425 [Micromodem](INFO): Nmea in: $CAREV,085213,COPROC,0.20.0.39330*76

2021-12-04T08:52:18.677Z,1638607938.677 [NAL9602](INFO): SBD MO Status=0, MOMSN=30124, MT Status=0, MTMSN=0
2021-12-04T08:52:18.677Z,1638607938.677 [NAL9602](INFO): No messages in MT queue
2021-12-04T08:52:21.503Z,1638607941.503 [Micromodem](INFO): Nmea in: $CAREV,085223,AUV,2.1.4000*24

2021-12-04T08:52:21.505Z,1638607941.505 [Micromodem](INFO): Nmea in: $CAREV,085223,COPROC,0.20.0.39330*75

2021-12-04T08:52:31.607Z,1638607951.607 [Micromodem](INFO): Nmea in: $CAREV,085233,AUV,2.1.4000*25

2021-12-04T08:52:31.608Z,1638607951.608 [Micromodem](INFO): Nmea in: $CAREV,085233,COPROC,0.20.0.39330*74

2021-12-04T08:52:41.707Z,1638607961.707 [Micromodem](INFO): Nmea in: $CAREV,085243,AUV,2.1.4000*22

2021-12-04T08:52:41.709Z,1638607961.709 [Micromodem](INFO): Nmea in: $CAREV,085243,COPROC,0.20.0.39330*73

2021-12-04T08:52:51.418Z,1638607971.418 [Micromodem](INFO): Nmea in: $CAREV,085253,AUV,2.1.4000*23

2021-12-04T08:52:51.419Z,1638607971.419 [Micromodem](INFO): Nmea in: $CAREV,085253,COPROC,0.20.0.39330*72

2021-12-04T08:52:53.064Z,1638607973.064 [SBIT](IMPORTANT): SBIT PASSED
2021-12-04T08:52:53.064Z,1638607973.064 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-12-04T08:52:53.065Z,1638607973.065 [SBIT](IMPORTANT): CBIT.gfScanTimeout=2 hour;

2021-12-04T08:52:53.065Z,1638607973.065 [SBIT](IMPORTANT): CTD_Seabird.loadAtStartup=0 bool;

2021-12-04T08:52:53.065Z,1638607973.065 [SBIT](IMPORTANT): Express linearApproximation platform_average_current 0.500000 ampere;

2021-12-04T08:52:53.065Z,1638607973.065 [SBIT](IMPORTANT): LineCapture.latchDelayTimeout=10 second;

2021-12-04T08:52:53.065Z,1638607973.065 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none;

2021-12-04T08:52:53.066Z,1638607973.066 [SBIT](IMPORTANT): LineCapture.rolloutDistance=250 meter;

2021-12-04T08:52:53.066Z,1638607973.066 [SBIT](IMPORTANT): LineCapture.rolloutSpeed=0 meter_per_second;

2021-12-04T08:52:53.066Z,1638607973.066 [SBIT](IMPORTANT): LineCapture.rolloutTimeout=25 minute;

2021-12-04T08:52:53.066Z,1638607973.066 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=0 bool;

2021-12-04T08:52:53.066Z,1638607973.066 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=216.317193 cubic_centimeter;

2021-12-04T08:52:53.066Z,1638607973.066 [SBIT](IMPORTANT): VerticalControl.massDefault=-3.152899 millimeter;

2021-12-04T08:52:53.465Z,1638607973.465 [WorkSite](IMPORTANT): Reading workSite position from Data/workSite.cfg
2021-12-04T08:52:53.493Z,1638607973.493 [WorkSite](IMPORTANT): WorkSite fix at 20211204T084951: (41.552701, -70.695272)
2021-12-04T08:52:53.495Z,1638607973.495 [MissionManager](IMPORTANT): Started mission Startup
2021-12-04T08:52:53.495Z,1638607973.495 [Startup] Running Loop=1
2021-12-04T08:52:53.495Z,1638607973.495 [Startup](DEBUG): Aggregate::initialize Startup
2021-12-04T08:52:53.495Z,1638607973.495 [Startup:A.GoToSurface] Running Loop=1
2021-12-04T08:52:53.495Z,1638607973.495 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-04T08:52:53.496Z,1638607973.496 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-12-04T08:52:53.496Z,1638607973.496 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-12-04T08:52:53.501Z,1638607973.501 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-12-04T08:52:53.501Z,1638607973.501 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-04T08:52:53.502Z,1638607973.502 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-04T08:52:53.503Z,1638607973.503 [Startup:StartupSatComms] Running Loop=1
2021-12-04T08:52:53.503Z,1638607973.503 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-12-04T08:52:53.503Z,1638607973.503 [Startup:StartupSatComms:A] Running Loop=1
2021-12-04T08:52:53.884Z,1638607973.884 [LBLNavigation](INFO): Reset ping filters
2021-12-04T08:52:53.885Z,1638607973.885 [LBLNavigation](INFO): Reset fix filter
2021-12-04T08:52:53.886Z,1638607973.886 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-12-04T08:53:01.535Z,1638607981.535 [Micromodem](INFO): Nmea in: $CAREV,085303,AUV,2.1.4000*27

2021-12-04T08:53:01.536Z,1638607981.536 [Micromodem](INFO): Nmea in: $CAREV,085303,COPROC,0.20.0.39330*76

2021-12-04T08:53:11.603Z,1638607991.603 [Micromodem](INFO): Nmea in: $CAREV,085313,AUV,2.1.4000*26

2021-12-04T08:53:11.604Z,1638607991.604 [Micromodem](INFO): Nmea in: $CAREV,085313,COPROC,0.20.0.39330*77

2021-12-04T08:53:21.709Z,1638608001.709 [Micromodem](INFO): Nmea in: $CAREV,085323,AUV,2.1.4000*25

2021-12-04T08:53:21.710Z,1638608001.710 [Micromodem](INFO): Nmea in: $CAREV,085323,COPROC,0.20.0.39330*74

2021-12-04T08:53:31.476Z,1638608011.476 [Micromodem](INFO): Nmea in: $CAREV,085333,AUV,2.1.4000*24

2021-12-04T08:53:31.484Z,1638608011.484 [Micromodem](INFO): Nmea in: $CAREV,085333,COPROC,0.20.0.39330*75

2021-12-04T08:53:41.549Z,1638608021.549 [Micromodem](INFO): Nmea in: $CAREV,085343,AUV,2.1.4000*23

2021-12-04T08:53:41.552Z,1638608021.552 [Micromodem](INFO): Nmea in: $CAREV,085343,COPROC,0.20.0.39330*72

2021-12-04T08:53:51.606Z,1638608031.606 [Micromodem](INFO): Nmea in: $CAREV,085353,AUV,2.1.4000*22

2021-12-04T08:53:51.607Z,1638608031.607 [Micromodem](INFO): Nmea in: $CAREV,085353,COPROC,0.20.0.39330*73

2021-12-04T08:53:53.733Z,1638608033.733 [Startup:StartupSatComms:A](INFO): Timed out from 2021-12-04T08:52:53.5Z
2021-12-04T08:53:53.733Z,1638608033.733 [Startup:StartupSatComms:A] Stopped
2021-12-04T08:53:53.733Z,1638608033.733 [Startup:StartupSatComms:B] Running Loop=1
2021-12-04T08:53:54.108Z,1638608034.108 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-12-04T08:54:01.803Z,1638608041.803 [Micromodem](INFO): Nmea in: $CAREV,085403,AUV,2.1.4000*20

2021-12-04T08:54:03.943Z,1638608043.943 [Micromodem](INFO): Nmea in: $CAREV,085403,COPROC,0.20.0.39330*71

2021-12-04T08:54:06.321Z,1638608046.321 [NAL9602](INFO): SBD MO Status=1, MOMSN=30125, MT Status=0, MTMSN=0
2021-12-04T08:54:06.493Z,1638608046.493 [NAL9602](INFO): Sent 18 bytes from file Logs/20211204T021151/Courier0139.lzma
2021-12-04T08:54:06.493Z,1638608046.493 [NAL9602](INFO): Packets left to send: 0
2021-12-04T08:54:11.761Z,1638608051.761 [Micromodem](INFO): Nmea in: $CAREV,085413,AUV,2.1.4000*21

2021-12-04T08:54:12.159Z,1638608052.159 [Micromodem](INFO): Nmea in: $CAREV,085413,COPROC,0.20.0.39330*70

2021-12-04T08:54:14.182Z,1638608054.182 [NAL9602](INFO): SBD MO Status=1, MOMSN=30126, MT Status=0, MTMSN=0
2021-12-04T08:54:14.233Z,1638608054.233 [NAL9602](INFO): Sent 184 bytes from file Logs/20211204T085114/Courier0000.lzma
2021-12-04T08:54:14.233Z,1638608054.233 [NAL9602](INFO): Packets left to send: 1
2021-12-04T08:54:21.655Z,1638608061.655 [Micromodem](INFO): Nmea in: $CAREV,085423,AUV,2.1.4000*22

2021-12-04T08:54:22.059Z,1638608062.059 [Micromodem](INFO): Nmea in: $CAREV,085423,COPROC,0.20.0.39330*73

2021-12-04T08:54:24.089Z,1638608064.089 [NAL9602](INFO): SBD MO Status=1, MOMSN=30127, MT Status=0, MTMSN=0
2021-12-04T08:54:24.141Z,1638608064.141 [NAL9602](INFO): Sent 78 bytes from file Logs/20211204T085114/Courier0000.lzma
2021-12-04T08:54:24.141Z,1638608064.141 [NAL9602](INFO): Packets left to send: 0
2021-12-04T08:54:31.335Z,1638608071.335 [NAL9602](INFO): SBD MO Status=1, MOMSN=30128, MT Status=0, MTMSN=0
2021-12-04T08:54:31.385Z,1638608071.385 [NAL9602](INFO): Sent 18 bytes from file Logs/20211204T021151/Express0140.lzma
2021-12-04T08:54:31.385Z,1638608071.385 [NAL9602](INFO): Packets left to send: 0
2021-12-04T08:54:31.738Z,1638608071.738 [Micromodem](INFO): Nmea in: $CAREV,085433,AUV,2.1.4000*23

2021-12-04T08:54:32.311Z,1638608072.311 [Micromodem](INFO): Nmea in: $CAREV,085433,COPROC,0.20.0.39330*72

2021-12-04T08:54:40.865Z,1638608080.865 [NAL9602](INFO): SBD MO Status=1, MOMSN=30129, MT Status=0, MTMSN=0
2021-12-04T08:54:40.913Z,1638608080.913 [NAL9602](INFO): Sent 184 bytes from file Logs/20211204T085114/Express0001.lzma
2021-12-04T08:54:40.913Z,1638608080.913 [NAL9602](INFO): Packets left to send: 7
2021-12-04T08:54:41.823Z,1638608081.823 [Micromodem](INFO): Nmea in: $CAREV,085443,AUV,2.1.4000*24

2021-12-04T08:54:42.184Z,1638608082.184 [Micromodem](INFO): Nmea in: $CAREV,085443,COPROC,0.20.0.39330*75

2021-12-04T08:54:50.119Z,1638608090.119 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004211
2021-12-04T08:54:50.435Z,1638608090.435 [NAL9602](INFO): SBD MO Status=1, MOMSN=30130, MT Status=0, MTMSN=0
2021-12-04T08:54:50.485Z,1638608090.485 [NAL9602](INFO): Sent 184 bytes from file Logs/20211204T085114/Express0001.lzma
2021-12-04T08:54:50.485Z,1638608090.485 [NAL9602](INFO): Packets left to send: 6
2021-12-04T08:54:50.534Z,1638608090.534 [Startup:StartupSatComms:B] Stopped
2021-12-04T08:54:50.534Z,1638608090.534 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-12-04T08:54:50.534Z,1638608090.534 [Startup:StartupSatComms] Stopped
2021-12-04T08:54:50.534Z,1638608090.534 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-12-04T08:54:50.535Z,1638608090.535 [Startup](INFO): Completed Startup
2021-12-04T08:54:50.535Z,1638608090.535 [MissionManager](INFO): Startup is completed.
2021-12-04T08:54:50.535Z,1638608090.535 [MissionManager](INFO): Uninitializing Mission Startup
2021-12-04T08:54:50.535Z,1638608090.535 [Startup] Stopped
2021-12-04T08:54:50.535Z,1638608090.535 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-12-04T08:54:50.535Z,1638608090.535 [Startup:A.GoToSurface] Stopped
2021-12-04T08:54:50.535Z,1638608090.535 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-04T08:54:50.814Z,1638608090.814 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-12-04T08:54:50.814Z,1638608090.814 [DefaultWithUndock] Running Loop=1
2021-12-04T08:54:50.814Z,1638608090.814 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-12-04T08:54:50.815Z,1638608090.815 [DefaultWithUndock:A.Wait] Running Loop=1
2021-12-04T08:54:50.815Z,1638608090.815 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-12-04T08:54:51.582Z,1638608091.582 [Micromodem](INFO): Nmea in: $CAREV,085453,AUV,2.1.4000*25

2021-12-04T08:54:51.584Z,1638608091.584 [Micromodem](INFO): Nmea in: $CAREV,085453,COPROC,0.20.0.39330*74

2021-12-04T08:55:02.036Z,1638608102.036 [Micromodem](INFO): Nmea in: $CAREV,085503,AUV,2.1.4000*21

2021-12-04T08:55:02.037Z,1638608102.037 [Micromodem](INFO): Nmea in: $CAREV,085503,COPROC,0.20.0.39330*70

2021-12-04T08:55:06.524Z,1638608106.524 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T08:55:12.137Z,1638608112.137 [Micromodem](INFO): Nmea in: $CAREV,085513,AUV,2.1.4000*20

2021-12-04T08:55:12.138Z,1638608112.138 [Micromodem](INFO): Nmea in: $CAREV,085513,COPROC,0.20.0.39330*71

2021-12-04T08:55:21.029Z,1638608121.029 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T08:55:21.073Z,1638608121.073 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-12-04T08:55:21.074Z,1638608121.074 [DefaultWithUndock:A.Wait] Stopped
2021-12-04T08:55:21.074Z,1638608121.074 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T08:55:21.078Z,1638608121.078 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-12-04T08:55:21.079Z,1638608121.079 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-12-04T08:55:21.079Z,1638608121.079 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-12-04T08:55:21.079Z,1638608121.079 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-12-04T08:55:21.079Z,1638608121.079 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-12-04T08:55:21.079Z,1638608121.079 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-12-04T08:55:21.079Z,1638608121.079 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T08:55:21.444Z,1638608121.444 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-12-04T08:55:21.883Z,1638608121.883 [Micromodem](INFO): Nmea in: $CAREV,085523,AUV,2.1.4000*23

2021-12-04T08:55:21.884Z,1638608121.884 [Micromodem](INFO): Nmea in: $CAREV,085523,COPROC,0.20.0.39330*72

2021-12-04T08:55:23.952Z,1638608123.952 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:24.697Z,1638608124.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T08:55:25.127Z,1638608125.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T08:55:25.156Z,1638608125.156 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-12-04T08:55:25.515Z,1638608125.515 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T08:55:25.941Z,1638608125.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085526.10*53

2021-12-04T08:55:25.942Z,1638608125.942 [Micromodem](INFO): Nmea in: $CAREV,085527,AUV,2.1.4000*27

2021-12-04T08:55:26.313Z,1638608126.313 [Micromodem](INFO): Nmea in: $CAREV,085527,COPROC,0.20.0.39330*76

2021-12-04T08:55:26.727Z,1638608126.727 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:28.324Z,1638608128.324 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T08:55:29.548Z,1638608129.548 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:30.345Z,1638608130.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T08:55:30.801Z,1638608130.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T08:55:31.671Z,1638608131.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085531.76*55

2021-12-04T08:55:31.672Z,1638608131.672 [Micromodem](INFO): Nmea in: $CAREV,085532,AUV,2.1.4000*23

2021-12-04T08:55:32.037Z,1638608132.037 [Micromodem](INFO): Nmea in: $CAREV,085532,COPROC,0.20.0.39330*72

2021-12-04T08:55:32.097Z,1638608132.097 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:32.468Z,1638608132.468 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
2021-12-04T08:55:34.891Z,1638608134.891 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:37.789Z,1638608137.789 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:38.517Z,1638608138.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T08:55:38.911Z,1638608138.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T08:55:39.733Z,1638608139.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085539.93*56

2021-12-04T08:55:39.734Z,1638608139.734 [Micromodem](INFO): Nmea in: $CAREV,085540,AUV,2.1.4000*26

2021-12-04T08:55:40.140Z,1638608140.140 [Micromodem](INFO): Nmea in: $CAREV,085540,COPROC,0.20.0.39330*77

2021-12-04T08:55:40.564Z,1638608140.564 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:43.918Z,1638608143.918 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:44.597Z,1638608144.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T08:55:45.472Z,1638608145.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T08:55:45.596Z,1638608145.596 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 1166.34 m. Transitioning DDM to standby.
2021-12-04T08:55:46.045Z,1638608146.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085546.01*55

2021-12-04T08:55:46.046Z,1638608146.046 [Micromodem](INFO): Nmea in: $CAREV,085547,AUV,2.1.4000*21

2021-12-04T08:55:46.505Z,1638608146.505 [Micromodem](INFO): Nmea in: $CAREV,085547,COPROC,0.20.0.39330*70

2021-12-04T08:55:46.600Z,1638608146.600 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T08:55:47.741Z,1638608147.741 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-12-04T08:55:48.252Z,1638608148.252 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T08:55:48.252Z,1638608148.252 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-12-04T08:55:48.252Z,1638608148.252 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-12-04T08:55:48.252Z,1638608148.252 [DefaultWithUndock:LeaveDock] Stopped
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-12-04T08:55:48.253Z,1638608148.253 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-04T08:55:48.254Z,1638608148.254 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-12-04T08:55:48.254Z,1638608148.254 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-12-04T08:55:48.270Z,1638608148.270 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-12-04T08:55:48.271Z,1638608148.271 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-04T08:55:48.271Z,1638608148.271 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-12-04T08:55:48.535Z,1638608148.535 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-12-04T08:55:48.940Z,1638608148.940 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-12-04T08:55:56.133Z,1638608156.133 [Micromodem](INFO): Nmea in: $CAREV,085557,AUV,2.1.4000*20

2021-12-04T08:55:56.134Z,1638608156.134 [Micromodem](INFO): Nmea in: $CAREV,085557,COPROC,0.20.0.39330*71

2021-12-04T08:56:00.986Z,1638608160.986 [NAL9602](INFO): SBD MO Status=0, MOMSN=30131, MT Status=0, MTMSN=0
2021-12-04T08:56:00.986Z,1638608160.986 [NAL9602](INFO): No messages in MT queue
2021-12-04T08:56:05.896Z,1638608165.896 [Micromodem](INFO): Nmea in: $CAREV,085607,AUV,2.1.4000*26

2021-12-04T08:56:05.897Z,1638608165.897 [Micromodem](INFO): Nmea in: $CAREV,085607,COPROC,0.20.0.39330*77

2021-12-04T08:56:14.096Z,1638608174.096 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T08:56:15.937Z,1638608175.937 [Micromodem](INFO): Nmea in: $CAREV,085617,AUV,2.1.4000*27

2021-12-04T08:56:15.939Z,1638608175.939 [Micromodem](INFO): Nmea in: $CAREV,085617,COPROC,0.20.0.39330*76

2021-12-04T08:56:26.053Z,1638608186.053 [Micromodem](INFO): Nmea in: $CAREV,085627,AUV,2.1.4000*24

2021-12-04T08:56:26.054Z,1638608186.054 [Micromodem](INFO): Nmea in: $CAREV,085627,COPROC,0.20.0.39330*75

2021-12-04T08:56:36.137Z,1638608196.137 [Micromodem](INFO): Nmea in: $CAREV,085637,AUV,2.1.4000*25

2021-12-04T08:56:36.138Z,1638608196.138 [Micromodem](INFO): Nmea in: $CAREV,085637,COPROC,0.20.0.39330*74

2021-12-04T08:56:45.883Z,1638608205.883 [Micromodem](INFO): Nmea in: $CAREV,085647,AUV,2.1.4000*22

2021-12-04T08:56:45.884Z,1638608205.884 [Micromodem](INFO): Nmea in: $CAREV,085647,COPROC,0.20.0.39330*73

2021-12-04T08:56:46.670Z,1638608206.670 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T08:56:50.278Z,1638608210.278 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,085648.50,A,4133.15184,N,07041.67420,W,0.622,0.00,041221,,,A*75
2021-12-04T08:56:50.281Z,1638608210.281 [NAL9602](INFO): GPS fix at 20211204T085648: (41.552531, -70.694570)
2021-12-04T08:56:50.328Z,1638608210.328 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T08:56:50.329Z,1638608210.329 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T08:56:50.755Z,1638608210.755 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-12-04T08:56:55.062Z,1638608215.062 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20211204T085114/Courier0004.lzma
2021-12-04T08:56:55.838Z,1638608215.838 [Micromodem](INFO): Nmea in: $CAREV,085657,AUV,2.1.4000*23

2021-12-04T08:56:56.065Z,1638608216.065 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0004.lzma.bak
2021-12-04T08:56:56.065Z,1638608216.065 [DataOverHttps](INFO): SBD MOMSN=622878
2021-12-04T08:56:56.208Z,1638608216.208 [Micromodem](INFO): Nmea in: $CAREV,085657,COPROC,0.20.0.39330*72

2021-12-04T08:57:05.114Z,1638608225.114 [DataOverHttps](INFO): Sending 1297 bytes from file Logs/20211204T085114/Express0001.lzma
2021-12-04T08:57:06.046Z,1638608226.046 [Micromodem](INFO): Nmea in: $CAREV,085707,AUV,2.1.4000*27

2021-12-04T08:57:06.112Z,1638608226.112 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0001.lzma.bak
2021-12-04T08:57:06.112Z,1638608226.112 [DataOverHttps](INFO): SBD MOMSN=622881
2021-12-04T08:57:06.332Z,1638608226.332 [Micromodem](INFO): Nmea in: $CAREV,085707,COPROC,0.20.0.39330*76

2021-12-04T08:57:15.151Z,1638608235.151 [DataOverHttps](INFO): Sending 294 bytes from file Logs/20211204T085114/Express0005.lzma
2021-12-04T08:57:16.005Z,1638608236.005 [Micromodem](INFO): Nmea in: $CAREV,085717,AUV,2.1.4000*26

2021-12-04T08:57:16.152Z,1638608236.152 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0005.lzma.bak
2021-12-04T08:57:16.152Z,1638608236.152 [DataOverHttps](INFO): SBD MOMSN=622908
2021-12-04T08:57:16.413Z,1638608236.413 [Micromodem](INFO): Nmea in: $CAREV,085717,COPROC,0.20.0.39330*77

2021-12-04T08:57:18.121Z,1638608238.121 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T08:57:18.121Z,1638608238.121 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T08:57:18.121Z,1638608238.121 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T08:57:22.476Z,1638608242.476 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T08:57:26.131Z,1638608246.131 [Micromodem](INFO): Nmea in: $CAREV,085727,AUV,2.1.4000*25

2021-12-04T08:57:26.132Z,1638608246.132 [Micromodem](INFO): Nmea in: $CAREV,085727,COPROC,0.20.0.39330*74

2021-12-04T08:57:35.914Z,1638608255.914 [Micromodem](INFO): Nmea in: $CAREV,085737,AUV,2.1.4000*24

2021-12-04T08:57:35.919Z,1638608255.919 [Micromodem](INFO): Nmea in: $CAREV,085737,COPROC,0.20.0.39330*75

2021-12-04T08:57:46.041Z,1638608266.041 [Micromodem](INFO): Nmea in: $CAREV,085747,AUV,2.1.4000*23

2021-12-04T08:57:46.042Z,1638608266.042 [Micromodem](INFO): Nmea in: $CAREV,085747,COPROC,0.20.0.39330*72

2021-12-04T08:57:47.273Z,1638608267.273 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T08:57:47.319Z,1638608267.319 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T08:57:56.177Z,1638608276.177 [Micromodem](INFO): Nmea in: $CAREV,085757,AUV,2.1.4000*22

2021-12-04T08:57:56.179Z,1638608276.179 [Micromodem](INFO): Nmea in: $CAREV,085757,COPROC,0.20.0.39330*73

2021-12-04T08:58:05.899Z,1638608285.899 [Micromodem](INFO): Nmea in: $CAREV,085807,AUV,2.1.4000*28

2021-12-04T08:58:05.900Z,1638608285.900 [Micromodem](INFO): Nmea in: $CAREV,085807,COPROC,0.20.0.39330*79

2021-12-04T08:58:15.977Z,1638608295.977 [Micromodem](INFO): Nmea in: $CAREV,085817,AUV,2.1.4000*29

2021-12-04T08:58:15.978Z,1638608295.978 [Micromodem](INFO): Nmea in: $CAREV,085817,COPROC,0.20.0.39330*78

2021-12-04T08:58:26.077Z,1638608306.077 [Micromodem](INFO): Nmea in: $CAREV,085827,AUV,2.1.4000*2A

2021-12-04T08:58:26.078Z,1638608306.078 [Micromodem](INFO): Nmea in: $CAREV,085827,COPROC,0.20.0.39330*7B

2021-12-04T08:58:36.181Z,1638608316.181 [Micromodem](INFO): Nmea in: $CAREV,085837,AUV,2.1.4000*2B

2021-12-04T08:58:36.182Z,1638608316.182 [Micromodem](INFO): Nmea in: $CAREV,085837,COPROC,0.20.0.39330*7A

2021-12-04T08:58:45.886Z,1638608325.886 [Micromodem](INFO): Nmea in: $CAREV,085847,AUV,2.1.4000*2C

2021-12-04T08:58:45.891Z,1638608325.891 [Micromodem](INFO): Nmea in: $CAREV,085847,COPROC,0.20.0.39330*7D

2021-12-04T08:58:55.989Z,1638608335.989 [Micromodem](INFO): Nmea in: $CAREV,085857,AUV,2.1.4000*2D

2021-12-04T08:58:55.990Z,1638608335.990 [Micromodem](INFO): Nmea in: $CAREV,085857,COPROC,0.20.0.39330*7C

2021-12-04T08:59:06.071Z,1638608346.071 [Micromodem](INFO): Nmea in: $CAREV,085907,AUV,2.1.4000*29

2021-12-04T08:59:06.072Z,1638608346.072 [Micromodem](INFO): Nmea in: $CAREV,085907,COPROC,0.20.0.39330*78

2021-12-04T08:59:16.177Z,1638608356.177 [Micromodem](INFO): Nmea in: $CAREV,085917,AUV,2.1.4000*28

2021-12-04T08:59:16.178Z,1638608356.178 [Micromodem](INFO): Nmea in: $CAREV,085917,COPROC,0.20.0.39330*79

2021-12-04T08:59:25.884Z,1638608365.884 [Micromodem](INFO): Nmea in: $CAREV,085927,AUV,2.1.4000*2B

2021-12-04T08:59:25.886Z,1638608365.886 [Micromodem](INFO): Nmea in: $CAREV,085927,COPROC,0.20.0.39330*7A

2021-12-04T08:59:35.989Z,1638608375.989 [Micromodem](INFO): Nmea in: $CAREV,085937,AUV,2.1.4000*2A

2021-12-04T08:59:35.990Z,1638608375.990 [Micromodem](INFO): Nmea in: $CAREV,085937,COPROC,0.20.0.39330*7B

2021-12-04T08:59:46.069Z,1638608386.069 [Micromodem](INFO): Nmea in: $CAREV,085947,AUV,2.1.4000*2D

2021-12-04T08:59:46.070Z,1638608386.070 [Micromodem](INFO): Nmea in: $CAREV,085947,COPROC,0.20.0.39330*7C

2021-12-04T08:59:56.185Z,1638608396.185 [Micromodem](INFO): Nmea in: $CAREV,085957,AUV,2.1.4000*2C

2021-12-04T08:59:56.186Z,1638608396.186 [Micromodem](INFO): Nmea in: $CAREV,085957,COPROC,0.20.0.39330*7D

2021-12-04T09:00:05.881Z,1638608405.881 [Micromodem](INFO): Nmea in: $CAREV,090007,AUV,2.1.4000*24

2021-12-04T09:00:05.882Z,1638608405.882 [Micromodem](INFO): Nmea in: $CAREV,090007,COPROC,0.20.0.39330*75

2021-12-04T09:00:15.977Z,1638608415.977 [Micromodem](INFO): Nmea in: $CAREV,090017,AUV,2.1.4000*25

2021-12-04T09:00:15.978Z,1638608415.978 [Micromodem](INFO): Nmea in: $CAREV,090017,COPROC,0.20.0.39330*74

2021-12-04T09:00:26.065Z,1638608426.065 [Micromodem](INFO): Nmea in: $CAREV,090027,AUV,2.1.4000*26

2021-12-04T09:00:26.066Z,1638608426.066 [Micromodem](INFO): Nmea in: $CAREV,090027,COPROC,0.20.0.39330*77

2021-12-04T09:00:36.167Z,1638608436.167 [Micromodem](INFO): Nmea in: $CAREV,090037,AUV,2.1.4000*27

2021-12-04T09:00:36.168Z,1638608436.168 [Micromodem](INFO): Nmea in: $CAREV,090037,COPROC,0.20.0.39330*76

2021-12-04T09:00:45.878Z,1638608445.878 [Micromodem](INFO): Nmea in: $CAREV,090047,AUV,2.1.4000*20

2021-12-04T09:00:45.893Z,1638608445.893 [Micromodem](INFO): Nmea in: $CAREV,090047,COPROC,0.20.0.39330*71

2021-12-04T09:00:55.978Z,1638608455.978 [Micromodem](INFO): Nmea in: $CAREV,090057,AUV,2.1.4000*21

2021-12-04T09:00:55.979Z,1638608455.979 [Micromodem](INFO): Nmea in: $CAREV,090057,COPROC,0.20.0.39330*70

2021-12-04T09:01:06.061Z,1638608466.061 [Micromodem](INFO): Nmea in: $CAREV,090107,AUV,2.1.4000*25

2021-12-04T09:01:06.062Z,1638608466.062 [Micromodem](INFO): Nmea in: $CAREV,090107,COPROC,0.20.0.39330*74

2021-12-04T09:01:16.165Z,1638608476.165 [Micromodem](INFO): Nmea in: $CAREV,090117,AUV,2.1.4000*24

2021-12-04T09:01:16.166Z,1638608476.166 [Micromodem](INFO): Nmea in: $CAREV,090117,COPROC,0.20.0.39330*75

2021-12-04T09:01:25.879Z,1638608485.879 [Micromodem](INFO): Nmea in: $CAREV,090127,AUV,2.1.4000*27

2021-12-04T09:01:25.880Z,1638608485.880 [Micromodem](INFO): Nmea in: $CAREV,090127,COPROC,0.20.0.39330*76

2021-12-04T09:01:35.957Z,1638608495.957 [Micromodem](INFO): Nmea in: $CAREV,090137,AUV,2.1.4000*26

2021-12-04T09:01:35.958Z,1638608495.958 [Micromodem](INFO): Nmea in: $CAREV,090137,COPROC,0.20.0.39330*77

2021-12-04T09:01:46.065Z,1638608506.065 [Micromodem](INFO): Nmea in: $CAREV,090147,AUV,2.1.4000*21

2021-12-04T09:01:46.066Z,1638608506.066 [Micromodem](INFO): Nmea in: $CAREV,090147,COPROC,0.20.0.39330*70

2021-12-04T09:01:56.157Z,1638608516.157 [Micromodem](INFO): Nmea in: $CAREV,090157,AUV,2.1.4000*20

2021-12-04T09:01:56.158Z,1638608516.158 [Micromodem](INFO): Nmea in: $CAREV,090157,COPROC,0.20.0.39330*71

2021-12-04T09:02:05.877Z,1638608525.877 [Micromodem](INFO): Nmea in: $CAREV,090207,AUV,2.1.4000*26

2021-12-04T09:02:05.878Z,1638608525.878 [Micromodem](INFO): Nmea in: $CAREV,090207,COPROC,0.20.0.39330*77

2021-12-04T09:02:15.981Z,1638608535.981 [Micromodem](INFO): Nmea in: $CAREV,090217,AUV,2.1.4000*27

2021-12-04T09:02:15.988Z,1638608535.988 [Micromodem](INFO): Nmea in: $CAREV,090217,COPROC,0.20.0.39330*76

2021-12-04T09:02:18.804Z,1638608538.804 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T09:02:18.805Z,1638608538.805 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:02:18.805Z,1638608538.805 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:02:18.805Z,1638608538.805 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T09:02:19.225Z,1638608539.225 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T09:02:19.225Z,1638608539.225 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 7.473509 min 
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-12-04T09:02:19.602Z,1638608539.602 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-12-04T09:02:19.603Z,1638608539.603 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:02:19.603Z,1638608539.603 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T09:02:21.617Z,1638608541.617 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,090219.00,A,4133.14348,N,07041.64208,W,0.428,115.05,041221,,,A*70
2021-12-04T09:02:21.619Z,1638608541.619 [NAL9602](INFO): GPS fix at 20211204T090219: (41.552391, -70.694035)
2021-12-04T09:02:21.630Z,1638608541.630 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T09:02:21.630Z,1638608541.630 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T09:02:25.446Z,1638608545.446 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20211204T085114/Courier0007.lzma
2021-12-04T09:02:26.053Z,1638608546.053 [Micromodem](INFO): Nmea in: $CAREV,090227,AUV,2.1.4000*24

2021-12-04T09:02:26.448Z,1638608546.448 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0007.lzma.bak
2021-12-04T09:02:26.448Z,1638608546.448 [DataOverHttps](INFO): SBD MOMSN=622912
2021-12-04T09:02:26.465Z,1638608546.465 [Micromodem](INFO): Nmea in: $CAREV,090227,COPROC,0.20.0.39330*75

2021-12-04T09:02:34.141Z,1638608554.141 [NAL9602](INFO): SBD MO Status=0, MOMSN=30132, MT Status=0, MTMSN=0
2021-12-04T09:02:34.141Z,1638608554.141 [NAL9602](INFO): No messages in MT queue
2021-12-04T09:02:35.486Z,1638608555.486 [DataOverHttps](INFO): Sending 190 bytes from file Logs/20211204T085114/Express0008.lzma
2021-12-04T09:02:36.153Z,1638608556.153 [Micromodem](INFO): Nmea in: $CAREV,090237,AUV,2.1.4000*25

2021-12-04T09:02:36.488Z,1638608556.488 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0008.lzma.bak
2021-12-04T09:02:36.488Z,1638608556.488 [DataOverHttps](INFO): SBD MOMSN=622914
2021-12-04T09:02:36.556Z,1638608556.556 [Micromodem](INFO): Nmea in: $CAREV,090237,COPROC,0.20.0.39330*74

2021-12-04T09:02:37.779Z,1638608557.779 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T09:02:37.779Z,1638608557.779 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T09:02:37.779Z,1638608557.779 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T09:02:45.874Z,1638608565.874 [Micromodem](INFO): Nmea in: $CAREV,090247,AUV,2.1.4000*22

2021-12-04T09:02:45.875Z,1638608565.875 [Micromodem](INFO): Nmea in: $CAREV,090247,COPROC,0.20.0.39330*73

2021-12-04T09:02:55.961Z,1638608575.961 [Micromodem](INFO): Nmea in: $CAREV,090257,AUV,2.1.4000*23

2021-12-04T09:02:55.963Z,1638608575.963 [Micromodem](INFO): Nmea in: $CAREV,090257,COPROC,0.20.0.39330*72

2021-12-04T09:03:04.840Z,1638608584.840 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:03:06.057Z,1638608586.057 [Micromodem](INFO): Nmea in: $CAREV,090307,AUV,2.1.4000*27

2021-12-04T09:03:06.058Z,1638608586.058 [Micromodem](INFO): Nmea in: $CAREV,090307,COPROC,0.20.0.39330*76

2021-12-04T09:03:16.174Z,1638608596.174 [Micromodem](INFO): Nmea in: $CAREV,090317,AUV,2.1.4000*26

2021-12-04T09:03:16.176Z,1638608596.176 [Micromodem](INFO): Nmea in: $CAREV,090317,COPROC,0.20.0.39330*77

2021-12-04T09:03:25.876Z,1638608605.876 [Micromodem](INFO): Nmea in: $CAREV,090327,AUV,2.1.4000*25

2021-12-04T09:03:25.877Z,1638608605.877 [Micromodem](INFO): Nmea in: $CAREV,090327,COPROC,0.20.0.39330*74

2021-12-04T09:03:35.945Z,1638608615.945 [Micromodem](INFO): Nmea in: $CAREV,090337,AUV,2.1.4000*24

2021-12-04T09:03:35.946Z,1638608615.946 [Micromodem](INFO): Nmea in: $CAREV,090337,COPROC,0.20.0.39330*75

2021-12-04T09:03:46.049Z,1638608626.049 [Micromodem](INFO): Nmea in: $CAREV,090347,AUV,2.1.4000*23

2021-12-04T09:03:46.050Z,1638608626.050 [Micromodem](INFO): Nmea in: $CAREV,090347,COPROC,0.20.0.39330*72

2021-12-04T09:03:56.149Z,1638608636.149 [Micromodem](INFO): Nmea in: $CAREV,090357,AUV,2.1.4000*22

2021-12-04T09:03:56.150Z,1638608636.150 [Micromodem](INFO): Nmea in: $CAREV,090357,COPROC,0.20.0.39330*73

2021-12-04T09:04:05.870Z,1638608645.870 [Micromodem](INFO): Nmea in: $CAREV,090407,AUV,2.1.4000*20

2021-12-04T09:04:05.889Z,1638608645.889 [Micromodem](INFO): Nmea in: $CAREV,090407,COPROC,0.20.0.39330*71

2021-12-04T09:04:15.974Z,1638608655.974 [Micromodem](INFO): Nmea in: $CAREV,090417,AUV,2.1.4000*21

2021-12-04T09:04:15.975Z,1638608655.975 [Micromodem](INFO): Nmea in: $CAREV,090417,COPROC,0.20.0.39330*70

2021-12-04T09:04:26.041Z,1638608666.041 [Micromodem](INFO): Nmea in: $CAREV,090427,AUV,2.1.4000*22

2021-12-04T09:04:26.042Z,1638608666.042 [Micromodem](INFO): Nmea in: $CAREV,090427,COPROC,0.20.0.39330*73

2021-12-04T09:04:36.149Z,1638608676.149 [Micromodem](INFO): Nmea in: $CAREV,090437,AUV,2.1.4000*23

2021-12-04T09:04:36.151Z,1638608676.151 [Micromodem](INFO): Nmea in: $CAREV,090437,COPROC,0.20.0.39330*72

2021-12-04T09:04:45.875Z,1638608685.875 [Micromodem](INFO): Nmea in: $CAREV,090447,AUV,2.1.4000*24

2021-12-04T09:04:46.245Z,1638608686.245 [Micromodem](INFO): Nmea in: $CAREV,090447,COPROC,0.20.0.39330*75

2021-12-04T09:04:55.937Z,1638608695.937 [Micromodem](INFO): Nmea in: $CAREV,090457,AUV,2.1.4000*25

2021-12-04T09:04:55.938Z,1638608695.938 [Micromodem](INFO): Nmea in: $CAREV,090457,COPROC,0.20.0.39330*74

2021-12-04T09:05:06.037Z,1638608706.037 [Micromodem](INFO): Nmea in: $CAREV,090507,AUV,2.1.4000*21

2021-12-04T09:05:06.038Z,1638608706.038 [Micromodem](INFO): Nmea in: $CAREV,090507,COPROC,0.20.0.39330*70

2021-12-04T09:05:16.141Z,1638608716.141 [Micromodem](INFO): Nmea in: $CAREV,090517,AUV,2.1.4000*20

2021-12-04T09:05:16.142Z,1638608716.142 [Micromodem](INFO): Nmea in: $CAREV,090517,COPROC,0.20.0.39330*71

2021-12-04T09:05:26.241Z,1638608726.241 [Micromodem](INFO): Nmea in: $CAREV,090527,AUV,2.1.4000*23

2021-12-04T09:05:26.242Z,1638608726.242 [Micromodem](INFO): Nmea in: $CAREV,090527,COPROC,0.20.0.39330*72

2021-12-04T09:05:35.978Z,1638608735.978 [Micromodem](INFO): Nmea in: $CAREV,090537,AUV,2.1.4000*22

2021-12-04T09:05:35.979Z,1638608735.979 [Micromodem](INFO): Nmea in: $CAREV,090537,COPROC,0.20.0.39330*73

2021-12-04T09:05:46.153Z,1638608746.153 [Micromodem](INFO): Nmea in: $CAREV,090547,AUV,2.1.4000*25

2021-12-04T09:05:46.154Z,1638608746.154 [Micromodem](INFO): Nmea in: $CAREV,090547,COPROC,0.20.0.39330*74

2021-12-04T09:05:55.902Z,1638608755.902 [Micromodem](INFO): Nmea in: $CAREV,090557,AUV,2.1.4000*24

2021-12-04T09:05:55.908Z,1638608755.908 [Micromodem](INFO): Nmea in: $CAREV,090557,COPROC,0.20.0.39330*75

2021-12-04T09:06:05.996Z,1638608765.996 [Micromodem](INFO): Nmea in: $CAREV,090607,AUV,2.1.4000*22

2021-12-04T09:06:06.013Z,1638608766.013 [Micromodem](INFO): Nmea in: $CAREV,090607,COPROC,0.20.0.39330*73

2021-12-04T09:06:16.091Z,1638608776.091 [Micromodem](INFO): Nmea in: $CAREV,090617,AUV,2.1.4000*23

2021-12-04T09:06:16.092Z,1638608776.092 [Micromodem](INFO): Nmea in: $CAREV,090617,COPROC,0.20.0.39330*72

2021-12-04T09:06:26.194Z,1638608786.194 [Micromodem](INFO): Nmea in: $CAREV,090627,AUV,2.1.4000*20

2021-12-04T09:06:26.195Z,1638608786.195 [Micromodem](INFO): Nmea in: $CAREV,090627,COPROC,0.20.0.39330*71

2021-12-04T09:06:35.902Z,1638608795.902 [Micromodem](INFO): Nmea in: $CAREV,090637,AUV,2.1.4000*21

2021-12-04T09:06:36.291Z,1638608796.291 [Micromodem](INFO): Nmea in: $CAREV,090637,COPROC,0.20.0.39330*70

2021-12-04T09:06:45.994Z,1638608805.994 [Micromodem](INFO): Nmea in: $CAREV,090647,AUV,2.1.4000*26

2021-12-04T09:06:46.023Z,1638608806.023 [Micromodem](INFO): Nmea in: $CAREV,090647,COPROC,0.20.0.39330*77

2021-12-04T09:06:56.087Z,1638608816.087 [Micromodem](INFO): Nmea in: $CAREV,090657,AUV,2.1.4000*27

2021-12-04T09:06:56.088Z,1638608816.088 [Micromodem](INFO): Nmea in: $CAREV,090657,COPROC,0.20.0.39330*76

2021-12-04T09:06:58.130Z,1638608818.130 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:07:06.193Z,1638608826.193 [Micromodem](INFO): Nmea in: $CAREV,090707,AUV,2.1.4000*23

2021-12-04T09:07:06.194Z,1638608826.194 [Micromodem](INFO): Nmea in: $CAREV,090707,COPROC,0.20.0.39330*72

2021-12-04T09:07:16.293Z,1638608836.293 [Micromodem](INFO): Nmea in: $CAREV,090717,AUV,2.1.4000*22

2021-12-04T09:07:16.295Z,1638608836.295 [Micromodem](INFO): Nmea in: $CAREV,090717,COPROC,0.20.0.39330*73

2021-12-04T09:07:25.985Z,1638608845.985 [Micromodem](INFO): Nmea in: $CAREV,090727,AUV,2.1.4000*21

2021-12-04T09:07:25.987Z,1638608845.987 [Micromodem](INFO): Nmea in: $CAREV,090727,COPROC,0.20.0.39330*70

2021-12-04T09:07:36.085Z,1638608856.085 [Micromodem](INFO): Nmea in: $CAREV,090737,AUV,2.1.4000*20

2021-12-04T09:07:36.086Z,1638608856.086 [Micromodem](INFO): Nmea in: $CAREV,090737,COPROC,0.20.0.39330*71

2021-12-04T09:07:38.536Z,1638608858.536 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T09:07:38.536Z,1638608858.536 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:07:38.536Z,1638608858.536 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:07:38.536Z,1638608858.536 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T09:07:38.955Z,1638608858.955 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T09:07:38.955Z,1638608858.955 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T09:07:39.334Z,1638608859.334 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 12.802337 min 
2021-12-04T09:07:39.334Z,1638608859.334 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T09:07:39.334Z,1638608859.334 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:07:39.334Z,1638608859.334 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:07:39.335Z,1638608859.335 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:07:39.335Z,1638608859.335 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-12-04T09:07:39.335Z,1638608859.335 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-12-04T09:07:39.335Z,1638608859.335 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:07:39.335Z,1638608859.335 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T09:07:41.360Z,1638608861.360 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,090740.00,A,4133.13035,N,07041.61107,W,1.147,130.71,041221,,,A*77
2021-12-04T09:07:41.362Z,1638608861.362 [NAL9602](INFO): GPS fix at 20211204T090740: (41.552172, -70.693518)
2021-12-04T09:07:41.372Z,1638608861.372 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T09:07:41.373Z,1638608861.373 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T09:07:45.820Z,1638608865.820 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20211204T085114/Courier0010.lzma
2021-12-04T09:07:46.248Z,1638608866.248 [Micromodem](INFO): Nmea in: $CAREV,090747,AUV,2.1.4000*27

2021-12-04T09:07:46.653Z,1638608866.653 [Micromodem](INFO): Nmea in: $CAREV,090747,COPROC,0.20.0.39330*76

2021-12-04T09:07:46.816Z,1638608866.816 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0010.lzma.bak
2021-12-04T09:07:46.816Z,1638608866.816 [DataOverHttps](INFO): SBD MOMSN=622917
2021-12-04T09:07:53.128Z,1638608873.128 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T09:07:54.738Z,1638608874.738 [NAL9602](INFO): SBD MO Status=0, MOMSN=30133, MT Status=0, MTMSN=0
2021-12-04T09:07:54.738Z,1638608874.738 [NAL9602](INFO): No messages in MT queue
2021-12-04T09:07:55.860Z,1638608875.860 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20211204T085114/Express0011.lzma
2021-12-04T09:07:55.945Z,1638608875.945 [Micromodem](INFO): Nmea in: $CAREV,090757,AUV,2.1.4000*26

2021-12-04T09:07:56.345Z,1638608876.345 [Micromodem](INFO): Nmea in: $CAREV,090757,COPROC,0.20.0.39330*77

2021-12-04T09:07:56.856Z,1638608876.856 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0011.lzma.bak
2021-12-04T09:07:56.856Z,1638608876.856 [DataOverHttps](INFO): SBD MOMSN=622919
2021-12-04T09:07:58.386Z,1638608878.386 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T09:07:58.387Z,1638608878.387 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T09:07:58.387Z,1638608878.387 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T09:08:06.042Z,1638608886.042 [Micromodem](INFO): Nmea in: $CAREV,090807,AUV,2.1.4000*2C

2021-12-04T09:08:06.043Z,1638608886.043 [Micromodem](INFO): Nmea in: $CAREV,090807,COPROC,0.20.0.39330*7D

2021-12-04T09:08:16.145Z,1638608896.145 [Micromodem](INFO): Nmea in: $CAREV,090817,AUV,2.1.4000*2D

2021-12-04T09:08:16.146Z,1638608896.146 [Micromodem](INFO): Nmea in: $CAREV,090817,COPROC,0.20.0.39330*7C

2021-12-04T09:08:25.437Z,1638608905.437 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:08:26.248Z,1638608906.248 [Micromodem](INFO): Nmea in: $CAREV,090827,AUV,2.1.4000*2E

2021-12-04T09:08:26.249Z,1638608906.249 [Micromodem](INFO): Nmea in: $CAREV,090827,COPROC,0.20.0.39330*7F

2021-12-04T09:08:35.962Z,1638608915.962 [Micromodem](INFO): Nmea in: $CAREV,090837,AUV,2.1.4000*2F

2021-12-04T09:08:35.963Z,1638608915.963 [Micromodem](INFO): Nmea in: $CAREV,090837,COPROC,0.20.0.39330*7E

2021-12-04T09:08:46.035Z,1638608926.035 [Micromodem](INFO): Nmea in: $CAREV,090847,AUV,2.1.4000*28

2021-12-04T09:08:46.036Z,1638608926.036 [Micromodem](INFO): Nmea in: $CAREV,090847,COPROC,0.20.0.39330*79

2021-12-04T09:08:56.141Z,1638608936.141 [Micromodem](INFO): Nmea in: $CAREV,090857,AUV,2.1.4000*29

2021-12-04T09:08:56.142Z,1638608936.142 [Micromodem](INFO): Nmea in: $CAREV,090857,COPROC,0.20.0.39330*78

2021-12-04T09:09:06.241Z,1638608946.241 [Micromodem](INFO): Nmea in: $CAREV,090907,AUV,2.1.4000*2D

2021-12-04T09:09:06.242Z,1638608946.242 [Micromodem](INFO): Nmea in: $CAREV,090907,COPROC,0.20.0.39330*7C

2021-12-04T09:09:15.945Z,1638608955.945 [Micromodem](INFO): Nmea in: $CAREV,090917,AUV,2.1.4000*2C

2021-12-04T09:09:15.946Z,1638608955.946 [Micromodem](INFO): Nmea in: $CAREV,090917,COPROC,0.20.0.39330*7D

2021-12-04T09:09:26.031Z,1638608966.031 [Micromodem](INFO): Nmea in: $CAREV,090927,AUV,2.1.4000*2F

2021-12-04T09:09:26.033Z,1638608966.033 [Micromodem](INFO): Nmea in: $CAREV,090927,COPROC,0.20.0.39330*7E

2021-12-04T09:09:36.133Z,1638608976.133 [Micromodem](INFO): Nmea in: $CAREV,090937,AUV,2.1.4000*2E

2021-12-04T09:09:36.134Z,1638608976.134 [Micromodem](INFO): Nmea in: $CAREV,090937,COPROC,0.20.0.39330*7F

2021-12-04T09:09:46.369Z,1638608986.369 [Micromodem](INFO): Nmea in: $CAREV,090947,AUV,2.1.4000*29

2021-12-04T09:09:46.370Z,1638608986.370 [Micromodem](INFO): Nmea in: $CAREV,090947,COPROC,0.20.0.39330*78

2021-12-04T09:09:56.066Z,1638608996.066 [Micromodem](INFO): Nmea in: $CAREV,090957,AUV,2.1.4000*28

2021-12-04T09:09:56.067Z,1638608996.067 [Micromodem](INFO): Nmea in: $CAREV,090957,COPROC,0.20.0.39330*79

2021-12-04T09:10:06.167Z,1638609006.167 [Micromodem](INFO): Nmea in: $CAREV,091007,AUV,2.1.4000*25

2021-12-04T09:10:06.168Z,1638609006.168 [Micromodem](INFO): Nmea in: $CAREV,091007,COPROC,0.20.0.39330*74

2021-12-04T09:10:16.266Z,1638609016.266 [Micromodem](INFO): Nmea in: $CAREV,091017,AUV,2.1.4000*24

2021-12-04T09:10:16.267Z,1638609016.267 [Micromodem](INFO): Nmea in: $CAREV,091017,COPROC,0.20.0.39330*75

2021-12-04T09:10:25.966Z,1638609025.966 [Micromodem](INFO): Nmea in: $CAREV,091027,AUV,2.1.4000*27

2021-12-04T09:10:25.970Z,1638609025.970 [Micromodem](INFO): Nmea in: $CAREV,091027,COPROC,0.20.0.39330*76

2021-12-04T09:10:36.062Z,1638609036.062 [Micromodem](INFO): Nmea in: $CAREV,091037,AUV,2.1.4000*26

2021-12-04T09:10:36.063Z,1638609036.063 [Micromodem](INFO): Nmea in: $CAREV,091037,COPROC,0.20.0.39330*77

2021-12-04T09:10:46.176Z,1638609046.176 [Micromodem](INFO): Nmea in: $CAREV,091047,AUV,2.1.4000*21

2021-12-04T09:10:46.177Z,1638609046.177 [Micromodem](INFO): Nmea in: $CAREV,091047,COPROC,0.20.0.39330*70

2021-12-04T09:10:56.263Z,1638609056.263 [Micromodem](INFO): Nmea in: $CAREV,091057,AUV,2.1.4000*20

2021-12-04T09:10:56.264Z,1638609056.264 [Micromodem](INFO): Nmea in: $CAREV,091057,COPROC,0.20.0.39330*71

2021-12-04T09:11:05.969Z,1638609065.969 [Micromodem](INFO): Nmea in: $CAREV,091107,AUV,2.1.4000*24

2021-12-04T09:11:05.970Z,1638609065.970 [Micromodem](INFO): Nmea in: $CAREV,091107,COPROC,0.20.0.39330*75

2021-12-04T09:11:16.058Z,1638609076.058 [Micromodem](INFO): Nmea in: $CAREV,091117,AUV,2.1.4000*25

2021-12-04T09:11:16.059Z,1638609076.059 [Micromodem](INFO): Nmea in: $CAREV,091117,COPROC,0.20.0.39330*74

2021-12-04T09:11:26.161Z,1638609086.161 [Micromodem](INFO): Nmea in: $CAREV,091127,AUV,2.1.4000*26

2021-12-04T09:11:26.162Z,1638609086.162 [Micromodem](INFO): Nmea in: $CAREV,091127,COPROC,0.20.0.39330*77

2021-12-04T09:11:36.261Z,1638609096.261 [Micromodem](INFO): Nmea in: $CAREV,091137,AUV,2.1.4000*27

2021-12-04T09:11:36.262Z,1638609096.262 [Micromodem](INFO): Nmea in: $CAREV,091137,COPROC,0.20.0.39330*76

2021-12-04T09:11:45.969Z,1638609105.969 [Micromodem](INFO): Nmea in: $CAREV,091147,AUV,2.1.4000*20

2021-12-04T09:11:45.971Z,1638609105.971 [Micromodem](INFO): Nmea in: $CAREV,091147,COPROC,0.20.0.39330*71

2021-12-04T09:11:56.053Z,1638609116.053 [Micromodem](INFO): Nmea in: $CAREV,091157,AUV,2.1.4000*21

2021-12-04T09:11:56.054Z,1638609116.054 [Micromodem](INFO): Nmea in: $CAREV,091157,COPROC,0.20.0.39330*70

2021-12-04T09:12:06.157Z,1638609126.157 [Micromodem](INFO): Nmea in: $CAREV,091207,AUV,2.1.4000*27

2021-12-04T09:12:06.159Z,1638609126.159 [Micromodem](INFO): Nmea in: $CAREV,091207,COPROC,0.20.0.39330*76

2021-12-04T09:12:16.255Z,1638609136.255 [Micromodem](INFO): Nmea in: $CAREV,091217,AUV,2.1.4000*26

2021-12-04T09:12:16.256Z,1638609136.256 [Micromodem](INFO): Nmea in: $CAREV,091217,COPROC,0.20.0.39330*77

2021-12-04T09:12:25.967Z,1638609145.967 [Micromodem](INFO): Nmea in: $CAREV,091227,AUV,2.1.4000*25

2021-12-04T09:12:26.365Z,1638609146.365 [Micromodem](INFO): Nmea in: $CAREV,091227,COPROC,0.20.0.39330*74

2021-12-04T09:12:36.057Z,1638609156.057 [Micromodem](INFO): Nmea in: $CAREV,091237,AUV,2.1.4000*24

2021-12-04T09:12:36.058Z,1638609156.058 [Micromodem](INFO): Nmea in: $CAREV,091237,COPROC,0.20.0.39330*75

2021-12-04T09:12:46.161Z,1638609166.161 [Micromodem](INFO): Nmea in: $CAREV,091247,AUV,2.1.4000*23

2021-12-04T09:12:46.162Z,1638609166.162 [Micromodem](INFO): Nmea in: $CAREV,091247,COPROC,0.20.0.39330*72

2021-12-04T09:12:56.259Z,1638609176.259 [Micromodem](INFO): Nmea in: $CAREV,091257,AUV,2.1.4000*22

2021-12-04T09:12:56.260Z,1638609176.260 [Micromodem](INFO): Nmea in: $CAREV,091257,COPROC,0.20.0.39330*73

2021-12-04T09:12:59.104Z,1638609179.104 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T09:12:59.105Z,1638609179.105 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:12:59.105Z,1638609179.105 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:12:59.105Z,1638609179.105 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T09:12:59.500Z,1638609179.500 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T09:12:59.500Z,1638609179.500 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T09:12:59.925Z,1638609179.925 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 18.144753 min 
2021-12-04T09:12:59.925Z,1638609179.925 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T09:12:59.925Z,1638609179.925 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:12:59.925Z,1638609179.925 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:12:59.925Z,1638609179.925 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:12:59.925Z,1638609179.925 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-12-04T09:12:59.926Z,1638609179.926 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-12-04T09:12:59.926Z,1638609179.926 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:12:59.926Z,1638609179.926 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T09:13:01.913Z,1638609181.913 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,091301.00,A,4133.11677,N,07041.57845,W,0.933,161.41,041221,,,D*77
2021-12-04T09:13:01.915Z,1638609181.915 [NAL9602](INFO): GPS fix at 20211204T091301: (41.551946, -70.692974)
2021-12-04T09:13:01.945Z,1638609181.945 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T09:13:01.945Z,1638609181.945 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T09:13:05.978Z,1638609185.978 [Micromodem](INFO): Nmea in: $CAREV,091307,AUV,2.1.4000*26

2021-12-04T09:13:06.114Z,1638609186.114 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20211204T085114/Courier0013.lzma
2021-12-04T09:13:06.357Z,1638609186.357 [Micromodem](INFO): Nmea in: $CAREV,091307,COPROC,0.20.0.39330*77

2021-12-04T09:13:07.116Z,1638609187.116 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0013.lzma.bak
2021-12-04T09:13:07.116Z,1638609187.116 [DataOverHttps](INFO): SBD MOMSN=623217
2021-12-04T09:13:13.626Z,1638609193.626 [NAL9602](INFO): SBD MO Status=0, MOMSN=30134, MT Status=0, MTMSN=0
2021-12-04T09:13:13.626Z,1638609193.626 [NAL9602](INFO): No messages in MT queue
2021-12-04T09:13:16.059Z,1638609196.059 [Micromodem](INFO): Nmea in: $CAREV,091317,AUV,2.1.4000*27

2021-12-04T09:13:16.154Z,1638609196.154 [DataOverHttps](INFO): Sending 131 bytes from file Logs/20211204T085114/Express0014.lzma
2021-12-04T09:13:16.452Z,1638609196.452 [Micromodem](INFO): Nmea in: $CAREV,091317,COPROC,0.20.0.39330*76

2021-12-04T09:13:17.156Z,1638609197.156 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0014.lzma.bak
2021-12-04T09:13:17.156Z,1638609197.156 [DataOverHttps](INFO): SBD MOMSN=623219
2021-12-04T09:13:18.490Z,1638609198.490 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T09:13:18.490Z,1638609198.490 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T09:13:18.490Z,1638609198.490 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T09:13:26.154Z,1638609206.154 [Micromodem](INFO): Nmea in: $CAREV,091327,AUV,2.1.4000*24

2021-12-04T09:13:26.155Z,1638609206.155 [Micromodem](INFO): Nmea in: $CAREV,091327,COPROC,0.20.0.39330*75

2021-12-04T09:13:36.004Z,1638609216.004 [Micromodem](INFO): Nmea in: $CAREV,091337,AUV,2.1.4000*25

2021-12-04T09:13:36.099Z,1638609216.099 [Micromodem](INFO): Nmea in: $CAREV,091337,COPROC,0.20.0.39330*74

2021-12-04T09:13:44.085Z,1638609224.085 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:13:46.107Z,1638609226.107 [Micromodem](INFO): Nmea in: $CAREV,091347,AUV,2.1.4000*22

2021-12-04T09:13:46.110Z,1638609226.110 [Micromodem](INFO): Nmea in: $CAREV,091347,COPROC,0.20.0.39330*73

2021-12-04T09:13:56.205Z,1638609236.205 [Micromodem](INFO): Nmea in: $CAREV,091357,AUV,2.1.4000*23

2021-12-04T09:13:56.207Z,1638609236.207 [Micromodem](INFO): Nmea in: $CAREV,091357,COPROC,0.20.0.39330*72

2021-12-04T09:14:06.309Z,1638609246.309 [Micromodem](INFO): Nmea in: $CAREV,091407,AUV,2.1.4000*21

2021-12-04T09:14:06.310Z,1638609246.310 [Micromodem](INFO): Nmea in: $CAREV,091407,COPROC,0.20.0.39330*70

2021-12-04T09:14:16.005Z,1638609256.005 [Micromodem](INFO): Nmea in: $CAREV,091417,AUV,2.1.4000*20

2021-12-04T09:14:16.006Z,1638609256.006 [Micromodem](INFO): Nmea in: $CAREV,091417,COPROC,0.20.0.39330*71

2021-12-04T09:14:26.105Z,1638609266.105 [Micromodem](INFO): Nmea in: $CAREV,091427,AUV,2.1.4000*23

2021-12-04T09:14:26.106Z,1638609266.106 [Micromodem](INFO): Nmea in: $CAREV,091427,COPROC,0.20.0.39330*72

2021-12-04T09:14:36.205Z,1638609276.205 [Micromodem](INFO): Nmea in: $CAREV,091437,AUV,2.1.4000*22

2021-12-04T09:14:36.206Z,1638609276.206 [Micromodem](INFO): Nmea in: $CAREV,091437,COPROC,0.20.0.39330*73

2021-12-04T09:14:46.305Z,1638609286.305 [Micromodem](INFO): Nmea in: $CAREV,091447,AUV,2.1.4000*25

2021-12-04T09:14:46.306Z,1638609286.306 [Micromodem](INFO): Nmea in: $CAREV,091447,COPROC,0.20.0.39330*74

2021-12-04T09:14:56.003Z,1638609296.003 [Micromodem](INFO): Nmea in: $CAREV,091457,AUV,2.1.4000*24

2021-12-04T09:14:56.005Z,1638609296.005 [Micromodem](INFO): Nmea in: $CAREV,091457,COPROC,0.20.0.39330*75

2021-12-04T09:15:06.097Z,1638609306.097 [Micromodem](INFO): Nmea in: $CAREV,091507,AUV,2.1.4000*20

2021-12-04T09:15:06.098Z,1638609306.098 [Micromodem](INFO): Nmea in: $CAREV,091507,COPROC,0.20.0.39330*71

2021-12-04T09:15:16.197Z,1638609316.197 [Micromodem](INFO): Nmea in: $CAREV,091517,AUV,2.1.4000*21

2021-12-04T09:15:16.198Z,1638609316.198 [Micromodem](INFO): Nmea in: $CAREV,091517,COPROC,0.20.0.39330*70

2021-12-04T09:15:26.295Z,1638609326.295 [Micromodem](INFO): Nmea in: $CAREV,091527,AUV,2.1.4000*22

2021-12-04T09:15:26.296Z,1638609326.296 [Micromodem](INFO): Nmea in: $CAREV,091527,COPROC,0.20.0.39330*73

2021-12-04T09:15:36.009Z,1638609336.009 [Micromodem](INFO): Nmea in: $CAREV,091537,AUV,2.1.4000*23

2021-12-04T09:15:36.010Z,1638609336.010 [Micromodem](INFO): Nmea in: $CAREV,091537,COPROC,0.20.0.39330*72

2021-12-04T09:15:46.093Z,1638609346.093 [Micromodem](INFO): Nmea in: $CAREV,091547,AUV,2.1.4000*24

2021-12-04T09:15:46.094Z,1638609346.094 [Micromodem](INFO): Nmea in: $CAREV,091547,COPROC,0.20.0.39330*75

2021-12-04T09:15:56.193Z,1638609356.193 [Micromodem](INFO): Nmea in: $CAREV,091557,AUV,2.1.4000*25

2021-12-04T09:15:56.195Z,1638609356.195 [Micromodem](INFO): Nmea in: $CAREV,091557,COPROC,0.20.0.39330*74

2021-12-04T09:16:06.301Z,1638609366.301 [Micromodem](INFO): Nmea in: $CAREV,091607,AUV,2.1.4000*23

2021-12-04T09:16:06.302Z,1638609366.302 [Micromodem](INFO): Nmea in: $CAREV,091607,COPROC,0.20.0.39330*72

2021-12-04T09:16:15.998Z,1638609375.998 [Micromodem](INFO): Nmea in: $CAREV,091617,AUV,2.1.4000*22

2021-12-04T09:16:16.393Z,1638609376.393 [Micromodem](INFO): Nmea in: $CAREV,091617,COPROC,0.20.0.39330*73

2021-12-04T09:16:26.093Z,1638609386.093 [Micromodem](INFO): Nmea in: $CAREV,091627,AUV,2.1.4000*21

2021-12-04T09:16:26.094Z,1638609386.094 [Micromodem](INFO): Nmea in: $CAREV,091627,COPROC,0.20.0.39330*70

2021-12-04T09:16:36.187Z,1638609396.187 [Micromodem](INFO): Nmea in: $CAREV,091637,AUV,2.1.4000*20

2021-12-04T09:16:36.188Z,1638609396.188 [Micromodem](INFO): Nmea in: $CAREV,091637,COPROC,0.20.0.39330*71

2021-12-04T09:16:46.287Z,1638609406.287 [Micromodem](INFO): Nmea in: $CAREV,091647,AUV,2.1.4000*27

2021-12-04T09:16:46.288Z,1638609406.288 [Micromodem](INFO): Nmea in: $CAREV,091647,COPROC,0.20.0.39330*76

2021-12-04T09:16:56.393Z,1638609416.393 [Micromodem](INFO): Nmea in: $CAREV,091657,AUV,2.1.4000*26

2021-12-04T09:16:56.394Z,1638609416.394 [Micromodem](INFO): Nmea in: $CAREV,091657,COPROC,0.20.0.39330*77

2021-12-04T09:17:06.089Z,1638609426.089 [Micromodem](INFO): Nmea in: $CAREV,091707,AUV,2.1.4000*22

2021-12-04T09:17:06.090Z,1638609426.090 [Micromodem](INFO): Nmea in: $CAREV,091707,COPROC,0.20.0.39330*73

2021-12-04T09:17:16.183Z,1638609436.183 [Micromodem](INFO): Nmea in: $CAREV,091717,AUV,2.1.4000*23

2021-12-04T09:17:16.184Z,1638609436.184 [Micromodem](INFO): Nmea in: $CAREV,091717,COPROC,0.20.0.39330*72

2021-12-04T09:17:26.285Z,1638609446.285 [Micromodem](INFO): Nmea in: $CAREV,091727,AUV,2.1.4000*20

2021-12-04T09:17:26.286Z,1638609446.286 [Micromodem](INFO): Nmea in: $CAREV,091727,COPROC,0.20.0.39330*71

2021-12-04T09:17:36.385Z,1638609456.385 [Micromodem](INFO): Nmea in: $CAREV,091737,AUV,2.1.4000*21

2021-12-04T09:17:36.386Z,1638609456.386 [Micromodem](INFO): Nmea in: $CAREV,091737,COPROC,0.20.0.39330*70

2021-12-04T09:17:46.081Z,1638609466.081 [Micromodem](INFO): Nmea in: $CAREV,091747,AUV,2.1.4000*26

2021-12-04T09:17:46.082Z,1638609466.082 [Micromodem](INFO): Nmea in: $CAREV,091747,COPROC,0.20.0.39330*77

2021-12-04T09:17:56.179Z,1638609476.179 [Micromodem](INFO): Nmea in: $CAREV,091757,AUV,2.1.4000*27

2021-12-04T09:17:56.180Z,1638609476.180 [Micromodem](INFO): Nmea in: $CAREV,091757,COPROC,0.20.0.39330*76

2021-12-04T09:18:06.285Z,1638609486.285 [Micromodem](INFO): Nmea in: $CAREV,091807,AUV,2.1.4000*2D

2021-12-04T09:18:06.286Z,1638609486.286 [Micromodem](INFO): Nmea in: $CAREV,091807,COPROC,0.20.0.39330*7C

2021-12-04T09:18:16.392Z,1638609496.392 [Micromodem](INFO): Nmea in: $CAREV,091817,AUV,2.1.4000*2C

2021-12-04T09:18:16.393Z,1638609496.393 [Micromodem](INFO): Nmea in: $CAREV,091817,COPROC,0.20.0.39330*7D

2021-12-04T09:18:19.232Z,1638609499.232 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T09:18:19.233Z,1638609499.233 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:18:19.233Z,1638609499.233 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:18:19.233Z,1638609499.233 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T09:18:19.624Z,1638609499.624 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T09:18:19.624Z,1638609499.624 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 23.480164 min 
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:18:20.063Z,1638609500.063 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T09:18:22.043Z,1638609502.043 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,091821.00,A,4133.09855,N,07041.54317,W,0.758,122.95,041221,,,A*7E
2021-12-04T09:18:22.045Z,1638609502.045 [NAL9602](INFO): GPS fix at 20211204T091821: (41.551642, -70.692386)
2021-12-04T09:18:22.117Z,1638609502.117 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T09:18:22.117Z,1638609502.117 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T09:18:26.081Z,1638609506.081 [Micromodem](INFO): Nmea in: $CAREV,091827,AUV,2.1.4000*2F

2021-12-04T09:18:26.449Z,1638609506.449 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20211204T085114/Courier0016.lzma
2021-12-04T09:18:26.498Z,1638609506.498 [Micromodem](INFO): Nmea in: $CAREV,091827,COPROC,0.20.0.39330*7E

2021-12-04T09:18:27.444Z,1638609507.444 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0016.lzma.bak
2021-12-04T09:18:27.444Z,1638609507.444 [DataOverHttps](INFO): SBD MOMSN=623223
2021-12-04T09:18:36.189Z,1638609516.189 [Micromodem](INFO): Nmea in: $CAREV,091837,AUV,2.1.4000*2E

2021-12-04T09:18:36.482Z,1638609516.482 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20211204T085114/Express0017.lzma
2021-12-04T09:18:36.597Z,1638609516.597 [Micromodem](INFO): Nmea in: $CAREV,091837,COPROC,0.20.0.39330*7F

2021-12-04T09:18:37.485Z,1638609517.485 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0017.lzma.bak
2021-12-04T09:18:37.485Z,1638609517.485 [DataOverHttps](INFO): SBD MOMSN=623225
2021-12-04T09:18:39.033Z,1638609519.033 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T09:18:39.033Z,1638609519.033 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T09:18:39.033Z,1638609519.033 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T09:18:43.060Z,1638609523.060 [NAL9602](INFO): SBD MO Status=0, MOMSN=30135, MT Status=0, MTMSN=0
2021-12-04T09:18:43.060Z,1638609523.060 [NAL9602](INFO): No messages in MT queue
2021-12-04T09:18:46.289Z,1638609526.289 [Micromodem](INFO): Nmea in: $CAREV,091847,AUV,2.1.4000*29

2021-12-04T09:18:46.290Z,1638609526.290 [Micromodem](INFO): Nmea in: $CAREV,091847,COPROC,0.20.0.39330*78

2021-12-04T09:18:56.389Z,1638609536.389 [Micromodem](INFO): Nmea in: $CAREV,091857,AUV,2.1.4000*28

2021-12-04T09:18:56.390Z,1638609536.390 [Micromodem](INFO): Nmea in: $CAREV,091857,COPROC,0.20.0.39330*79

2021-12-04T09:19:06.078Z,1638609546.078 [Micromodem](INFO): Nmea in: $CAREV,091907,AUV,2.1.4000*2C

2021-12-04T09:19:06.079Z,1638609546.079 [Micromodem](INFO): Nmea in: $CAREV,091907,COPROC,0.20.0.39330*7D

2021-12-04T09:19:13.760Z,1638609553.760 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:19:16.182Z,1638609556.182 [Micromodem](INFO): Nmea in: $CAREV,091917,AUV,2.1.4000*2D

2021-12-04T09:19:16.184Z,1638609556.184 [Micromodem](INFO): Nmea in: $CAREV,091917,COPROC,0.20.0.39330*7C

2021-12-04T09:19:26.294Z,1638609566.294 [Micromodem](INFO): Nmea in: $CAREV,091927,AUV,2.1.4000*2E

2021-12-04T09:19:26.296Z,1638609566.296 [Micromodem](INFO): Nmea in: $CAREV,091927,COPROC,0.20.0.39330*7F

2021-12-04T09:19:36.385Z,1638609576.385 [Micromodem](INFO): Nmea in: $CAREV,091937,AUV,2.1.4000*2F

2021-12-04T09:19:36.387Z,1638609576.387 [Micromodem](INFO): Nmea in: $CAREV,091937,COPROC,0.20.0.39330*7E

2021-12-04T09:19:46.081Z,1638609586.081 [Micromodem](INFO): Nmea in: $CAREV,091947,AUV,2.1.4000*28

2021-12-04T09:19:46.082Z,1638609586.082 [Micromodem](INFO): Nmea in: $CAREV,091947,COPROC,0.20.0.39330*79

2021-12-04T09:19:56.175Z,1638609596.175 [Micromodem](INFO): Nmea in: $CAREV,091957,AUV,2.1.4000*29

2021-12-04T09:19:56.176Z,1638609596.176 [Micromodem](INFO): Nmea in: $CAREV,091957,COPROC,0.20.0.39330*78

2021-12-04T09:20:06.277Z,1638609606.277 [Micromodem](INFO): Nmea in: $CAREV,092007,AUV,2.1.4000*26

2021-12-04T09:20:06.278Z,1638609606.278 [Micromodem](INFO): Nmea in: $CAREV,092007,COPROC,0.20.0.39330*77

2021-12-04T09:20:16.381Z,1638609616.381 [Micromodem](INFO): Nmea in: $CAREV,092017,AUV,2.1.4000*27

2021-12-04T09:20:16.382Z,1638609616.382 [Micromodem](INFO): Nmea in: $CAREV,092017,COPROC,0.20.0.39330*76

2021-12-04T09:20:26.077Z,1638609626.077 [Micromodem](INFO): Nmea in: $CAREV,092027,AUV,2.1.4000*24

2021-12-04T09:20:26.078Z,1638609626.078 [Micromodem](INFO): Nmea in: $CAREV,092027,COPROC,0.20.0.39330*75

2021-12-04T09:20:36.176Z,1638609636.176 [Micromodem](INFO): Nmea in: $CAREV,092037,AUV,2.1.4000*25

2021-12-04T09:20:36.177Z,1638609636.177 [Micromodem](INFO): Nmea in: $CAREV,092037,COPROC,0.20.0.39330*74

2021-12-04T09:20:46.277Z,1638609646.277 [Micromodem](INFO): Nmea in: $CAREV,092047,AUV,2.1.4000*22

2021-12-04T09:20:46.278Z,1638609646.278 [Micromodem](INFO): Nmea in: $CAREV,092047,COPROC,0.20.0.39330*73

2021-12-04T09:20:56.374Z,1638609656.374 [Micromodem](INFO): Nmea in: $CAREV,092057,AUV,2.1.4000*23

2021-12-04T09:20:56.375Z,1638609656.375 [Micromodem](INFO): Nmea in: $CAREV,092057,COPROC,0.20.0.39330*72

2021-12-04T09:21:06.077Z,1638609666.077 [Micromodem](INFO): Nmea in: $CAREV,092107,AUV,2.1.4000*27

2021-12-04T09:21:06.078Z,1638609666.078 [Micromodem](INFO): Nmea in: $CAREV,092107,COPROC,0.20.0.39330*76

2021-12-04T09:21:16.181Z,1638609676.181 [Micromodem](INFO): Nmea in: $CAREV,092117,AUV,2.1.4000*26

2021-12-04T09:21:16.182Z,1638609676.182 [Micromodem](INFO): Nmea in: $CAREV,092117,COPROC,0.20.0.39330*77

2021-12-04T09:21:26.273Z,1638609686.273 [Micromodem](INFO): Nmea in: $CAREV,092127,AUV,2.1.4000*25

2021-12-04T09:21:26.274Z,1638609686.274 [Micromodem](INFO): Nmea in: $CAREV,092127,COPROC,0.20.0.39330*74

2021-12-04T09:21:36.369Z,1638609696.369 [Micromodem](INFO): Nmea in: $CAREV,092137,AUV,2.1.4000*24

2021-12-04T09:21:36.370Z,1638609696.370 [Micromodem](INFO): Nmea in: $CAREV,092137,COPROC,0.20.0.39330*75

2021-12-04T09:21:46.077Z,1638609706.077 [Micromodem](INFO): Nmea in: $CAREV,092147,AUV,2.1.4000*23

2021-12-04T09:21:46.078Z,1638609706.078 [Micromodem](INFO): Nmea in: $CAREV,092147,COPROC,0.20.0.39330*72

2021-12-04T09:21:56.169Z,1638609716.169 [Micromodem](INFO): Nmea in: $CAREV,092157,AUV,2.1.4000*22

2021-12-04T09:21:56.170Z,1638609716.170 [Micromodem](INFO): Nmea in: $CAREV,092157,COPROC,0.20.0.39330*73

2021-12-04T09:22:06.274Z,1638609726.274 [Micromodem](INFO): Nmea in: $CAREV,092207,AUV,2.1.4000*24

2021-12-04T09:22:06.275Z,1638609726.275 [Micromodem](INFO): Nmea in: $CAREV,092207,COPROC,0.20.0.39330*75

2021-12-04T09:22:16.364Z,1638609736.364 [Micromodem](INFO): Nmea in: $CAREV,092217,AUV,2.1.4000*25

2021-12-04T09:22:16.366Z,1638609736.366 [Micromodem](INFO): Nmea in: $CAREV,092217,COPROC,0.20.0.39330*74

2021-12-04T09:22:23.240Z,1638609743.240 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T09:22:26.085Z,1638609746.085 [Micromodem](INFO): Nmea in: $CAREV,092227,AUV,2.1.4000*26

2021-12-04T09:22:26.086Z,1638609746.086 [Micromodem](INFO): Nmea in: $CAREV,092227,COPROC,0.20.0.39330*77

2021-12-04T09:22:36.161Z,1638609756.161 [Micromodem](INFO): Nmea in: $CAREV,092237,AUV,2.1.4000*27

2021-12-04T09:22:36.162Z,1638609756.162 [Micromodem](INFO): Nmea in: $CAREV,092237,COPROC,0.20.0.39330*76

2021-12-04T09:22:46.261Z,1638609766.261 [Micromodem](INFO): Nmea in: $CAREV,092247,AUV,2.1.4000*20

2021-12-04T09:22:46.263Z,1638609766.263 [Micromodem](INFO): Nmea in: $CAREV,092247,COPROC,0.20.0.39330*71

2021-12-04T09:22:56.365Z,1638609776.365 [Micromodem](INFO): Nmea in: $CAREV,092257,AUV,2.1.4000*21

2021-12-04T09:22:56.366Z,1638609776.366 [Micromodem](INFO): Nmea in: $CAREV,092257,COPROC,0.20.0.39330*70

2021-12-04T09:23:06.466Z,1638609786.466 [Micromodem](INFO): Nmea in: $CAREV,092307,AUV,2.1.4000*25

2021-12-04T09:23:06.467Z,1638609786.467 [Micromodem](INFO): Nmea in: $CAREV,092307,COPROC,0.20.0.39330*74

2021-12-04T09:23:16.165Z,1638609796.165 [Micromodem](INFO): Nmea in: $CAREV,092317,AUV,2.1.4000*24

2021-12-04T09:23:16.166Z,1638609796.166 [Micromodem](INFO): Nmea in: $CAREV,092317,COPROC,0.20.0.39330*75

2021-12-04T09:23:26.265Z,1638609806.265 [Micromodem](INFO): Nmea in: $CAREV,092327,AUV,2.1.4000*27

2021-12-04T09:23:26.266Z,1638609806.266 [Micromodem](INFO): Nmea in: $CAREV,092327,COPROC,0.20.0.39330*76

2021-12-04T09:23:36.361Z,1638609816.361 [Micromodem](INFO): Nmea in: $CAREV,092337,AUV,2.1.4000*26

2021-12-04T09:23:36.362Z,1638609816.362 [Micromodem](INFO): Nmea in: $CAREV,092337,COPROC,0.20.0.39330*77

2021-12-04T09:23:39.612Z,1638609819.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T09:23:39.612Z,1638609819.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:23:39.612Z,1638609819.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:23:39.612Z,1638609819.612 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T09:23:40.073Z,1638609820.073 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T09:23:40.073Z,1638609820.073 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T09:23:40.450Z,1638609820.450 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 28.820972 min 
2021-12-04T09:23:40.450Z,1638609820.450 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T09:23:40.450Z,1638609820.450 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:23:40.450Z,1638609820.450 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:23:40.454Z,1638609820.454 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:23:40.455Z,1638609820.455 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #6
2021-12-04T09:23:40.455Z,1638609820.455 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=6
2021-12-04T09:23:40.455Z,1638609820.455 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:23:40.455Z,1638609820.455 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T09:23:42.423Z,1638609822.423 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092341.00,A,4133.08033,N,07041.50470,W,0.467,154.46,041221,,,A*7B
2021-12-04T09:23:42.425Z,1638609822.425 [NAL9602](INFO): GPS fix at 20211204T092341: (41.551339, -70.691745)
2021-12-04T09:23:42.467Z,1638609822.467 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T09:23:42.467Z,1638609822.467 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T09:23:46.458Z,1638609826.458 [Micromodem](INFO): Nmea in: $CAREV,092347,AUV,2.1.4000*21

2021-12-04T09:23:46.782Z,1638609826.782 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20211204T085114/Courier0019.lzma
2021-12-04T09:23:46.869Z,1638609826.869 [Micromodem](INFO): Nmea in: $CAREV,092347,COPROC,0.20.0.39330*70

2021-12-04T09:23:47.788Z,1638609827.788 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0019.lzma.bak
2021-12-04T09:23:47.788Z,1638609827.788 [DataOverHttps](INFO): SBD MOMSN=623229
2021-12-04T09:23:53.342Z,1638609833.342 [NAL9602](INFO): SBD MO Status=0, MOMSN=30136, MT Status=0, MTMSN=0
2021-12-04T09:23:53.342Z,1638609833.342 [NAL9602](INFO): No messages in MT queue
2021-12-04T09:23:56.163Z,1638609836.163 [Micromodem](INFO): Nmea in: $CAREV,092357,AUV,2.1.4000*20

2021-12-04T09:23:56.565Z,1638609836.565 [Micromodem](INFO): Nmea in: $CAREV,092357,COPROC,0.20.0.39330*71

2021-12-04T09:23:56.822Z,1638609836.822 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20211204T085114/Express0020.lzma
2021-12-04T09:23:57.829Z,1638609837.829 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0020.lzma.bak
2021-12-04T09:23:57.830Z,1638609837.830 [DataOverHttps](INFO): SBD MOMSN=623231
2021-12-04T09:23:59.422Z,1638609839.422 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T09:23:59.423Z,1638609839.423 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T09:23:59.423Z,1638609839.423 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T09:24:06.261Z,1638609846.261 [Micromodem](INFO): Nmea in: $CAREV,092407,AUV,2.1.4000*22

2021-12-04T09:24:06.262Z,1638609846.262 [Micromodem](INFO): Nmea in: $CAREV,092407,COPROC,0.20.0.39330*73

2021-12-04T09:24:16.358Z,1638609856.358 [Micromodem](INFO): Nmea in: $CAREV,092417,AUV,2.1.4000*23

2021-12-04T09:24:16.359Z,1638609856.359 [Micromodem](INFO): Nmea in: $CAREV,092417,COPROC,0.20.0.39330*72

2021-12-04T09:24:24.040Z,1638609864.040 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:24:26.472Z,1638609866.472 [Micromodem](INFO): Nmea in: $CAREV,092427,AUV,2.1.4000*20

2021-12-04T09:24:26.473Z,1638609866.473 [Micromodem](INFO): Nmea in: $CAREV,092427,COPROC,0.20.0.39330*71

2021-12-04T09:24:36.151Z,1638609876.151 [Micromodem](INFO): Nmea in: $CAREV,092437,AUV,2.1.4000*21

2021-12-04T09:24:36.152Z,1638609876.152 [Micromodem](INFO): Nmea in: $CAREV,092437,COPROC,0.20.0.39330*70

2021-12-04T09:24:46.257Z,1638609886.257 [Micromodem](INFO): Nmea in: $CAREV,092447,AUV,2.1.4000*26

2021-12-04T09:24:46.263Z,1638609886.263 [Micromodem](INFO): Nmea in: $CAREV,092447,COPROC,0.20.0.39330*77

2021-12-04T09:24:56.362Z,1638609896.362 [Micromodem](INFO): Nmea in: $CAREV,092457,AUV,2.1.4000*27

2021-12-04T09:24:56.364Z,1638609896.364 [Micromodem](INFO): Nmea in: $CAREV,092457,COPROC,0.20.0.39330*76

2021-12-04T09:25:06.457Z,1638609906.457 [Micromodem](INFO): Nmea in: $CAREV,092507,AUV,2.1.4000*23

2021-12-04T09:25:06.458Z,1638609906.458 [Micromodem](INFO): Nmea in: $CAREV,092507,COPROC,0.20.0.39330*72

2021-12-04T09:25:16.149Z,1638609916.149 [Micromodem](INFO): Nmea in: $CAREV,092517,AUV,2.1.4000*22

2021-12-04T09:25:16.150Z,1638609916.150 [Micromodem](INFO): Nmea in: $CAREV,092517,COPROC,0.20.0.39330*73

2021-12-04T09:25:26.249Z,1638609926.249 [Micromodem](INFO): Nmea in: $CAREV,092527,AUV,2.1.4000*21

2021-12-04T09:25:26.250Z,1638609926.250 [Micromodem](INFO): Nmea in: $CAREV,092527,COPROC,0.20.0.39330*70

2021-12-04T09:25:36.353Z,1638609936.353 [Micromodem](INFO): Nmea in: $CAREV,092537,AUV,2.1.4000*20

2021-12-04T09:25:36.354Z,1638609936.354 [Micromodem](INFO): Nmea in: $CAREV,092537,COPROC,0.20.0.39330*71

2021-12-04T09:25:46.457Z,1638609946.457 [Micromodem](INFO): Nmea in: $CAREV,092547,AUV,2.1.4000*27

2021-12-04T09:25:46.458Z,1638609946.458 [Micromodem](INFO): Nmea in: $CAREV,092547,COPROC,0.20.0.39330*76

2021-12-04T09:25:56.145Z,1638609956.145 [Micromodem](INFO): Nmea in: $CAREV,092557,AUV,2.1.4000*26

2021-12-04T09:25:56.146Z,1638609956.146 [Micromodem](INFO): Nmea in: $CAREV,092557,COPROC,0.20.0.39330*77

2021-12-04T09:26:06.249Z,1638609966.249 [Micromodem](INFO): Nmea in: $CAREV,092607,AUV,2.1.4000*20

2021-12-04T09:26:06.250Z,1638609966.250 [Micromodem](INFO): Nmea in: $CAREV,092607,COPROC,0.20.0.39330*71

2021-12-04T09:26:16.349Z,1638609976.349 [Micromodem](INFO): Nmea in: $CAREV,092617,AUV,2.1.4000*21

2021-12-04T09:26:16.350Z,1638609976.350 [Micromodem](INFO): Nmea in: $CAREV,092617,COPROC,0.20.0.39330*70

2021-12-04T09:26:26.447Z,1638609986.447 [Micromodem](INFO): Nmea in: $CAREV,092627,AUV,2.1.4000*22

2021-12-04T09:26:26.448Z,1638609986.448 [Micromodem](INFO): Nmea in: $CAREV,092627,COPROC,0.20.0.39330*73

2021-12-04T09:26:36.143Z,1638609996.143 [Micromodem](INFO): Nmea in: $CAREV,092637,AUV,2.1.4000*23

2021-12-04T09:26:36.144Z,1638609996.144 [Micromodem](INFO): Nmea in: $CAREV,092637,COPROC,0.20.0.39330*72

2021-12-04T09:26:46.241Z,1638610006.241 [Micromodem](INFO): Nmea in: $CAREV,092647,AUV,2.1.4000*24

2021-12-04T09:26:46.242Z,1638610006.242 [Micromodem](INFO): Nmea in: $CAREV,092647,COPROC,0.20.0.39330*75

2021-12-04T09:26:56.353Z,1638610016.353 [Micromodem](INFO): Nmea in: $CAREV,092657,AUV,2.1.4000*25

2021-12-04T09:26:56.354Z,1638610016.354 [Micromodem](INFO): Nmea in: $CAREV,092657,COPROC,0.20.0.39330*74

2021-12-04T09:27:06.441Z,1638610026.441 [Micromodem](INFO): Nmea in: $CAREV,092707,AUV,2.1.4000*21

2021-12-04T09:27:06.443Z,1638610026.443 [Micromodem](INFO): Nmea in: $CAREV,092707,COPROC,0.20.0.39330*70

2021-12-04T09:27:16.163Z,1638610036.163 [Micromodem](INFO): Nmea in: $CAREV,092717,AUV,2.1.4000*20

2021-12-04T09:27:16.164Z,1638610036.164 [Micromodem](INFO): Nmea in: $CAREV,092717,COPROC,0.20.0.39330*71

2021-12-04T09:27:26.238Z,1638610046.238 [Micromodem](INFO): Nmea in: $CAREV,092727,AUV,2.1.4000*23

2021-12-04T09:27:26.239Z,1638610046.239 [Micromodem](INFO): Nmea in: $CAREV,092727,COPROC,0.20.0.39330*72

2021-12-04T09:27:36.337Z,1638610056.337 [Micromodem](INFO): Nmea in: $CAREV,092737,AUV,2.1.4000*22

2021-12-04T09:27:36.338Z,1638610056.338 [Micromodem](INFO): Nmea in: $CAREV,092737,COPROC,0.20.0.39330*73

2021-12-04T09:27:46.441Z,1638610066.441 [Micromodem](INFO): Nmea in: $CAREV,092747,AUV,2.1.4000*25

2021-12-04T09:27:46.442Z,1638610066.442 [Micromodem](INFO): Nmea in: $CAREV,092747,COPROC,0.20.0.39330*74

2021-12-04T09:27:56.150Z,1638610076.150 [Micromodem](INFO): Nmea in: $CAREV,092757,AUV,2.1.4000*24

2021-12-04T09:27:56.151Z,1638610076.151 [Micromodem](INFO): Nmea in: $CAREV,092757,COPROC,0.20.0.39330*75

2021-12-04T09:28:06.237Z,1638610086.237 [Micromodem](INFO): Nmea in: $CAREV,092807,AUV,2.1.4000*2E

2021-12-04T09:28:06.238Z,1638610086.238 [Micromodem](INFO): Nmea in: $CAREV,092807,COPROC,0.20.0.39330*7F

2021-12-04T09:28:16.337Z,1638610096.337 [Micromodem](INFO): Nmea in: $CAREV,092817,AUV,2.1.4000*2F

2021-12-04T09:28:16.338Z,1638610096.338 [Micromodem](INFO): Nmea in: $CAREV,092817,COPROC,0.20.0.39330*7E

2021-12-04T09:28:26.441Z,1638610106.441 [Micromodem](INFO): Nmea in: $CAREV,092827,AUV,2.1.4000*2C

2021-12-04T09:28:26.442Z,1638610106.442 [Micromodem](INFO): Nmea in: $CAREV,092827,COPROC,0.20.0.39330*7D

2021-12-04T09:28:36.147Z,1638610116.147 [Micromodem](INFO): Nmea in: $CAREV,092837,AUV,2.1.4000*2D

2021-12-04T09:28:36.537Z,1638610116.537 [Micromodem](INFO): Nmea in: $CAREV,092837,COPROC,0.20.0.39330*7C

2021-12-04T09:28:46.227Z,1638610126.227 [Micromodem](INFO): Nmea in: $CAREV,092847,AUV,2.1.4000*2A

2021-12-04T09:28:46.228Z,1638610126.228 [Micromodem](INFO): Nmea in: $CAREV,092847,COPROC,0.20.0.39330*7B

2021-12-04T09:28:56.333Z,1638610136.333 [Micromodem](INFO): Nmea in: $CAREV,092857,AUV,2.1.4000*2B

2021-12-04T09:28:56.334Z,1638610136.334 [Micromodem](INFO): Nmea in: $CAREV,092857,COPROC,0.20.0.39330*7A

2021-12-04T09:29:00.022Z,1638610140.022 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T09:29:00.022Z,1638610140.022 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:29:00.022Z,1638610140.022 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:29:00.022Z,1638610140.022 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T09:29:00.380Z,1638610140.380 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T09:29:00.380Z,1638610140.380 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T09:29:00.804Z,1638610140.804 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 34.159428 min 
2021-12-04T09:29:00.804Z,1638610140.804 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T09:29:00.804Z,1638610140.804 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:29:00.804Z,1638610140.804 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:29:00.804Z,1638610140.804 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:29:00.804Z,1638610140.804 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #7
2021-12-04T09:29:00.805Z,1638610140.805 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=7
2021-12-04T09:29:00.805Z,1638610140.805 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:29:00.805Z,1638610140.805 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T09:29:02.792Z,1638610142.792 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,092902.00,A,4133.05710,N,07041.46417,W,0.253,120.49,041221,,,D*73
2021-12-04T09:29:02.795Z,1638610142.795 [NAL9602](INFO): GPS fix at 20211204T092902: (41.550952, -70.691069)
2021-12-04T09:29:02.805Z,1638610142.805 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T09:29:02.805Z,1638610142.805 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T09:29:06.429Z,1638610146.429 [Micromodem](INFO): Nmea in: $CAREV,092907,AUV,2.1.4000*2F

2021-12-04T09:29:06.834Z,1638610146.834 [Micromodem](INFO): Nmea in: $CAREV,092907,COPROC,0.20.0.39330*7E

2021-12-04T09:29:07.138Z,1638610147.138 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20211204T085114/Courier0022.lzma
2021-12-04T09:29:08.140Z,1638610148.140 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0022.lzma.bak
2021-12-04T09:29:08.140Z,1638610148.140 [DataOverHttps](INFO): SBD MOMSN=623235
2021-12-04T09:29:14.942Z,1638610154.942 [NAL9602](INFO): SBD MO Status=0, MOMSN=30137, MT Status=0, MTMSN=0
2021-12-04T09:29:14.942Z,1638610154.942 [NAL9602](INFO): No messages in MT queue
2021-12-04T09:29:16.252Z,1638610156.252 [Micromodem](INFO): Nmea in: $CAREV,092917,AUV,2.1.4000*2E

2021-12-04T09:29:16.535Z,1638610156.535 [Micromodem](INFO): Nmea in: $CAREV,092917,COPROC,0.20.0.39330*7F

2021-12-04T09:29:17.178Z,1638610157.178 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20211204T085114/Express0023.lzma
2021-12-04T09:29:18.180Z,1638610158.180 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0023.lzma.bak
2021-12-04T09:29:18.180Z,1638610158.180 [DataOverHttps](INFO): SBD MOMSN=623237
2021-12-04T09:29:19.847Z,1638610159.847 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T09:29:19.847Z,1638610159.847 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T09:29:19.847Z,1638610159.847 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T09:29:26.229Z,1638610166.229 [Micromodem](INFO): Nmea in: $CAREV,092927,AUV,2.1.4000*2D

2021-12-04T09:29:26.230Z,1638610166.230 [Micromodem](INFO): Nmea in: $CAREV,092927,COPROC,0.20.0.39330*7C

2021-12-04T09:29:36.339Z,1638610176.339 [Micromodem](INFO): Nmea in: $CAREV,092937,AUV,2.1.4000*2C

2021-12-04T09:29:36.340Z,1638610176.340 [Micromodem](INFO): Nmea in: $CAREV,092937,COPROC,0.20.0.39330*7D

2021-12-04T09:29:45.621Z,1638610185.621 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:29:46.445Z,1638610186.445 [Micromodem](INFO): Nmea in: $CAREV,092947,AUV,2.1.4000*2B

2021-12-04T09:29:46.454Z,1638610186.454 [Micromodem](INFO): Nmea in: $CAREV,092947,COPROC,0.20.0.39330*7A

2021-12-04T09:29:56.174Z,1638610196.174 [Micromodem](INFO): Nmea in: $CAREV,092957,AUV,2.1.4000*2A

2021-12-04T09:29:56.175Z,1638610196.175 [Micromodem](INFO): Nmea in: $CAREV,092957,COPROC,0.20.0.39330*7B

2021-12-04T09:30:06.221Z,1638610206.221 [Micromodem](INFO): Nmea in: $CAREV,093007,AUV,2.1.4000*27

2021-12-04T09:30:06.222Z,1638610206.222 [Micromodem](INFO): Nmea in: $CAREV,093007,COPROC,0.20.0.39330*76

2021-12-04T09:30:16.329Z,1638610216.329 [Micromodem](INFO): Nmea in: $CAREV,093017,AUV,2.1.4000*26

2021-12-04T09:30:16.331Z,1638610216.331 [Micromodem](INFO): Nmea in: $CAREV,093017,COPROC,0.20.0.39330*77

2021-12-04T09:30:26.419Z,1638610226.419 [Micromodem](INFO): Nmea in: $CAREV,093027,AUV,2.1.4000*25

2021-12-04T09:30:26.420Z,1638610226.420 [Micromodem](INFO): Nmea in: $CAREV,093027,COPROC,0.20.0.39330*74

2021-12-04T09:30:34.496Z,1638610234.496 [DataOverHttps](IMPORTANT): SBD MTMSN=20211204T093033
2021-12-04T09:30:36.522Z,1638610236.522 [Micromodem](INFO): Nmea in: $CAREV,093037,AUV,2.1.4000*24

2021-12-04T09:30:36.523Z,1638610236.523 [Micromodem](INFO): Nmea in: $CAREV,093037,COPROC,0.20.0.39330*75

2021-12-04T09:30:38.519Z,1638610238.519 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 300 min;set lineCaptureDepth.NeedCommsTime 300 min;set lineCaptureDepth.MicromodemCommsInterval 300 min;set lineCaptureDepth.Repeat 20 count" 3d3qb 1 2
2021-12-04T09:30:38.555Z,1638610238.555 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 300 min;set lineCaptureDepth.NeedCommsTime 300 min;set lineCaptureDepth.MicromodemCommsInterval 300 min;set lineCaptureDepth.Repeat 20 count" 3d3qb 1 2.000000
2021-12-04T09:30:38.555Z,1638610238.555 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3d3qb
2021-12-04T09:30:38.556Z,1638610238.556 [CommandExec](IMPORTANT): Scheduled #1 (#1 of 2 with id='3d3qb'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 300 min;set lineCaptureDepth.NeedCommsTime 300 min;set lineCaptureDepth.MicromodemCommsInterval 300 min;set lineCaptureDepth.Repeat 20 count", ASAP
2021-12-04T09:30:39.521Z,1638610239.521 [DataOverHttps](IMPORTANT): SBD MTMSN=20211204T093038
2021-12-04T09:30:43.538Z,1638610243.538 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 10 m;set lineCaptureDepth.MinOffshore 500 m;run" 3d3qb 2 2
2021-12-04T09:30:43.561Z,1638610243.561 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 10 m;set lineCaptureDepth.MinOffshore 500 m;run" 3d3qb 2 2.000000
2021-12-04T09:30:43.561Z,1638610243.561 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3d3qb
2021-12-04T09:30:43.562Z,1638610243.562 [CommandExec](IMPORTANT): Scheduled #2 (#2 of 2 with id='3d3qb'): "set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 10 m;set lineCaptureDepth.MinOffshore 500 m;run", ASAP
2021-12-04T09:30:43.655Z,1638610243.655 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-12-04T09:30:43.656Z,1638610243.656 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-12-04T09:30:43.848Z,1638610243.848 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-12-04T09:30:43.883Z,1638610243.883 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-12-04T09:30:43.885Z,1638610243.885 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-12-04T09:30:43.943Z,1638610243.943 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-12-04T09:30:43.957Z,1638610243.957 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-12-04T09:30:43.972Z,1638610243.972 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2 count
2021-12-04T09:30:43.982Z,1638610243.982 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-12-04T09:30:43.997Z,1638610243.997 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-12-04T09:30:44.038Z,1638610244.038 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-12-04T09:30:44.041Z,1638610244.041 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-12-04T09:30:44.056Z,1638610244.056 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-12-04T09:30:44.067Z,1638610244.067 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-12-04T09:30:44.070Z,1638610244.070 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-12-04T09:30:44.093Z,1638610244.093 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-12-04T09:30:44.100Z,1638610244.100 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-12-04T09:30:44.101Z,1638610244.101 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-12-04T09:30:44.577Z,1638610244.577 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-12-04T09:30:44.580Z,1638610244.580 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-12-04T09:30:44.639Z,1638610244.639 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-12-04T09:30:44.641Z,1638610244.641 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-12-04T09:30:44.648Z,1638610244.648 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-12-04T09:30:44.663Z,1638610244.663 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-12-04T09:30:44.666Z,1638610244.666 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DetectTrough = 0 bool
2021-12-04T09:30:44.677Z,1638610244.677 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-12-04T09:30:44.684Z,1638610244.684 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-12-04T09:30:44.707Z,1638610244.707 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-12-04T09:30:44.709Z,1638610244.709 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-12-04T09:30:44.716Z,1638610244.716 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-12-04T09:30:44.721Z,1638610244.721 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-12-04T09:30:44.740Z,1638610244.740 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-12-04T09:30:44.744Z,1638610244.744 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-12-04T09:30:44.756Z,1638610244.756 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0 bool
2021-12-04T09:30:44.759Z,1638610244.759 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0 bool
2021-12-04T09:30:44.779Z,1638610244.779 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 0 bool
2021-12-04T09:30:44.786Z,1638610244.786 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0 bool
2021-12-04T09:30:44.790Z,1638610244.790 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2021-12-04T09:30:44.803Z,1638610244.803 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0 bool
2021-12-04T09:30:44.806Z,1638610244.806 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-12-04T09:30:44.813Z,1638610244.813 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-12-04T09:30:44.828Z,1638610244.828 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-12-04T09:30:44.832Z,1638610244.832 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-12-04T09:30:44.843Z,1638610244.843 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-12-04T09:30:44.856Z,1638610244.856 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-12-04T09:30:44.868Z,1638610244.868 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-12-04T09:30:44.875Z,1638610244.875 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-12-04T09:30:44.878Z,1638610244.878 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-12-04T09:30:44.902Z,1638610244.902 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-12-04T09:30:44.925Z,1638610244.925 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-12-04T09:30:44.959Z,1638610244.959 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-12-04T09:30:44.962Z,1638610244.962 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-12-04T09:30:44.969Z,1638610244.969 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-12-04T09:30:44.972Z,1638610244.972 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-12-04T09:30:45.020Z,1638610245.020 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-12-04T09:30:45.027Z,1638610245.027 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-12-04T09:30:45.030Z,1638610245.030 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-12-04T09:30:45.041Z,1638610245.041 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-12-04T09:30:45.053Z,1638610245.053 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-12-04T09:30:45.084Z,1638610245.084 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-12-04T09:30:45.103Z,1638610245.103 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-12-04T09:30:45.108Z,1638610245.108 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-12-04T09:30:45.112Z,1638610245.112 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-12-04T09:30:45.127Z,1638610245.127 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-12-04T09:30:45.130Z,1638610245.130 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-12-04T09:30:45.137Z,1638610245.137 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-12-04T09:30:45.144Z,1638610245.144 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-12-04T09:30:45.168Z,1638610245.168 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-12-04T09:30:45.172Z,1638610245.172 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-12-04T09:30:45.192Z,1638610245.192 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-12-04T09:30:45.199Z,1638610245.199 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-12-04T09:30:45.206Z,1638610245.206 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-12-04T09:30:45.209Z,1638610245.209 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-12-04T09:30:45.231Z,1638610245.231 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-12-04T09:30:45.234Z,1638610245.234 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-12-04T09:30:45.241Z,1638610245.241 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-12-04T09:30:45.245Z,1638610245.245 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-12-04T09:30:45.264Z,1638610245.264 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-12-04T09:30:45.272Z,1638610245.272 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-12-04T09:30:45.279Z,1638610245.279 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-12-04T09:30:45.287Z,1638610245.287 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-12-04T09:30:45.290Z,1638610245.290 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-12-04T09:30:45.309Z,1638610245.309 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-12-04T09:30:45.443Z,1638610245.443 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T09:30:45.474Z,1638610245.474 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-12-04T09:30:45.520Z,1638610245.520 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T09:30:45.559Z,1638610245.559 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T09:30:45.586Z,1638610245.586 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-12-04T09:30:45.642Z,1638610245.642 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T09:30:45.683Z,1638610245.683 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T09:30:45.718Z,1638610245.718 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-12-04T09:30:45.753Z,1638610245.753 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-12-04T09:30:45.865Z,1638610245.865 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-12-04T09:30:45.872Z,1638610245.872 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-12-04T09:30:45.892Z,1638610245.892 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-12-04T09:30:45.893Z,1638610245.893 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-12-04T09:30:45.969Z,1638610245.969 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-12-04T09:30:45.986Z,1638610245.986 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-12-04T09:30:46.025Z,1638610246.025 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-12-04T09:30:46.145Z,1638610246.145 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-12-04T09:30:46.155Z,1638610246.155 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-12-04T09:30:46.161Z,1638610246.161 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-12-04T09:30:46.174Z,1638610246.174 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-12-04T09:30:46.181Z,1638610246.181 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-12-04T09:30:46.189Z,1638610246.189 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-12-04T09:30:46.192Z,1638610246.192 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-12-04T09:30:46.217Z,1638610246.217 [Micromodem](INFO): Nmea in: $CAREV,093047,AUV,2.1.4000*23

2021-12-04T09:30:46.218Z,1638610246.218 [Micromodem](INFO): Nmea in: $CAREV,093047,COPROC,0.20.0.39330*72

2021-12-04T09:30:46.252Z,1638610246.252 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-04T09:30:46.318Z,1638610246.318 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-12-04T09:30:46.362Z,1638610246.362 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-12-04T09:30:46.396Z,1638610246.396 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-12-04T09:30:46.405Z,1638610246.405 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-12-04T09:30:46.405Z,1638610246.405 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-12-04T09:30:46.916Z,1638610246.916 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-12-04T09:30:46.920Z,1638610246.920 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-12-04T09:30:46.923Z,1638610246.923 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-12-04T09:30:46.926Z,1638610246.926 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-12-04T09:30:46.941Z,1638610246.941 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-12-04T09:30:46.945Z,1638610246.945 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-12-04T09:30:46.949Z,1638610246.949 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-12-04T09:30:46.964Z,1638610246.964 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-12-04T09:30:46.972Z,1638610246.972 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-12-04T09:30:46.995Z,1638610246.995 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-12-04T09:30:47.043Z,1638610247.043 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-12-04T09:30:47.046Z,1638610247.046 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-12-04T09:30:47.072Z,1638610247.072 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-12-04T09:30:47.079Z,1638610247.079 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-12-04T09:30:47.082Z,1638610247.082 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-12-04T09:30:47.097Z,1638610247.097 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-12-04T09:30:47.101Z,1638610247.101 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-12-04T09:30:47.113Z,1638610247.113 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-12-04T09:30:47.117Z,1638610247.117 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-12-04T09:30:47.128Z,1638610247.128 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-12-04T09:30:47.135Z,1638610247.135 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-12-04T09:30:47.138Z,1638610247.138 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-12-04T09:30:47.145Z,1638610247.145 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 count
2021-12-04T09:30:47.157Z,1638610247.157 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-12-04T09:30:47.160Z,1638610247.160 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-12-04T09:30:47.168Z,1638610247.168 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-12-04T09:30:47.177Z,1638610247.177 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-12-04T09:30:47.209Z,1638610247.209 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-12-04T09:30:47.217Z,1638610247.217 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-12-04T09:30:47.221Z,1638610247.221 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-12-04T09:30:47.222Z,1638610247.222 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-12-04T09:30:47.238Z,1638610247.238 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-12-04T09:30:47.263Z,1638610247.263 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-12-04T09:30:47.305Z,1638610247.305 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-12-04T09:30:47.310Z,1638610247.310 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-12-04T09:30:47.341Z,1638610247.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-12-04T09:30:47.341Z,1638610247.341 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T09:30:47.405Z,1638610247.405 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-12-04T09:30:47.409Z,1638610247.409 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-12-04T09:30:47.472Z,1638610247.472 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-12-04T09:30:47.501Z,1638610247.501 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-12-04T09:30:47.512Z,1638610247.512 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-12-04T09:30:47.533Z,1638610247.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-12-04T09:30:47.567Z,1638610247.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-12-04T09:30:47.601Z,1638610247.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T09:30:47.602Z,1638610247.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T09:30:47.609Z,1638610247.609 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-12-04T09:30:47.626Z,1638610247.626 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-12-04T09:30:47.681Z,1638610247.681 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-12-04T09:30:47.693Z,1638610247.693 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-12-04T09:30:47.696Z,1638610247.696 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-12-04T09:30:47.708Z,1638610247.708 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-12-04T09:30:47.723Z,1638610247.723 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-12-04T09:30:47.980Z,1638610247.980 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-12-04T09:30:47.980Z,1638610247.980 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T09:30:48.057Z,1638610248.057 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-12-04T09:30:48.057Z,1638610248.057 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T09:30:48.251Z,1638610248.251 [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 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 track acoustic contact directive. -->

    <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 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>
                <Not><Arg Name="NumPings"/><Eq><Arg Name="NumPingsUSBL"/></Eq></Not>
                <And>
                    <Arg Name="LineCapture:Range"/><Lt><Arg Name="RangeUSBL"/></Lt>
                    <And><Not><Guidance:LineCapture.guidanceMode/><Eq><Units:count/><Value>4</Value></Eq></Not></And> <!-- don't enter USBL mode during rollout -->
                </And>
            </When>

            <Syslog Severity="Info">Entering USBL mode with <Arg Name="NumPingsUSBL"/><Units:count/>pings at <Arg Name="LineCapture:Range"/><Units:meter/>(mode <Guidance:LineCapture.guidanceMode/><Units:count/>).</Syslog>

            <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumPingsUSBL"/></Assign>

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

            <When>
                <Not><Arg Name="NumPings"/><Eq><Arg Name="NumberOfPings"/></Eq></Not>
                 <And>
                     <Arg Name="LineCapture:Range"/><Ge><Arg Name="RangeUSBL"/></Ge>
                     <Or><Guidance:LineCapture.guidanceMode/><Eq><Units:count/><Value>4</Value></Eq></Or> <!-- do ATR mode during rollout -->
                </And>
            </When>

            <Syslog Severity="Info">Resuming normal ranging with <Arg Name="NumberOfPings"/><Units:count/>pings <Arg Name="LineCapture:Range"/><Units:meter/>(mode <Guidance:LineCapture.guidanceMode/><Units:count/>).</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>


2021-12-04T09:30:48.252Z,1638610248.252 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-12-04T09:30:56.317Z,1638610256.317 [Micromodem](INFO): Nmea in: $CAREV,093057,AUV,2.1.4000*22

2021-12-04T09:30:56.318Z,1638610256.318 [Micromodem](INFO): Nmea in: $CAREV,093057,COPROC,0.20.0.39330*73

2021-12-04T09:31:01.356Z,1638610261.356 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 300 minute
2021-12-04T09:31:01.356Z,1638610261.356 [CommandExec](IMPORTANT): got command set lineCaptureDepth.NeedCommsTime 300 minute
2021-12-04T09:31:01.357Z,1638610261.357 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 300 minute
2021-12-04T09:31:01.358Z,1638610261.358 [CommandExec](IMPORTANT): got command set lineCaptureDepth.Repeat 20 count
2021-12-04T09:31:06.417Z,1638610266.417 [Micromodem](INFO): Nmea in: $CAREV,093107,AUV,2.1.4000*26

2021-12-04T09:31:06.418Z,1638610266.418 [Micromodem](INFO): Nmea in: $CAREV,093107,COPROC,0.20.0.39330*77

2021-12-04T09:31:09.050Z,1638610269.050 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3 meter
2021-12-04T09:31:09.065Z,1638610269.065 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 10 meter
2021-12-04T09:31:09.065Z,1638610269.065 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500 meter
2021-12-04T09:31:09.066Z,1638610269.066 [CommandExec](IMPORTANT): got command run
2021-12-04T09:31:09.070Z,1638610269.070 [CommandExec](IMPORTANT): Running 
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock] Stopped
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock:SurfaceDefault] Stopped
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-04T09:31:09.276Z,1638610269.276 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T09:31:09.277Z,1638610269.277 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T09:31:09.277Z,1638610269.277 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T09:31:09.277Z,1638610269.277 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T09:31:09.277Z,1638610269.277 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-12-04T09:31:09.277Z,1638610269.277 [lineCaptureDepth] Running Loop=1
2021-12-04T09:31:09.277Z,1638610269.277 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-12-04T09:31:09.277Z,1638610269.277 [lineCaptureDepth:Science] Running Loop=1
2021-12-04T09:31:09.277Z,1638610269.277 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-12-04T09:31:09.277Z,1638610269.277 [lineCaptureDepth:Science:A] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:B] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:C] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:D] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:E] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:F] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-12-04T09:31:09.278Z,1638610269.278 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-12-04T09:31:09.282Z,1638610269.282 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T09:31:09.282Z,1638610269.282 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T09:31:09.285Z,1638610269.285 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-12-04T09:31:09.285Z,1638610269.285 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-12-04T09:31:09.285Z,1638610269.285 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-12-04T09:31:09.285Z,1638610269.285 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-12-04T09:31:09.285Z,1638610269.285 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-12-04T09:31:09.285Z,1638610269.285 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-12-04T09:31:09.286Z,1638610269.286 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T09:31:09.286Z,1638610269.286 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T09:31:09.292Z,1638610269.292 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-12-04T09:31:09.292Z,1638610269.292 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-12-04T09:31:09.292Z,1638610269.292 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T09:31:09.292Z,1638610269.292 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T09:31:09.294Z,1638610269.294 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-12-04T09:31:09.294Z,1638610269.294 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-12-04T09:31:09.298Z,1638610269.298 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-12-04T09:31:09.299Z,1638610269.299 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-12-04T09:31:09.299Z,1638610269.299 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-12-04T09:31:09.299Z,1638610269.299 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-12-04T09:31:09.299Z,1638610269.299 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T09:31:09.299Z,1638610269.299 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T09:31:09.304Z,1638610269.304 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-12-04T09:31:09.304Z,1638610269.304 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-12-04T09:31:09.304Z,1638610269.304 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T09:31:09.304Z,1638610269.304 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T09:31:09.306Z,1638610269.306 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-12-04T09:31:09.306Z,1638610269.306 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-12-04T09:31:09.306Z,1638610269.306 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-12-04T09:31:09.306Z,1638610269.306 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-12-04T09:31:09.307Z,1638610269.307 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-12-04T09:31:09.307Z,1638610269.307 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-12-04T09:31:09.307Z,1638610269.307 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-12-04T09:31:09.307Z,1638610269.307 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-12-04T09:31:09.307Z,1638610269.307 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-12-04T09:31:09.307Z,1638610269.307 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T09:31:09.308Z,1638610269.308 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T09:31:09.309Z,1638610269.309 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T09:31:09.310Z,1638610269.310 [lineCaptureDepth:C] Running Loop=1
2021-12-04T09:31:09.316Z,1638610269.316 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T09:31:09.318Z,1638610269.318 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:MicromodemComms] Stopped
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T09:31:09.319Z,1638610269.319 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-12-04T09:31:09.320Z,1638610269.320 [lineCaptureDepth:C] Stopped
2021-12-04T09:31:09.320Z,1638610269.320 [lineCaptureDepth:D] Running Loop=1
2021-12-04T09:31:09.320Z,1638610269.320 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-12-04T09:31:09.320Z,1638610269.320 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T09:31:09.320Z,1638610269.320 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T09:31:09.322Z,1638610269.322 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T09:31:09.322Z,1638610269.322 [lineCaptureDepth:Science] Running Loop=1
2021-12-04T09:31:09.323Z,1638610269.323 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-12-04T09:31:09.323Z,1638610269.323 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-12-04T09:31:09.323Z,1638610269.323 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-12-04T09:31:09.323Z,1638610269.323 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-12-04T09:31:09.324Z,1638610269.324 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-12-04T09:31:09.325Z,1638610269.325 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-12-04T09:31:09.326Z,1638610269.326 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T09:31:09.326Z,1638610269.326 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-12-04T09:31:09.332Z,1638610269.332 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:F] Stopped
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:E] Stopped
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:D] Stopped
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:C] Stopped
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:B] Stopped
2021-12-04T09:31:09.333Z,1638610269.333 [lineCaptureDepth:Science:A] Stopped
2021-12-04T09:31:09.447Z,1638610269.447 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-12-04T09:31:09.664Z,1638610269.664 [lineCaptureDepth:D] Stopped
2021-12-04T09:31:09.664Z,1638610269.664 [lineCaptureDepth:E] Running Loop=1
2021-12-04T09:31:10.100Z,1638610270.100 [lineCaptureDepth:E] Stopped
2021-12-04T09:31:10.101Z,1638610270.101 [lineCaptureDepth:G] Running Loop=1
2021-12-04T09:31:10.466Z,1638610270.466 [lineCaptureDepth:G] Stopped
2021-12-04T09:31:10.482Z,1638610270.482 [lineCaptureDepth:H] Running Loop=1
2021-12-04T09:31:10.871Z,1638610270.871 [lineCaptureDepth:H] Stopped
2021-12-04T09:31:10.871Z,1638610270.871 [lineCaptureDepth:K] Running Loop=1
2021-12-04T09:31:11.321Z,1638610271.321 [lineCaptureDepth:K] Stopped
2021-12-04T09:31:11.322Z,1638610271.322 [lineCaptureDepth:L] Running Loop=1
2021-12-04T09:31:11.689Z,1638610271.689 [lineCaptureDepth:L] Stopped
2021-12-04T09:31:11.689Z,1638610271.689 [lineCaptureDepth:M] Running Loop=1
2021-12-04T09:31:12.167Z,1638610272.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:12.167Z,1638610272.167 [lineCaptureDepth:M] Stopped
2021-12-04T09:31:12.167Z,1638610272.167 [lineCaptureDepth:O] Running Loop=1
2021-12-04T09:31:12.513Z,1638610272.513 [lineCaptureDepth:O] Stopped
2021-12-04T09:31:12.513Z,1638610272.513 [lineCaptureDepth:Lap] Running Loop=1
2021-12-04T09:31:12.513Z,1638610272.513 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T09:31:12.513Z,1638610272.513 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T09:31:12.889Z,1638610272.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:12.965Z,1638610272.965 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T09:31:12.966Z,1638610272.966 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T09:31:12.966Z,1638610272.966 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T09:31:13.289Z,1638610273.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T09:31:13.373Z,1638610273.373 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T09:31:13.374Z,1638610273.374 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T09:31:13.374Z,1638610273.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T09:31:13.374Z,1638610273.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T09:31:13.374Z,1638610273.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T09:31:13.374Z,1638610273.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T09:31:13.374Z,1638610273.374 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T09:31:13.378Z,1638610273.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T09:31:13.378Z,1638610273.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T09:31:13.379Z,1638610273.379 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T09:31:13.379Z,1638610273.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T09:31:13.380Z,1638610273.380 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T09:31:13.381Z,1638610273.381 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T09:31:13.381Z,1638610273.381 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T09:31:13.381Z,1638610273.381 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T09:31:13.381Z,1638610273.381 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T09:31:13.382Z,1638610273.382 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T09:31:13.382Z,1638610273.382 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T09:31:13.719Z,1638610273.719 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T09:31:13.720Z,1638610273.720 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T09:31:14.097Z,1638610274.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093114.32*51

2021-12-04T09:31:14.098Z,1638610274.098 [Micromodem](INFO): Nmea in: $CAREV,093115,AUV,2.1.4000*25

2021-12-04T09:31:14.199Z,1638610274.199 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T09:31:14.199Z,1638610274.199 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T09:31:14.497Z,1638610274.497 [Micromodem](INFO): Nmea in: $CAREV,093115,COPROC,0.20.0.39330*74

2021-12-04T09:31:14.513Z,1638610274.513 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T09:31:14.513Z,1638610274.513 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T09:31:14.920Z,1638610274.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:14.922Z,1638610274.922 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T09:31:14.922Z,1638610274.922 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T09:31:14.922Z,1638610274.922 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T09:31:14.922Z,1638610274.922 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T09:31:14.922Z,1638610274.922 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T09:31:14.922Z,1638610274.922 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T09:31:14.923Z,1638610274.923 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T09:31:14.924Z,1638610274.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T09:31:14.925Z,1638610274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T09:31:15.337Z,1638610275.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T09:31:15.337Z,1638610275.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T09:31:15.337Z,1638610275.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T09:31:15.338Z,1638610275.338 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T09:31:15.339Z,1638610275.339 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T09:31:15.339Z,1638610275.339 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T09:31:15.339Z,1638610275.339 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T09:31:15.339Z,1638610275.339 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T09:31:15.339Z,1638610275.339 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T09:31:15.339Z,1638610275.339 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T09:31:16.214Z,1638610276.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:17.855Z,1638610277.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:17.857Z,1638610277.857 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T09:31:18.212Z,1638610278.212 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T09:31:18.565Z,1638610278.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:19.001Z,1638610279.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:19.825Z,1638610279.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093119.99*5D

2021-12-04T09:31:19.837Z,1638610279.837 [Micromodem](INFO): Nmea in: $CAREV,093121,AUV,2.1.4000*22

2021-12-04T09:31:20.181Z,1638610280.181 [Micromodem](INFO): Nmea in: $CAREV,093121,COPROC,0.20.0.39330*73

2021-12-04T09:31:20.608Z,1638610280.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:22.204Z,1638610282.204 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:23.436Z,1638610283.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:24.221Z,1638610284.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:24.631Z,1638610284.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:25.465Z,1638610285.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093125.65*51

2021-12-04T09:31:25.466Z,1638610285.466 [Micromodem](INFO): Nmea in: $CAREV,093126,AUV,2.1.4000*25

2021-12-04T09:31:25.877Z,1638610285.877 [Micromodem](INFO): Nmea in: $CAREV,093126,COPROC,0.20.0.39330*74

2021-12-04T09:31:25.964Z,1638610285.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:27.876Z,1638610287.876 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:28.689Z,1638610288.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:29.492Z,1638610289.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:29.893Z,1638610289.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:30.704Z,1638610290.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093130.92*5D

2021-12-04T09:31:30.705Z,1638610290.705 [Micromodem](INFO): Nmea in: $CAREV,093131,AUV,2.1.4000*23

2021-12-04T09:31:31.089Z,1638610291.089 [Micromodem](INFO): Nmea in: $CAREV,093131,COPROC,0.20.0.39330*72

2021-12-04T09:31:31.520Z,1638610291.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:33.116Z,1638610293.116 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:34.337Z,1638610294.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:35.129Z,1638610295.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:35.535Z,1638610295.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:36.365Z,1638610296.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093136.56*53

2021-12-04T09:31:36.366Z,1638610296.366 [Micromodem](INFO): Nmea in: $CAREV,093137,AUV,2.1.4000*25

2021-12-04T09:31:36.745Z,1638610296.745 [Micromodem](INFO): Nmea in: $CAREV,093137,COPROC,0.20.0.39330*74

2021-12-04T09:31:37.206Z,1638610297.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:38.439Z,1638610298.439 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 1167.18 m. Transitioning DDM to standby.
2021-12-04T09:31:38.764Z,1638610298.764 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:40.080Z,1638610300.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:40.460Z,1638610300.460 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T09:31:40.793Z,1638610300.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:40.925Z,1638610300.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T09:31:40.925Z,1638610300.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T09:31:40.926Z,1638610300.926 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T09:31:41.167Z,1638610301.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:41.251Z,1638610301.251 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T09:31:41.251Z,1638610301.251 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T09:31:41.251Z,1638610301.251 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T09:31:41.601Z,1638610301.601 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T09:31:41.601Z,1638610301.601 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T09:31:41.602Z,1638610301.602 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T09:31:41.602Z,1638610301.602 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T09:31:41.602Z,1638610301.602 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T09:31:42.010Z,1638610302.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093142.22*53

2021-12-04T09:31:42.011Z,1638610302.011 [Micromodem](INFO): Nmea in: $CAREV,093143,AUV,2.1.4000*26

2021-12-04T09:31:42.152Z,1638610302.152 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T09:31:42.152Z,1638610302.152 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T09:31:42.152Z,1638610302.152 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T09:31:42.152Z,1638610302.152 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T09:31:42.152Z,1638610302.152 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T09:31:42.152Z,1638610302.152 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T09:31:42.153Z,1638610302.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T09:31:42.153Z,1638610302.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T09:31:42.153Z,1638610302.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T09:31:42.153Z,1638610302.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T09:31:42.153Z,1638610302.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T09:31:42.154Z,1638610302.154 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T09:31:42.179Z,1638610302.179 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T09:31:42.179Z,1638610302.179 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T09:31:42.179Z,1638610302.179 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T09:31:42.179Z,1638610302.179 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T09:31:42.387Z,1638610302.387 [Micromodem](INFO): Nmea in: $CAREV,093143,COPROC,0.20.0.39330*77

2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T09:31:42.411Z,1638610302.411 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T09:31:42.412Z,1638610302.412 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T09:31:42.412Z,1638610302.412 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T09:31:42.797Z,1638610302.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:44.396Z,1638610304.396 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:45.624Z,1638610305.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:46.417Z,1638610306.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:46.825Z,1638610306.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:47.645Z,1638610307.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093147.84*5A

2021-12-04T09:31:47.646Z,1638610307.646 [Micromodem](INFO): Nmea in: $CAREV,093148,AUV,2.1.4000*2D

2021-12-04T09:31:48.045Z,1638610308.045 [Micromodem](INFO): Nmea in: $CAREV,093148,COPROC,0.20.0.39330*7C

2021-12-04T09:31:48.488Z,1638610308.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:50.046Z,1638610310.046 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:51.302Z,1638610311.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:52.069Z,1638610312.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:52.501Z,1638610312.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:53.322Z,1638610313.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093153.50*56

2021-12-04T09:31:53.323Z,1638610313.323 [Micromodem](INFO): Nmea in: $CAREV,093154,AUV,2.1.4000*20

2021-12-04T09:31:53.709Z,1638610313.709 [Micromodem](INFO): Nmea in: $CAREV,093154,COPROC,0.20.0.39330*71

2021-12-04T09:31:54.183Z,1638610314.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:55.732Z,1638610315.732 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:31:56.967Z,1638610316.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:31:57.762Z,1638610317.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:31:58.171Z,1638610318.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:31:58.988Z,1638610318.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093159.19*51

2021-12-04T09:31:58.989Z,1638610318.989 [Micromodem](INFO): Nmea in: $CAREV,093200,AUV,2.1.4000*22

2021-12-04T09:31:59.385Z,1638610319.385 [Micromodem](INFO): Nmea in: $CAREV,093200,COPROC,0.20.0.39330*73

2021-12-04T09:31:59.887Z,1638610319.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:01.401Z,1638610321.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:02.638Z,1638610322.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:03.434Z,1638610323.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:03.867Z,1638610323.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:04.648Z,1638610324.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093204.87*5D

2021-12-04T09:32:04.650Z,1638610324.650 [Micromodem](INFO): Nmea in: $CAREV,093205,AUV,2.1.4000*27

2021-12-04T09:32:05.065Z,1638610325.065 [Micromodem](INFO): Nmea in: $CAREV,093205,COPROC,0.20.0.39330*76

2021-12-04T09:32:05.471Z,1638610325.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:06.711Z,1638610326.711 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:08.020Z,1638610328.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:08.729Z,1638610328.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:09.134Z,1638610329.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:09.958Z,1638610329.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093210.16*50

2021-12-04T09:32:09.959Z,1638610329.959 [Micromodem](INFO): Nmea in: $CAREV,093211,AUV,2.1.4000*22

2021-12-04T09:32:10.340Z,1638610330.340 [Micromodem](INFO): Nmea in: $CAREV,093211,COPROC,0.20.0.39330*73

2021-12-04T09:32:10.780Z,1638610330.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:12.384Z,1638610332.384 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:13.582Z,1638610333.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:14.397Z,1638610334.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:14.794Z,1638610334.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:15.631Z,1638610335.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093215.83*59

2021-12-04T09:32:15.633Z,1638610335.633 [Micromodem](INFO): Nmea in: $CAREV,093216,AUV,2.1.4000*25

2021-12-04T09:32:16.014Z,1638610336.014 [Micromodem](INFO): Nmea in: $CAREV,093216,COPROC,0.20.0.39330*74

2021-12-04T09:32:16.444Z,1638610336.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:18.032Z,1638610338.032 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:19.278Z,1638610339.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:20.053Z,1638610340.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:20.441Z,1638610340.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:21.261Z,1638610341.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093221.48*59

2021-12-04T09:32:21.262Z,1638610341.262 [Micromodem](INFO): Nmea in: $CAREV,093222,AUV,2.1.4000*22

2021-12-04T09:32:21.651Z,1638610341.651 [Micromodem](INFO): Nmea in: $CAREV,093222,COPROC,0.20.0.39330*73

2021-12-04T09:32:22.159Z,1638610342.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:23.688Z,1638610343.688 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:24.901Z,1638610344.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:25.691Z,1638610345.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:26.127Z,1638610346.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:26.949Z,1638610346.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093227.12*50

2021-12-04T09:32:26.952Z,1638610346.952 [Micromodem](INFO): Nmea in: $CAREV,093228,AUV,2.1.4000*28

2021-12-04T09:32:27.323Z,1638610347.323 [Micromodem](INFO): Nmea in: $CAREV,093228,COPROC,0.20.0.39330*79

2021-12-04T09:32:27.745Z,1638610347.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:29.342Z,1638610349.342 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:30.572Z,1638610350.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:31.383Z,1638610351.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:31.781Z,1638610351.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:32.595Z,1638610352.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093232.81*5E

2021-12-04T09:32:32.596Z,1638610352.596 [Micromodem](INFO): Nmea in: $CAREV,093233,AUV,2.1.4000*22

2021-12-04T09:32:32.989Z,1638610352.989 [Micromodem](INFO): Nmea in: $CAREV,093233,COPROC,0.20.0.39330*73

2021-12-04T09:32:33.480Z,1638610353.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:35.017Z,1638610355.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:36.247Z,1638610356.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:37.025Z,1638610357.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:37.427Z,1638610357.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:38.237Z,1638610358.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093238.45*5C

2021-12-04T09:32:38.238Z,1638610358.238 [Micromodem](INFO): Nmea in: $CAREV,093239,AUV,2.1.4000*28

2021-12-04T09:32:38.638Z,1638610358.638 [Micromodem](INFO): Nmea in: $CAREV,093239,COPROC,0.20.0.39330*79

2021-12-04T09:32:39.068Z,1638610359.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:40.654Z,1638610360.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:41.900Z,1638610361.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:42.675Z,1638610362.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:43.081Z,1638610363.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:43.909Z,1638610363.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093244.11*56

2021-12-04T09:32:43.911Z,1638610363.911 [Micromodem](INFO): Nmea in: $CAREV,093245,AUV,2.1.4000*23

2021-12-04T09:32:44.297Z,1638610364.297 [Micromodem](INFO): Nmea in: $CAREV,093245,COPROC,0.20.0.39330*72

2021-12-04T09:32:44.712Z,1638610364.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:46.316Z,1638610366.316 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:47.540Z,1638610367.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:48.337Z,1638610368.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:48.744Z,1638610368.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:49.551Z,1638610369.551 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093249.76*5A

2021-12-04T09:32:49.552Z,1638610369.552 [Micromodem](INFO): Nmea in: $CAREV,093250,AUV,2.1.4000*27

2021-12-04T09:32:49.947Z,1638610369.947 [Micromodem](INFO): Nmea in: $CAREV,093250,COPROC,0.20.0.39330*76

2021-12-04T09:32:50.394Z,1638610370.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:51.966Z,1638610371.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:53.208Z,1638610373.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:53.987Z,1638610373.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:32:54.391Z,1638610374.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:32:55.221Z,1638610375.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093255.41*53

2021-12-04T09:32:55.222Z,1638610375.222 [Micromodem](INFO): Nmea in: $CAREV,093256,AUV,2.1.4000*21

2021-12-04T09:32:55.600Z,1638610375.600 [Micromodem](INFO): Nmea in: $CAREV,093256,COPROC,0.20.0.39330*70

2021-12-04T09:32:56.054Z,1638610376.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:57.618Z,1638610377.618 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:32:58.849Z,1638610378.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:32:59.657Z,1638610379.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:00.057Z,1638610380.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:00.865Z,1638610380.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093301.08*5E

2021-12-04T09:33:00.866Z,1638610380.866 [Micromodem](INFO): Nmea in: $CAREV,093302,AUV,2.1.4000*21

2021-12-04T09:33:01.257Z,1638610381.257 [Micromodem](INFO): Nmea in: $CAREV,093302,COPROC,0.20.0.39330*70

2021-12-04T09:33:01.691Z,1638610381.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:03.292Z,1638610383.292 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:04.502Z,1638610384.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:05.303Z,1638610385.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:05.704Z,1638610385.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:06.514Z,1638610386.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093306.73*55

2021-12-04T09:33:06.515Z,1638610386.515 [Micromodem](INFO): Nmea in: $CAREV,093307,AUV,2.1.4000*24

2021-12-04T09:33:06.941Z,1638610386.941 [Micromodem](INFO): Nmea in: $CAREV,093307,COPROC,0.20.0.39330*75

2021-12-04T09:33:07.353Z,1638610387.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:08.940Z,1638610388.940 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:10.207Z,1638610390.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:10.983Z,1638610390.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:11.363Z,1638610391.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:12.186Z,1638610392.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093312.41*51

2021-12-04T09:33:12.187Z,1638610392.187 [Micromodem](INFO): Nmea in: $CAREV,093313,AUV,2.1.4000*21

2021-12-04T09:33:12.576Z,1638610392.576 [Micromodem](INFO): Nmea in: $CAREV,093313,COPROC,0.20.0.39330*70

2021-12-04T09:33:12.992Z,1638610392.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:16.621Z,1638610396.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:17.421Z,1638610397.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:17.847Z,1638610397.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:18.641Z,1638610398.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093318.85*53

2021-12-04T09:33:18.642Z,1638610398.642 [Micromodem](INFO): Nmea in: $CAREV,093319,AUV,2.1.4000*2B

2021-12-04T09:33:18.647Z,1638610398.647 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:33:19.035Z,1638610399.035 [Micromodem](INFO): Nmea in: $CAREV,093319,COPROC,0.20.0.39330*7A

2021-12-04T09:33:19.462Z,1638610399.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:23.115Z,1638610403.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:23.882Z,1638610403.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:24.315Z,1638610404.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:25.117Z,1638610405.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093325.31*52

2021-12-04T09:33:25.118Z,1638610405.118 [Micromodem](INFO): Nmea in: $CAREV,093326,AUV,2.1.4000*27

2021-12-04T09:33:25.522Z,1638610405.522 [Micromodem](INFO): Nmea in: $CAREV,093326,COPROC,0.20.0.39330*76

2021-12-04T09:33:26.019Z,1638610406.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:27.544Z,1638610407.544 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:28.768Z,1638610408.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:29.565Z,1638610409.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:29.967Z,1638610409.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:30.781Z,1638610410.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093330.99*54

2021-12-04T09:33:30.782Z,1638610410.782 [Micromodem](INFO): Nmea in: $CAREV,093332,AUV,2.1.4000*22

2021-12-04T09:33:31.175Z,1638610411.175 [Micromodem](INFO): Nmea in: $CAREV,093332,COPROC,0.20.0.39330*73

2021-12-04T09:33:31.603Z,1638610411.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:33.195Z,1638610413.195 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:34.443Z,1638610414.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:35.225Z,1638610415.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:35.627Z,1638610415.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:36.437Z,1638610416.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093336.65*51

2021-12-04T09:33:36.438Z,1638610416.438 [Micromodem](INFO): Nmea in: $CAREV,093337,AUV,2.1.4000*27

2021-12-04T09:33:36.833Z,1638610416.833 [Micromodem](INFO): Nmea in: $CAREV,093337,COPROC,0.20.0.39330*76

2021-12-04T09:33:37.281Z,1638610417.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:38.869Z,1638610418.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:40.117Z,1638610420.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:40.877Z,1638610420.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:41.283Z,1638610421.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:42.089Z,1638610422.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093342.30*52

2021-12-04T09:33:42.090Z,1638610422.090 [Micromodem](INFO): Nmea in: $CAREV,093343,AUV,2.1.4000*24

2021-12-04T09:33:42.498Z,1638610422.498 [Micromodem](INFO): Nmea in: $CAREV,093343,COPROC,0.20.0.39330*75

2021-12-04T09:33:42.905Z,1638610422.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:44.505Z,1638610424.505 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:45.730Z,1638610425.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:46.529Z,1638610426.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:46.969Z,1638610426.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:47.749Z,1638610427.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093347.96*5B

2021-12-04T09:33:47.750Z,1638610427.750 [Micromodem](INFO): Nmea in: $CAREV,093349,AUV,2.1.4000*2E

2021-12-04T09:33:48.149Z,1638610428.149 [Micromodem](INFO): Nmea in: $CAREV,093349,COPROC,0.20.0.39330*7F

2021-12-04T09:33:48.591Z,1638610428.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:52.230Z,1638610432.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:52.997Z,1638610432.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:53.400Z,1638610433.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:54.213Z,1638610434.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093354.42*50

2021-12-04T09:33:54.214Z,1638610434.214 [Micromodem](INFO): Nmea in: $CAREV,093355,AUV,2.1.4000*23

2021-12-04T09:33:54.613Z,1638610434.613 [Micromodem](INFO): Nmea in: $CAREV,093355,COPROC,0.20.0.39330*72

2021-12-04T09:33:55.043Z,1638610435.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:56.632Z,1638610436.632 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:33:57.899Z,1638610437.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:33:58.650Z,1638610438.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:33:59.065Z,1638610439.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:33:59.863Z,1638610439.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093400.08*58

2021-12-04T09:33:59.863Z,1638610439.863 [Micromodem](INFO): Nmea in: $CAREV,093401,AUV,2.1.4000*25

2021-12-04T09:34:00.269Z,1638610440.269 [Micromodem](INFO): Nmea in: $CAREV,093401,COPROC,0.20.0.39330*74

2021-12-04T09:34:00.698Z,1638610440.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:04.329Z,1638610444.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:05.118Z,1638610445.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:05.359Z,1638610445.359 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239250
2021-12-04T09:34:05.525Z,1638610445.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:05.566Z,1638610445.566 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T09:34:05.567Z,1638610445.567 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-12-04T09:34:05.567Z,1638610445.567 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-12-04T09:34:05.567Z,1638610445.567 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T09:34:05.567Z,1638610445.567 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-12-04T09:34:05.567Z,1638610445.567 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T09:34:05.568Z,1638610445.568 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-12-04T09:34:06.059Z,1638610446.059 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0025.lzma
2021-12-04T09:34:06.060Z,1638610446.060 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 022CAB61190000005D00000400260000000000000000151D80030C5669BF0D1A401AEDD5C0541ED76CF22BCF3B4872437F34038AEBA8084367C9A000
2021-12-04T09:34:06.060Z,1638610446.060 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-12-04T09:34:06.147Z,1638610446.147 [lineCaptureDepth:MicromodemComms] Stopped
2021-12-04T09:34:06.147Z,1638610446.147 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-12-04T09:34:06.147Z,1638610446.147 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-12-04T09:34:06.147Z,1638610446.147 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T09:34:06.147Z,1638610446.147 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-12-04T09:34:06.338Z,1638610446.338 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-12-04T09:34:06.735Z,1638610446.735 [Micromodem](INFO): Nmea in: $CADRQ,093407,1,10,0,64,1*7F

2021-12-04T09:34:06.735Z,1638610446.735 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,022CAB61190000005D00000400260000000000000000151D80030C5669BF0D1A401AEDD5C0541ED76CF22BCF3B4872437F34038AEBA8084367C9A000*4F

2021-12-04T09:34:06.854Z,1638610446.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:07.147Z,1638610447.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093406.55*56

2021-12-04T09:34:07.147Z,1638610447.147 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,093406.55*56

2021-12-04T09:34:07.367Z,1638610447.367 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-12-04T09:34:07.545Z,1638610447.545 [Micromodem](INFO): Nmea in: $CAREV,093407,AUV,2.1.4000*23

2021-12-04T09:34:07.655Z,1638610447.655 [Radio_Surface](INFO): Powering down
2021-12-04T09:34:07.980Z,1638610447.980 [Micromodem](INFO): Nmea in: $CAREV,093407,COPROC,0.20.0.39330*72

2021-12-04T09:34:08.353Z,1638610448.353 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-12-04T09:34:08.760Z,1638610448.760 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:08.762Z,1638610448.762 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-12-04T09:34:09.157Z,1638610449.157 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-12-04T09:34:09.579Z,1638610449.579 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,093408.182008,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B

2021-12-04T09:34:09.597Z,1638610449.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:10.374Z,1638610450.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:10.775Z,1638610450.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:11.595Z,1638610451.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093411.80*58

2021-12-04T09:34:11.989Z,1638610451.989 [Micromodem](INFO): Nmea in: $CAREV,093412,AUV,2.1.4000*27

2021-12-04T09:34:12.389Z,1638610452.389 [Micromodem](INFO): Nmea in: $CAREV,093412,COPROC,0.20.0.39330*76

2021-12-04T09:34:12.402Z,1638610452.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:14.011Z,1638610454.011 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:15.265Z,1638610455.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:16.029Z,1638610456.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:16.431Z,1638610456.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:17.241Z,1638610457.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093417.46*54

2021-12-04T09:34:17.640Z,1638610457.640 [Micromodem](INFO): Nmea in: $CAREV,093418,AUV,2.1.4000*2D

2021-12-04T09:34:18.051Z,1638610458.051 [Micromodem](INFO): Nmea in: $CAREV,093418,COPROC,0.20.0.39330*7C

2021-12-04T09:34:18.091Z,1638610458.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:19.668Z,1638610459.668 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:20.883Z,1638610460.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:21.685Z,1638610461.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:22.091Z,1638610462.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:22.896Z,1638610462.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093423.11*51

2021-12-04T09:34:23.301Z,1638610463.301 [Micromodem](INFO): Nmea in: $CAREV,093424,AUV,2.1.4000*22

2021-12-04T09:34:23.705Z,1638610463.705 [Micromodem](INFO): Nmea in: $CAREV,093424,COPROC,0.20.0.39330*73

2021-12-04T09:34:23.726Z,1638610463.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:27.347Z,1638610467.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:28.154Z,1638610468.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:28.549Z,1638610468.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:28.570Z,1638610468.570 [Micromodem](INFO): Ack response timeout, but no longer waiting.
2021-12-04T09:34:29.366Z,1638610469.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093429.58*56

2021-12-04T09:34:29.367Z,1638610469.367 [Micromodem](INFO): Nmea in: $CAREV,093430,AUV,2.1.4000*27

2021-12-04T09:34:29.764Z,1638610469.764 [Micromodem](INFO): Nmea in: $CAREV,093430,COPROC,0.20.0.39330*76

2021-12-04T09:34:30.205Z,1638610470.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:33.881Z,1638610473.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:34.609Z,1638610474.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:35.024Z,1638610475.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:36.031Z,1638610476.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093436.04*51

2021-12-04T09:34:36.032Z,1638610476.032 [Micromodem](INFO): Nmea in: $CAREV,093437,AUV,2.1.4000*20

2021-12-04T09:34:36.313Z,1638610476.313 [Micromodem](INFO): Nmea in: $CAREV,093437,COPROC,0.20.0.39330*71

2021-12-04T09:34:36.716Z,1638610476.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:37.113Z,1638610477.113 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T09:34:37.912Z,1638610477.912 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:39.545Z,1638610479.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:40.420Z,1638610480.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:40.759Z,1638610480.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:41.979Z,1638610481.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093441.85*58

2021-12-04T09:34:41.980Z,1638610481.980 [Micromodem](INFO): Nmea in: $CAREV,093442,AUV,2.1.4000*22

2021-12-04T09:34:42.049Z,1638610482.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:42.369Z,1638610482.369 [Micromodem](INFO): Nmea in: $CAREV,093442,COPROC,0.20.0.39330*73

2021-12-04T09:34:43.981Z,1638610483.981 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:44.792Z,1638610484.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:45.593Z,1638610485.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:45.000Z,1638610486.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:46.804Z,1638610486.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093447.02*51

2021-12-04T09:34:46.805Z,1638610486.805 [Micromodem](INFO): Nmea in: $CAREV,093448,AUV,2.1.4000*28

2021-12-04T09:34:47.213Z,1638610487.213 [Micromodem](INFO): Nmea in: $CAREV,093448,COPROC,0.20.0.39330*79

2021-12-04T09:34:47.630Z,1638610487.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:49.228Z,1638610489.228 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:50.457Z,1638610490.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:51.245Z,1638610491.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:51.649Z,1638610491.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:52.465Z,1638610492.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093452.67*56

2021-12-04T09:34:52.466Z,1638610492.466 [Micromodem](INFO): Nmea in: $CAREV,093453,AUV,2.1.4000*22

2021-12-04T09:34:52.861Z,1638610492.861 [Micromodem](INFO): Nmea in: $CAREV,093453,COPROC,0.20.0.39330*73

2021-12-04T09:34:53.297Z,1638610493.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:54.880Z,1638610494.880 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:34:56.119Z,1638610496.119 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T09:34:56.129Z,1638610496.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:34:56.900Z,1638610496.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:34:57.306Z,1638610497.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:34:58.117Z,1638610498.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093458.33*5D

2021-12-04T09:34:58.118Z,1638610498.118 [Micromodem](INFO): Nmea in: $CAREV,093459,AUV,2.1.4000*28

2021-12-04T09:34:58.545Z,1638610498.545 [Micromodem](INFO): Nmea in: $CAREV,093459,COPROC,0.20.0.39330*79

2021-12-04T09:34:58.978Z,1638610498.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:00.534Z,1638610500.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:35:01.828Z,1638610501.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:02.558Z,1638610502.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:02.975Z,1638610502.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:03.783Z,1638610503.783 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093503.99*52

2021-12-04T09:35:03.787Z,1638610503.787 [Micromodem](INFO): Nmea in: $CAREV,093505,AUV,2.1.4000*20

2021-12-04T09:35:04.189Z,1638610504.189 [Micromodem](INFO): Nmea in: $CAREV,093505,COPROC,0.20.0.39330*71

2021-12-04T09:35:04.599Z,1638610504.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:06.192Z,1638610506.192 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:35:07.423Z,1638610507.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:08.219Z,1638610508.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:08.619Z,1638610508.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:09.441Z,1638610509.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093509.65*5B

2021-12-04T09:35:09.442Z,1638610509.442 [Micromodem](INFO): Nmea in: $CAREV,093510,AUV,2.1.4000*24

2021-12-04T09:35:09.853Z,1638610509.853 [Micromodem](INFO): Nmea in: $CAREV,093510,COPROC,0.20.0.39330*75

2021-12-04T09:35:10.252Z,1638610510.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:11.850Z,1638610511.850 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:35:13.107Z,1638610513.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:13.879Z,1638610513.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:14.299Z,1638610514.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:15.107Z,1638610515.107 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093515.31*57

2021-12-04T09:35:15.123Z,1638610515.123 [Micromodem](INFO): Nmea in: $CAREV,093516,AUV,2.1.4000*22

2021-12-04T09:35:15.515Z,1638610515.515 [Micromodem](INFO): Nmea in: $CAREV,093516,COPROC,0.20.0.39330*73

2021-12-04T09:35:16.007Z,1638610516.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:17.522Z,1638610517.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:35:18.754Z,1638610518.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:19.547Z,1638610519.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:19.966Z,1638610519.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:20.760Z,1638610520.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093520.97*5D

2021-12-04T09:35:20.761Z,1638610520.761 [Micromodem](INFO): Nmea in: $CAREV,093522,AUV,2.1.4000*25

2021-12-04T09:35:21.165Z,1638610521.165 [Micromodem](INFO): Nmea in: $CAREV,093522,COPROC,0.20.0.39330*74

2021-12-04T09:35:21.586Z,1638610521.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:25.236Z,1638610525.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:26.009Z,1638610526.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:26.420Z,1638610526.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:27.230Z,1638610527.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093527.44*54

2021-12-04T09:35:27.231Z,1638610527.231 [Micromodem](INFO): Nmea in: $CAREV,093528,AUV,2.1.4000*2F

2021-12-04T09:35:27.629Z,1638610527.629 [Micromodem](INFO): Nmea in: $CAREV,093528,COPROC,0.20.0.39330*7E

2021-12-04T09:35:28.095Z,1638610528.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:31.289Z,1638610531.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:32.073Z,1638610532.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:32.479Z,1638610532.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:33.293Z,1638610533.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093533.50*54

2021-12-04T09:35:33.294Z,1638610533.294 [Micromodem](INFO): Nmea in: $CAREV,093534,AUV,2.1.4000*22

2021-12-04T09:35:33.685Z,1638610533.685 [Micromodem](INFO): Nmea in: $CAREV,093534,COPROC,0.20.0.39330*73

2021-12-04T09:35:34.143Z,1638610534.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:37.741Z,1638610537.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:38.531Z,1638610538.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:38.963Z,1638610538.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:39.757Z,1638610539.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093539.96*54

2021-12-04T09:35:39.758Z,1638610539.758 [Micromodem](INFO): Nmea in: $CAREV,093541,AUV,2.1.4000*20

2021-12-04T09:35:40.150Z,1638610540.150 [Micromodem](INFO): Nmea in: $CAREV,093541,COPROC,0.20.0.39330*71

2021-12-04T09:35:40.574Z,1638610540.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:42.172Z,1638610542.172 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:35:43.403Z,1638610543.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:44.189Z,1638610544.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:44.595Z,1638610544.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:45.402Z,1638610545.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093545.62*54

2021-12-04T09:35:45.403Z,1638610545.403 [Micromodem](INFO): Nmea in: $CAREV,093546,AUV,2.1.4000*27

2021-12-04T09:35:45.840Z,1638610545.840 [Micromodem](INFO): Nmea in: $CAREV,093546,COPROC,0.20.0.39330*76

2021-12-04T09:35:46.244Z,1638610546.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:49.469Z,1638610549.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:50.265Z,1638610550.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:50.671Z,1638610550.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:51.472Z,1638610551.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093551.69*5A

2021-12-04T09:35:51.473Z,1638610551.473 [Micromodem](INFO): Nmea in: $CAREV,093552,AUV,2.1.4000*22

2021-12-04T09:35:51.866Z,1638610551.866 [Micromodem](INFO): Nmea in: $CAREV,093552,COPROC,0.20.0.39330*73

2021-12-04T09:35:52.295Z,1638610552.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:55.985Z,1638610555.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:35:56.717Z,1638610556.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:35:57.123Z,1638610557.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:35:57.957Z,1638610557.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093558.14*59

2021-12-04T09:35:57.958Z,1638610557.958 [Micromodem](INFO): Nmea in: $CAREV,093559,AUV,2.1.4000*29

2021-12-04T09:35:58.329Z,1638610558.329 [Micromodem](INFO): Nmea in: $CAREV,093559,COPROC,0.20.0.39330*78

2021-12-04T09:35:58.743Z,1638610558.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:00.365Z,1638610560.365 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:36:01.571Z,1638610561.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:02.368Z,1638610562.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:02.781Z,1638610562.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:03.613Z,1638610563.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093603.79*5F

2021-12-04T09:36:03.615Z,1638610563.615 [Micromodem](INFO): Nmea in: $CAREV,093604,AUV,2.1.4000*22

2021-12-04T09:36:03.989Z,1638610563.989 [Micromodem](INFO): Nmea in: $CAREV,093604,COPROC,0.20.0.39330*73

2021-12-04T09:36:04.406Z,1638610564.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:06.011Z,1638610566.011 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:36:07.237Z,1638610567.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:08.026Z,1638610568.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:08.436Z,1638610568.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:09.246Z,1638610569.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093609.45*5A

2021-12-04T09:36:09.248Z,1638610569.248 [Micromodem](INFO): Nmea in: $CAREV,093610,AUV,2.1.4000*27

2021-12-04T09:36:09.645Z,1638610569.645 [Micromodem](INFO): Nmea in: $CAREV,093610,COPROC,0.20.0.39330*76

2021-12-04T09:36:10.108Z,1638610570.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:14.512Z,1638610574.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:15.295Z,1638610575.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:15.708Z,1638610575.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:16.515Z,1638610576.515 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093616.72*50

2021-12-04T09:36:16.517Z,1638610576.517 [Micromodem](INFO): Nmea in: $CAREV,093617,AUV,2.1.4000*20

2021-12-04T09:36:16.922Z,1638610576.922 [Micromodem](INFO): Nmea in: $CAREV,093617,COPROC,0.20.0.39330*71

2021-12-04T09:36:17.337Z,1638610577.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:18.976Z,1638610578.976 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:36:20.209Z,1638610580.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:20.985Z,1638610580.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:21.357Z,1638610581.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:22.187Z,1638610582.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093622.41*57

2021-12-04T09:36:22.188Z,1638610582.188 [Micromodem](INFO): Nmea in: $CAREV,093623,AUV,2.1.4000*27

2021-12-04T09:36:22.567Z,1638610582.567 [Micromodem](INFO): Nmea in: $CAREV,093623,COPROC,0.20.0.39330*76

2021-12-04T09:36:23.019Z,1638610583.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:23.377Z,1638610583.377 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,00,80,63,E4
F,186,80,80,50,FF
2021-12-04T09:36:25.880Z,1638610585.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:28.653Z,1638610588.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:29.435Z,1638610589.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:29.852Z,1638610589.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:30.653Z,1638610590.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093630.86*5F

2021-12-04T09:36:30.654Z,1638610590.654 [Micromodem](INFO): Nmea in: $CAREV,093631,AUV,2.1.4000*24

2021-12-04T09:36:31.052Z,1638610591.052 [Micromodem](INFO): Nmea in: $CAREV,093631,COPROC,0.20.0.39330*75

2021-12-04T09:36:31.470Z,1638610591.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:34.709Z,1638610594.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:35.501Z,1638610595.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:35.913Z,1638610595.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:36.711Z,1638610596.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093636.93*5D

2021-12-04T09:36:36.712Z,1638610596.712 [Micromodem](INFO): Nmea in: $CAREV,093637,AUV,2.1.4000*22

2021-12-04T09:36:37.117Z,1638610597.117 [Micromodem](INFO): Nmea in: $CAREV,093637,COPROC,0.20.0.39330*73

2021-12-04T09:36:37.529Z,1638610597.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:42.031Z,1638610602.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:42.773Z,1638610602.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:43.183Z,1638610603.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:43.983Z,1638610603.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093644.20*50

2021-12-04T09:36:43.984Z,1638610603.984 [Micromodem](INFO): Nmea in: $CAREV,093645,AUV,2.1.4000*27

2021-12-04T09:36:44.383Z,1638610604.383 [Micromodem](INFO): Nmea in: $CAREV,093645,COPROC,0.20.0.39330*76

2021-12-04T09:36:44.808Z,1638610604.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:46.403Z,1638610606.403 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:36:47.629Z,1638610607.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:48.423Z,1638610608.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:48.847Z,1638610608.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:49.653Z,1638610609.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093649.85*52

2021-12-04T09:36:49.654Z,1638610609.654 [Micromodem](INFO): Nmea in: $CAREV,093650,AUV,2.1.4000*23

2021-12-04T09:36:50.049Z,1638610610.049 [Micromodem](INFO): Nmea in: $CAREV,093650,COPROC,0.20.0.39330*72

2021-12-04T09:36:50.462Z,1638610610.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:53.693Z,1638610613.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:54.489Z,1638610614.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:36:54.891Z,1638610614.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:36:55.701Z,1638610615.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093655.92*59

2021-12-04T09:36:55.703Z,1638610615.703 [Micromodem](INFO): Nmea in: $CAREV,093656,AUV,2.1.4000*25

2021-12-04T09:36:56.105Z,1638610616.105 [Micromodem](INFO): Nmea in: $CAREV,093656,COPROC,0.20.0.39330*74

2021-12-04T09:36:56.518Z,1638610616.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:36:58.128Z,1638610618.128 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:36:59.360Z,1638610619.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:00.154Z,1638610620.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:00.561Z,1638610620.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:01.367Z,1638610621.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093701.58*5F

2021-12-04T09:37:01.369Z,1638610621.369 [Micromodem](INFO): Nmea in: $CAREV,093702,AUV,2.1.4000*25

2021-12-04T09:37:01.765Z,1638610621.765 [Micromodem](INFO): Nmea in: $CAREV,093702,COPROC,0.20.0.39330*74

2021-12-04T09:37:02.235Z,1638610622.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:03.805Z,1638610623.805 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:05.031Z,1638610625.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:05.837Z,1638610625.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:06.206Z,1638610626.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:07.037Z,1638610627.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093707.26*50

2021-12-04T09:37:07.040Z,1638610627.040 [Micromodem](INFO): Nmea in: $CAREV,093708,AUV,2.1.4000*2F

2021-12-04T09:37:07.411Z,1638610627.411 [Micromodem](INFO): Nmea in: $CAREV,093708,COPROC,0.20.0.39330*7E

2021-12-04T09:37:07.894Z,1638610627.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:11.075Z,1638610631.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:11.855Z,1638610631.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:12.267Z,1638610632.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:13.089Z,1638610633.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093713.28*5B

2021-12-04T09:37:13.091Z,1638610633.091 [Micromodem](INFO): Nmea in: $CAREV,093714,AUV,2.1.4000*22

2021-12-04T09:37:13.489Z,1638610633.489 [Micromodem](INFO): Nmea in: $CAREV,093714,COPROC,0.20.0.39330*73

2021-12-04T09:37:13.929Z,1638610633.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:17.149Z,1638610637.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:17.922Z,1638610637.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:18.321Z,1638610638.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:19.134Z,1638610639.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093719.35*5D

2021-12-04T09:37:19.135Z,1638610639.135 [Micromodem](INFO): Nmea in: $CAREV,093720,AUV,2.1.4000*25

2021-12-04T09:37:19.541Z,1638610639.541 [Micromodem](INFO): Nmea in: $CAREV,093720,COPROC,0.20.0.39330*74

2021-12-04T09:37:20.020Z,1638610640.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:21.556Z,1638610641.556 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:22.777Z,1638610642.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:23.577Z,1638610643.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:23.987Z,1638610643.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:24.788Z,1638610644.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093725.00*54

2021-12-04T09:37:24.789Z,1638610644.789 [Micromodem](INFO): Nmea in: $CAREV,093726,AUV,2.1.4000*23

2021-12-04T09:37:25.194Z,1638610645.194 [Micromodem](INFO): Nmea in: $CAREV,093726,COPROC,0.20.0.39330*72

2021-12-04T09:37:25.613Z,1638610645.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:28.845Z,1638610648.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:29.631Z,1638610649.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:30.040Z,1638610650.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:30.849Z,1638610650.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093731.06*57

2021-12-04T09:37:30.863Z,1638610650.863 [Micromodem](INFO): Nmea in: $CAREV,093732,AUV,2.1.4000*26

2021-12-04T09:37:31.249Z,1638610651.249 [Micromodem](INFO): Nmea in: $CAREV,093732,COPROC,0.20.0.39330*77

2021-12-04T09:37:31.664Z,1638610651.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:33.266Z,1638610653.266 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:34.497Z,1638610654.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:35.297Z,1638610655.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:35.759Z,1638610655.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:36.507Z,1638610656.507 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093736.72*53

2021-12-04T09:37:36.508Z,1638610656.508 [Micromodem](INFO): Nmea in: $CAREV,093737,AUV,2.1.4000*23

2021-12-04T09:37:36.910Z,1638610656.910 [Micromodem](INFO): Nmea in: $CAREV,093737,COPROC,0.20.0.39330*72

2021-12-04T09:37:37.334Z,1638610657.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:38.960Z,1638610658.960 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:40.183Z,1638610660.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:40.974Z,1638610660.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:41.383Z,1638610661.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:42.170Z,1638610662.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093742.40*51

2021-12-04T09:37:42.189Z,1638610662.189 [Micromodem](INFO): Nmea in: $CAREV,093743,AUV,2.1.4000*20

2021-12-04T09:37:42.577Z,1638610662.577 [Micromodem](INFO): Nmea in: $CAREV,093743,COPROC,0.20.0.39330*71

2021-12-04T09:37:42.997Z,1638610662.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:44.584Z,1638610664.584 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:45.869Z,1638610665.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:46.599Z,1638610666.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:47.011Z,1638610667.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:47.841Z,1638610667.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093748.03*5C

2021-12-04T09:37:47.842Z,1638610667.842 [Micromodem](INFO): Nmea in: $CAREV,093749,AUV,2.1.4000*2A

2021-12-04T09:37:48.218Z,1638610668.218 [Micromodem](INFO): Nmea in: $CAREV,093749,COPROC,0.20.0.39330*7B

2021-12-04T09:37:48.637Z,1638610668.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:50.240Z,1638610670.240 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:51.457Z,1638610671.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:52.268Z,1638610672.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:52.666Z,1638610672.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:53.481Z,1638610673.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093753.70*52

2021-12-04T09:37:53.482Z,1638610673.482 [Micromodem](INFO): Nmea in: $CAREV,093754,AUV,2.1.4000*26

2021-12-04T09:37:53.889Z,1638610673.889 [Micromodem](INFO): Nmea in: $CAREV,093754,COPROC,0.20.0.39330*77

2021-12-04T09:37:54.312Z,1638610674.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:55.897Z,1638610675.897 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:37:57.136Z,1638610677.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:37:57.916Z,1638610677.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:37:58.337Z,1638610678.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:37:59.133Z,1638610679.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093759.34*58

2021-12-04T09:37:59.135Z,1638610679.135 [Micromodem](INFO): Nmea in: $CAREV,093800,AUV,2.1.4000*28

2021-12-04T09:37:59.545Z,1638610679.545 [Micromodem](INFO): Nmea in: $CAREV,093800,COPROC,0.20.0.39330*79

2021-12-04T09:38:00.015Z,1638610680.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:01.554Z,1638610681.554 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:38:02.776Z,1638610682.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:03.567Z,1638610683.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:03.978Z,1638610683.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:04.781Z,1638610684.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093804.99*58

2021-12-04T09:38:04.782Z,1638610684.782 [Micromodem](INFO): Nmea in: $CAREV,093806,AUV,2.1.4000*2E

2021-12-04T09:38:05.183Z,1638610685.183 [Micromodem](INFO): Nmea in: $CAREV,093806,COPROC,0.20.0.39330*7F

2021-12-04T09:38:05.602Z,1638610685.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:08.844Z,1638610688.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:09.631Z,1638610689.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:10.045Z,1638610690.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:10.844Z,1638610690.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093811.06*5A

2021-12-04T09:38:10.845Z,1638610690.845 [Micromodem](INFO): Nmea in: $CAREV,093812,AUV,2.1.4000*2B

2021-12-04T09:38:11.249Z,1638610691.249 [Micromodem](INFO): Nmea in: $CAREV,093812,COPROC,0.20.0.39330*7A

2021-12-04T09:38:11.667Z,1638610691.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:15.899Z,1638610695.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:16.496Z,1638610696.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:16.913Z,1638610696.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:17.717Z,1638610697.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093817.92*51

2021-12-04T09:38:17.718Z,1638610697.718 [Micromodem](INFO): Nmea in: $CAREV,093818,AUV,2.1.4000*21

2021-12-04T09:38:18.113Z,1638610698.113 [Micromodem](INFO): Nmea in: $CAREV,093818,COPROC,0.20.0.39330*70

2021-12-04T09:38:18.549Z,1638610698.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:20.132Z,1638610700.132 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:38:21.364Z,1638610701.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:22.151Z,1638610702.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:22.557Z,1638610702.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:23.369Z,1638610703.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093823.58*50

2021-12-04T09:38:23.371Z,1638610703.371 [Micromodem](INFO): Nmea in: $CAREV,093824,AUV,2.1.4000*2E

2021-12-04T09:38:23.787Z,1638610703.787 [Micromodem](INFO): Nmea in: $CAREV,093824,COPROC,0.20.0.39330*7F

2021-12-04T09:38:24.219Z,1638610704.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:25.827Z,1638610705.827 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:38:27.030Z,1638610707.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:27.839Z,1638610707.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:28.220Z,1638610708.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:29.039Z,1638610709.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093829.27*52

2021-12-04T09:38:29.040Z,1638610709.040 [Micromodem](INFO): Nmea in: $CAREV,093830,AUV,2.1.4000*2B

2021-12-04T09:38:29.423Z,1638610709.423 [Micromodem](INFO): Nmea in: $CAREV,093830,COPROC,0.20.0.39330*7A

2021-12-04T09:38:29.882Z,1638610709.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:33.080Z,1638610713.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:33.869Z,1638610713.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:34.279Z,1638610714.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:35.085Z,1638610715.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093835.30*59

2021-12-04T09:38:35.086Z,1638610715.086 [Micromodem](INFO): Nmea in: $CAREV,093836,AUV,2.1.4000*2D

2021-12-04T09:38:35.494Z,1638610715.494 [Micromodem](INFO): Nmea in: $CAREV,093836,COPROC,0.20.0.39330*7C

2021-12-04T09:38:35.980Z,1638610715.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:39.156Z,1638610719.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:39.950Z,1638610719.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:40.339Z,1638610720.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:41.156Z,1638610721.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093841.38*52

2021-12-04T09:38:41.157Z,1638610721.157 [Micromodem](INFO): Nmea in: $CAREV,093842,AUV,2.1.4000*2E

2021-12-04T09:38:41.549Z,1638610721.549 [Micromodem](INFO): Nmea in: $CAREV,093842,COPROC,0.20.0.39330*7F

2021-12-04T09:38:42.016Z,1638610722.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:45.218Z,1638610725.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:46.005Z,1638610726.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:46.397Z,1638610726.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:47.229Z,1638610727.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093847.43*58

2021-12-04T09:38:47.230Z,1638610727.230 [Micromodem](INFO): Nmea in: $CAREV,093848,AUV,2.1.4000*24

2021-12-04T09:38:47.610Z,1638610727.610 [Micromodem](INFO): Nmea in: $CAREV,093848,COPROC,0.20.0.39330*75

2021-12-04T09:38:48.063Z,1638610728.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:49.640Z,1638610729.640 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:38:50.853Z,1638610730.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:51.649Z,1638610731.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:52.058Z,1638610732.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:52.864Z,1638610732.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093853.08*52

2021-12-04T09:38:52.866Z,1638610732.866 [Micromodem](INFO): Nmea in: $CAREV,093854,AUV,2.1.4000*29

2021-12-04T09:38:53.265Z,1638610733.265 [Micromodem](INFO): Nmea in: $CAREV,093854,COPROC,0.20.0.39330*78

2021-12-04T09:38:53.689Z,1638610733.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:55.281Z,1638610735.281 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:38:56.516Z,1638610736.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:38:57.299Z,1638610737.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:38:57.711Z,1638610737.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:38:58.515Z,1638610738.515 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093858.73*55

2021-12-04T09:38:58.516Z,1638610738.516 [Micromodem](INFO): Nmea in: $CAREV,093859,AUV,2.1.4000*24

2021-12-04T09:38:58.923Z,1638610738.923 [Micromodem](INFO): Nmea in: $CAREV,093859,COPROC,0.20.0.39330*75

2021-12-04T09:38:59.346Z,1638610739.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:02.581Z,1638610742.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:03.365Z,1638610743.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:03.788Z,1638610743.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:04.579Z,1638610744.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093904.80*51

2021-12-04T09:39:04.580Z,1638610744.580 [Micromodem](INFO): Nmea in: $CAREV,093905,AUV,2.1.4000*2C

2021-12-04T09:39:04.978Z,1638610744.978 [Micromodem](INFO): Nmea in: $CAREV,093905,COPROC,0.20.0.39330*7D

2021-12-04T09:39:05.410Z,1638610745.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:06.994Z,1638610746.994 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:39:08.237Z,1638610748.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:09.033Z,1638610749.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:09.427Z,1638610749.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:10.238Z,1638610750.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093910.46*5E

2021-12-04T09:39:10.240Z,1638610750.240 [Micromodem](INFO): Nmea in: $CAREV,093911,AUV,2.1.4000*29

2021-12-04T09:39:10.631Z,1638610750.631 [Micromodem](INFO): Nmea in: $CAREV,093911,COPROC,0.20.0.39330*78

2021-12-04T09:39:11.062Z,1638610751.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:14.291Z,1638610754.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:15.081Z,1638610755.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:15.488Z,1638610755.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:16.292Z,1638610756.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093916.51*5E

2021-12-04T09:39:16.294Z,1638610756.294 [Micromodem](INFO): Nmea in: $CAREV,093917,AUV,2.1.4000*2F

2021-12-04T09:39:16.693Z,1638610756.693 [Micromodem](INFO): Nmea in: $CAREV,093917,COPROC,0.20.0.39330*7E

2021-12-04T09:39:17.133Z,1638610757.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:20.348Z,1638610760.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:21.153Z,1638610761.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:21.543Z,1638610761.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:22.357Z,1638610762.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093922.58*50

2021-12-04T09:39:22.358Z,1638610762.358 [Micromodem](INFO): Nmea in: $CAREV,093923,AUV,2.1.4000*28

2021-12-04T09:39:22.757Z,1638610762.757 [Micromodem](INFO): Nmea in: $CAREV,093923,COPROC,0.20.0.39330*79

2021-12-04T09:39:23.186Z,1638610763.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:24.772Z,1638610764.772 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:39:26.056Z,1638610766.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:26.797Z,1638610766.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:27.199Z,1638610767.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:28.008Z,1638610768.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093928.22*57

2021-12-04T09:39:28.009Z,1638610768.009 [Micromodem](INFO): Nmea in: $CAREV,093929,AUV,2.1.4000*22

2021-12-04T09:39:28.409Z,1638610768.409 [Micromodem](INFO): Nmea in: $CAREV,093929,COPROC,0.20.0.39330*73

2021-12-04T09:39:28.832Z,1638610768.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:30.436Z,1638610770.436 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:39:31.651Z,1638610771.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:32.448Z,1638610772.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:32.853Z,1638610772.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:33.664Z,1638610773.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093933.88*5D

2021-12-04T09:39:33.665Z,1638610773.665 [Micromodem](INFO): Nmea in: $CAREV,093934,AUV,2.1.4000*2E

2021-12-04T09:39:34.081Z,1638610774.081 [Micromodem](INFO): Nmea in: $CAREV,093934,COPROC,0.20.0.39330*7F

2021-12-04T09:39:34.479Z,1638610774.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:37.717Z,1638610777.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:38.507Z,1638610778.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:38.931Z,1638610778.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:39.722Z,1638610779.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093939.94*5A

2021-12-04T09:39:39.723Z,1638610779.723 [Micromodem](INFO): Nmea in: $CAREV,093940,AUV,2.1.4000*2D

2021-12-04T09:39:40.126Z,1638610780.126 [Micromodem](INFO): Nmea in: $CAREV,093940,COPROC,0.20.0.39330*7C

2021-12-04T09:39:40.544Z,1638610780.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:43.872Z,1638610783.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:44.567Z,1638610784.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:44.986Z,1638610784.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:45.826Z,1638610785.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093946.00*5F

2021-12-04T09:39:45.829Z,1638610785.829 [Micromodem](INFO): Nmea in: $CAREV,093947,AUV,2.1.4000*2A

2021-12-04T09:39:46.183Z,1638610786.183 [Micromodem](INFO): Nmea in: $CAREV,093947,COPROC,0.20.0.39330*7B

2021-12-04T09:39:46.612Z,1638610786.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:49.897Z,1638610789.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:50.633Z,1638610790.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:51.039Z,1638610791.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:51.869Z,1638610791.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093952.06*5C

2021-12-04T09:39:51.870Z,1638610791.870 [Micromodem](INFO): Nmea in: $CAREV,093953,AUV,2.1.4000*2F

2021-12-04T09:39:52.243Z,1638610792.243 [Micromodem](INFO): Nmea in: $CAREV,093953,COPROC,0.20.0.39330*7E

2021-12-04T09:39:52.679Z,1638610792.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:54.272Z,1638610794.272 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:39:55.504Z,1638610795.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:39:56.289Z,1638610796.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:39:56.691Z,1638610796.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:39:57.505Z,1638610797.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093957.72*5A

2021-12-04T09:39:57.506Z,1638610797.506 [Micromodem](INFO): Nmea in: $CAREV,093958,AUV,2.1.4000*24

2021-12-04T09:39:57.909Z,1638610797.909 [Micromodem](INFO): Nmea in: $CAREV,093958,COPROC,0.20.0.39330*75

2021-12-04T09:39:58.026Z,1638610798.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:01.559Z,1638610801.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:02.353Z,1638610802.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:02.762Z,1638610802.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:03.562Z,1638610803.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094003.78*5F

2021-12-04T09:40:03.563Z,1638610803.563 [Micromodem](INFO): Nmea in: $CAREV,094004,AUV,2.1.4000*23

2021-12-04T09:40:03.973Z,1638610803.973 [Micromodem](INFO): Nmea in: $CAREV,094004,COPROC,0.20.0.39330*72

2021-12-04T09:40:04.386Z,1638610804.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:05.984Z,1638610805.984 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:40:07.222Z,1638610807.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:08.017Z,1638610808.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:08.411Z,1638610808.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:09.221Z,1638610809.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094009.44*5A

2021-12-04T09:40:09.223Z,1638610809.223 [Micromodem](INFO): Nmea in: $CAREV,094010,AUV,2.1.4000*26

2021-12-04T09:40:09.621Z,1638610809.621 [Micromodem](INFO): Nmea in: $CAREV,094010,COPROC,0.20.0.39330*77

2021-12-04T09:40:10.061Z,1638610810.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:11.637Z,1638610811.637 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:40:12.865Z,1638610812.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:13.655Z,1638610813.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:14.080Z,1638610814.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:14.105Z,1638610814.105 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T09:40:14.872Z,1638610814.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094015.08*5F

2021-12-04T09:40:14.873Z,1638610814.873 [Micromodem](INFO): Nmea in: $CAREV,094016,AUV,2.1.4000*20

2021-12-04T09:40:15.273Z,1638610815.273 [Micromodem](INFO): Nmea in: $CAREV,094016,COPROC,0.20.0.39330*71

2021-12-04T09:40:15.704Z,1638610815.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:18.948Z,1638610818.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:19.723Z,1638610819.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:20.139Z,1638610820.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:20.960Z,1638610820.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094021.15*54

2021-12-04T09:40:20.961Z,1638610820.961 [Micromodem](INFO): Nmea in: $CAREV,094022,AUV,2.1.4000*27

2021-12-04T09:40:21.337Z,1638610821.337 [Micromodem](INFO): Nmea in: $CAREV,094022,COPROC,0.20.0.39330*76

2021-12-04T09:40:21.747Z,1638610821.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:25.003Z,1638610825.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:25.817Z,1638610825.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:26.185Z,1638610826.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:27.008Z,1638610827.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094027.25*51

2021-12-04T09:40:27.010Z,1638610827.010 [Micromodem](INFO): Nmea in: $CAREV,094028,AUV,2.1.4000*2D

2021-12-04T09:40:27.409Z,1638610827.409 [Micromodem](INFO): Nmea in: $CAREV,094028,COPROC,0.20.0.39330*7C

2021-12-04T09:40:27.872Z,1638610827.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:29.412Z,1638610829.412 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:40:30.648Z,1638610830.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:31.431Z,1638610831.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:31.849Z,1638610831.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:32.649Z,1638610832.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094032.86*5C

2021-12-04T09:40:32.650Z,1638610832.650 [Micromodem](INFO): Nmea in: $CAREV,094033,AUV,2.1.4000*27

2021-12-04T09:40:33.053Z,1638610833.053 [Micromodem](INFO): Nmea in: $CAREV,094033,COPROC,0.20.0.39330*76

2021-12-04T09:40:33.469Z,1638610833.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:33.887Z,1638610833.887 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T09:40:36.704Z,1638610836.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:37.497Z,1638610837.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:37.914Z,1638610837.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:38.714Z,1638610838.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094038.92*53

2021-12-04T09:40:38.715Z,1638610838.715 [Micromodem](INFO): Nmea in: $CAREV,094039,AUV,2.1.4000*2D

2021-12-04T09:40:39.111Z,1638610839.111 [Micromodem](INFO): Nmea in: $CAREV,094039,COPROC,0.20.0.39330*7C

2021-12-04T09:40:39.545Z,1638610839.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:41.132Z,1638610841.132 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:40:42.353Z,1638610842.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:43.149Z,1638610843.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:43.562Z,1638610843.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:43.977Z,1638610843.977 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T09:40:44.364Z,1638610844.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094044.58*5E

2021-12-04T09:40:44.366Z,1638610844.366 [Micromodem](INFO): Nmea in: $CAREV,094045,AUV,2.1.4000*26

2021-12-04T09:40:44.774Z,1638610844.774 [Micromodem](INFO): Nmea in: $CAREV,094045,COPROC,0.20.0.39330*77

2021-12-04T09:40:45.215Z,1638610845.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:48.430Z,1638610848.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:49.214Z,1638610849.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:49.632Z,1638610849.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:50.429Z,1638610850.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094050.64*54

2021-12-04T09:40:50.430Z,1638610850.430 [Micromodem](INFO): Nmea in: $CAREV,094051,AUV,2.1.4000*23

2021-12-04T09:40:50.823Z,1638610850.823 [Micromodem](INFO): Nmea in: $CAREV,094051,COPROC,0.20.0.39330*72

2021-12-04T09:40:51.251Z,1638610851.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:54.090Z,1638610854.090 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T09:40:54.484Z,1638610854.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:40:55.285Z,1638610855.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:40:55.673Z,1638610855.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:40:56.490Z,1638610856.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094056.71*56

2021-12-04T09:40:56.491Z,1638610856.491 [Micromodem](INFO): Nmea in: $CAREV,094057,AUV,2.1.4000*25

2021-12-04T09:40:56.889Z,1638610856.889 [Micromodem](INFO): Nmea in: $CAREV,094057,COPROC,0.20.0.39330*74

2021-12-04T09:40:57.316Z,1638610857.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:00.549Z,1638610860.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:01.329Z,1638610861.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:01.748Z,1638610861.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:02.550Z,1638610862.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094102.76*51

2021-12-04T09:41:02.551Z,1638610862.551 [Micromodem](INFO): Nmea in: $CAREV,094103,AUV,2.1.4000*25

2021-12-04T09:41:02.971Z,1638610862.971 [Micromodem](INFO): Nmea in: $CAREV,094103,COPROC,0.20.0.39330*74

2021-12-04T09:41:03.371Z,1638610863.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:06.590Z,1638610866.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:07.390Z,1638610867.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:07.835Z,1638610867.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:08.604Z,1638610868.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094108.82*50

2021-12-04T09:41:08.605Z,1638610868.605 [Micromodem](INFO): Nmea in: $CAREV,094109,AUV,2.1.4000*2F

2021-12-04T09:41:09.006Z,1638610869.006 [Micromodem](INFO): Nmea in: $CAREV,094109,COPROC,0.20.0.39330*7E

2021-12-04T09:41:09.431Z,1638610869.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:12.667Z,1638610872.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:13.449Z,1638610873.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:13.866Z,1638610873.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:14.665Z,1638610874.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094114.88*57

2021-12-04T09:41:14.666Z,1638610874.666 [Micromodem](INFO): Nmea in: $CAREV,094115,AUV,2.1.4000*22

2021-12-04T09:41:15.074Z,1638610875.074 [Micromodem](INFO): Nmea in: $CAREV,094115,COPROC,0.20.0.39330*73

2021-12-04T09:41:15.501Z,1638610875.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:18.711Z,1638610878.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:19.509Z,1638610879.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:19.957Z,1638610879.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:20.763Z,1638610880.763 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094120.94*5D

2021-12-04T09:41:20.764Z,1638610880.764 [Micromodem](INFO): Nmea in: $CAREV,094121,AUV,2.1.40*74

2021-12-04T09:41:20.765Z,1638610880.765 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,094121,AUV,2.1.40*74
 expected 25
2021-12-04T09:41:21.548Z,1638610881.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:24.776Z,1638610884.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:25.567Z,1638610885.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:25.983Z,1638610885.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:26.782Z,1638610886.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094126.99*56

2021-12-04T09:41:26.783Z,1638610886.783 [Micromodem](INFO): Nmea in: $CAREV,094128,AUV,2.1.4000*2C

2021-12-04T09:41:27.185Z,1638610887.185 [Micromodem](INFO): Nmea in: $CAREV,094128,COPROC,0.20.0.39330*7D

2021-12-04T09:41:27.600Z,1638610887.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:30.851Z,1638610890.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:31.636Z,1638610891.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:32.039Z,1638610892.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:32.847Z,1638610892.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094133.07*55

2021-12-04T09:41:32.848Z,1638610892.848 [Micromodem](INFO): Nmea in: $CAREV,094134,AUV,2.1.4000*21

2021-12-04T09:41:33.254Z,1638610893.254 [Micromodem](INFO): Nmea in: $CAREV,094134,COPROC,0.20.0.39330*70

2021-12-04T09:41:33.671Z,1638610893.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:36.899Z,1638610896.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:37.692Z,1638610897.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:38.102Z,1638610898.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:38.903Z,1638610898.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094139.12*5B

2021-12-04T09:41:38.904Z,1638610898.904 [Micromodem](INFO): Nmea in: $CAREV,094140,AUV,2.1.4000*22

2021-12-04T09:41:39.307Z,1638610899.307 [Micromodem](INFO): Nmea in: $CAREV,094140,COPROC,0.20.0.39330*73

2021-12-04T09:41:39.738Z,1638610899.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:42.997Z,1638610902.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:43.757Z,1638610903.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:44.155Z,1638610904.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:44.972Z,1638610904.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094145.19*5B

2021-12-04T09:41:44.973Z,1638610904.973 [Micromodem](INFO): Nmea in: $CAREV,094146,AUV,2.1.4000*24

2021-12-04T09:41:45.363Z,1638610905.363 [Micromodem](INFO): Nmea in: $CAREV,094146,COPROC,0.20.0.39330*75

2021-12-04T09:41:45.836Z,1638610905.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:49.039Z,1638610909.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:49.841Z,1638610909.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:50.220Z,1638610910.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:51.044Z,1638610911.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094151.27*53

2021-12-04T09:41:51.045Z,1638610911.045 [Micromodem](INFO): Nmea in: $CAREV,094152,AUV,2.1.4000*21

2021-12-04T09:41:51.426Z,1638610911.426 [Micromodem](INFO): Nmea in: $CAREV,094152,COPROC,0.20.0.39330*70

2021-12-04T09:41:51.885Z,1638610911.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:55.103Z,1638610915.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:41:55.873Z,1638610915.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:41:56.280Z,1638610916.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:41:57.085Z,1638610917.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094157.30*53

2021-12-04T09:41:57.086Z,1638610917.086 [Micromodem](INFO): Nmea in: $CAREV,094158,AUV,2.1.4000*2B

2021-12-04T09:41:57.489Z,1638610917.489 [Micromodem](INFO): Nmea in: $CAREV,094158,COPROC,0.20.0.39330*7A

2021-12-04T09:41:57.954Z,1638610917.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:01.160Z,1638610921.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:01.948Z,1638610921.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:02.346Z,1638610922.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:03.152Z,1638610923.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094203.38*59

2021-12-04T09:42:03.153Z,1638610923.153 [Micromodem](INFO): Nmea in: $CAREV,094204,AUV,2.1.4000*21

2021-12-04T09:42:03.546Z,1638610923.546 [Micromodem](INFO): Nmea in: $CAREV,094204,COPROC,0.20.0.39330*70

2021-12-04T09:42:04.033Z,1638610924.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:08.050Z,1638610928.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:08.795Z,1638610928.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:09.219Z,1638610929.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:10.013Z,1638610930.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094210.22*50

2021-12-04T09:42:10.014Z,1638610930.014 [Micromodem](INFO): Nmea in: $CAREV,094211,AUV,2.1.4000*25

2021-12-04T09:42:10.413Z,1638610930.413 [Micromodem](INFO): Nmea in: $CAREV,094211,COPROC,0.20.0.39330*74

2021-12-04T09:42:10.838Z,1638610930.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:14.117Z,1638610934.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:14.861Z,1638610934.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:15.261Z,1638610935.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:16.073Z,1638610936.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094216.29*5D

2021-12-04T09:42:16.074Z,1638610936.074 [Micromodem](INFO): Nmea in: $CAREV,094217,AUV,2.1.4000*23

2021-12-04T09:42:16.475Z,1638610936.475 [Micromodem](INFO): Nmea in: $CAREV,094217,COPROC,0.20.0.39330*72

2021-12-04T09:42:16.900Z,1638610936.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:20.156Z,1638610940.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:20.932Z,1638610940.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:21.339Z,1638610941.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:22.138Z,1638610942.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094222.36*54

2021-12-04T09:42:22.139Z,1638610942.139 [Micromodem](INFO): Nmea in: $CAREV,094223,AUV,2.1.4000*24

2021-12-04T09:42:22.541Z,1638610942.541 [Micromodem](INFO): Nmea in: $CAREV,094223,COPROC,0.20.0.39330*75

2021-12-04T09:42:22.985Z,1638610942.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:26.225Z,1638610946.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:26.982Z,1638610946.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:27.383Z,1638610947.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:28.197Z,1638610948.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094228.41*5E

2021-12-04T09:42:28.198Z,1638610948.198 [Micromodem](INFO): Nmea in: $CAREV,094229,AUV,2.1.4000*2E

2021-12-04T09:42:28.602Z,1638610948.602 [Micromodem](INFO): Nmea in: $CAREV,094229,COPROC,0.20.0.39330*7F

2021-12-04T09:42:29.024Z,1638610949.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:32.258Z,1638610952.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:33.035Z,1638610953.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:33.443Z,1638610953.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:34.249Z,1638610954.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094234.46*54

2021-12-04T09:42:34.251Z,1638610954.251 [Micromodem](INFO): Nmea in: $CAREV,094235,AUV,2.1.4000*23

2021-12-04T09:42:34.657Z,1638610954.657 [Micromodem](INFO): Nmea in: $CAREV,094235,COPROC,0.20.0.39330*72

2021-12-04T09:42:35.089Z,1638610955.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:37.992Z,1638610957.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:38.693Z,1638610958.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:39.103Z,1638610959.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:39.912Z,1638610959.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094240.12*56

2021-12-04T09:42:39.913Z,1638610959.913 [Micromodem](INFO): Nmea in: $CAREV,094241,AUV,2.1.4000*20

2021-12-04T09:42:40.313Z,1638610960.313 [Micromodem](INFO): Nmea in: $CAREV,094241,COPROC,0.20.0.39330*71

2021-12-04T09:42:40.851Z,1638610960.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:44.010Z,1638610964.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:44.753Z,1638610964.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:45.166Z,1638610965.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:46.067Z,1638610966.067 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094246.18*5A

2021-12-04T09:42:46.069Z,1638610966.069 [Micromodem](INFO): Nmea in: $CAREV,094247,AUV,2.1.4000*26

2021-12-04T09:42:46.383Z,1638610966.383 [Micromodem](INFO): Nmea in: $CAREV,094247,COPROC,0.20.0.39330*77

2021-12-04T09:42:46.808Z,1638610966.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:50.052Z,1638610970.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:50.815Z,1638610970.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:51.230Z,1638610971.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:52.027Z,1638610972.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094252.24*50

2021-12-04T09:42:52.028Z,1638610972.028 [Micromodem](INFO): Nmea in: $CAREV,094253,AUV,2.1.4000*23

2021-12-04T09:42:52.437Z,1638610972.437 [Micromodem](INFO): Nmea in: $CAREV,094253,COPROC,0.20.0.39330*72

2021-12-04T09:42:52.856Z,1638610972.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:54.445Z,1638610974.445 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:42:55.683Z,1638610975.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:42:56.473Z,1638610976.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:42:56.873Z,1638610976.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:42:57.685Z,1638610977.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094257.90*5A

2021-12-04T09:42:57.687Z,1638610977.687 [Micromodem](INFO): Nmea in: $CAREV,094258,AUV,2.1.4000*28

2021-12-04T09:42:58.085Z,1638610978.085 [Micromodem](INFO): Nmea in: $CAREV,094258,COPROC,0.20.0.39330*79

2021-12-04T09:42:58.505Z,1638610978.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:01.740Z,1638610981.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:02.533Z,1638610982.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:02.962Z,1638610982.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:03.753Z,1638610983.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094303.96*5C

2021-12-04T09:43:03.754Z,1638610983.754 [Micromodem](INFO): Nmea in: $CAREV,094305,AUV,2.1.4000*21

2021-12-04T09:43:04.145Z,1638610984.145 [Micromodem](INFO): Nmea in: $CAREV,094305,COPROC,0.20.0.39330*70

2021-12-04T09:43:04.568Z,1638610984.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:07.864Z,1638610987.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:08.589Z,1638610988.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:09.007Z,1638610989.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:09.024Z,1638610989.024 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:43:09.837Z,1638610989.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094310.02*53

2021-12-04T09:43:09.838Z,1638610989.838 [Micromodem](INFO): Nmea in: $CAREV,094311,AUV,2.1.4000*24

2021-12-04T09:43:10.209Z,1638610990.209 [Micromodem](INFO): Nmea in: $CAREV,094311,COPROC,0.20.0.39330*75

2021-12-04T09:43:10.628Z,1638610990.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:13.883Z,1638610993.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:14.272Z,1638610994.272 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:43:14.656Z,1638610994.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:15.059Z,1638610995.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:15.867Z,1638610995.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094316.08*5F

2021-12-04T09:43:15.868Z,1638610995.868 [Micromodem](INFO): Nmea in: $CAREV,094317,AUV,2.1.4000*22

2021-12-04T09:43:16.263Z,1638610996.263 [Micromodem](INFO): Nmea in: $CAREV,094317,COPROC,0.20.0.39330*73

2021-12-04T09:43:16.680Z,1638610996.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:19.992Z,1638610999.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:20.886Z,1638611000.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:21.190Z,1638611001.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:22.381Z,1638611002.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094322.31*52

2021-12-04T09:43:22.382Z,1638611002.382 [Micromodem](INFO): Nmea in: $CAREV,094323,AUV,2.1.4000*25

2021-12-04T09:43:22.806Z,1638611002.806 [Micromodem](INFO): Nmea in: $CAREV,094323,COPROC,0.20.0.39330*74

2021-12-04T09:43:22.849Z,1638611002.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:24.039Z,1638611004.039 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:43:26.057Z,1638611006.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:26.824Z,1638611006.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:27.239Z,1638611007.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:28.061Z,1638611008.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094328.25*5D

2021-12-04T09:43:28.062Z,1638611008.062 [Micromodem](INFO): Nmea in: $CAREV,094329,AUV,2.1.4000*2F

2021-12-04T09:43:28.439Z,1638611008.439 [Micromodem](INFO): Nmea in: $CAREV,094329,COPROC,0.20.0.39330*7E

2021-12-04T09:43:28.880Z,1638611008.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:29.258Z,1638611009.258 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:43:32.159Z,1638611012.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:32.894Z,1638611012.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:33.289Z,1638611013.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:34.111Z,1638611014.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094334.32*56

2021-12-04T09:43:34.112Z,1638611014.112 [Micromodem](INFO): Nmea in: $CAREV,094335,AUV,2.1.4000*22

2021-12-04T09:43:34.136Z,1638611014.136 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:43:34.503Z,1638611014.503 [Micromodem](INFO): Nmea in: $CAREV,094335,COPROC,0.20.0.39330*73

2021-12-04T09:43:34.933Z,1638611014.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:38.177Z,1638611018.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:38.985Z,1638611018.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:39.356Z,1638611019.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:40.172Z,1638611020.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094340.41*51

2021-12-04T09:43:40.174Z,1638611020.174 [Micromodem](INFO): Nmea in: $CAREV,094341,AUV,2.1.4000*21

2021-12-04T09:43:40.560Z,1638611020.560 [Micromodem](INFO): Nmea in: $CAREV,094341,COPROC,0.20.0.39330*70

2021-12-04T09:43:40.995Z,1638611020.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:44.199Z,1638611024.199 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T09:43:44.210Z,1638611024.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:45.021Z,1638611025.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:45.409Z,1638611025.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:46.229Z,1638611026.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094346.45*53

2021-12-04T09:43:46.230Z,1638611026.230 [Micromodem](INFO): Nmea in: $CAREV,094347,AUV,2.1.4000*27

2021-12-04T09:43:46.625Z,1638611026.625 [Micromodem](INFO): Nmea in: $CAREV,094347,COPROC,0.20.0.39330*76

2021-12-04T09:43:47.074Z,1638611027.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:50.284Z,1638611030.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:51.069Z,1638611031.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:51.474Z,1638611031.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:52.287Z,1638611032.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094352.50*52

2021-12-04T09:43:52.289Z,1638611032.289 [Micromodem](INFO): Nmea in: $CAREV,094353,AUV,2.1.4000*22

2021-12-04T09:43:52.679Z,1638611032.679 [Micromodem](INFO): Nmea in: $CAREV,094353,COPROC,0.20.0.39330*73

2021-12-04T09:43:53.108Z,1638611033.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:56.007Z,1638611036.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:56.721Z,1638611036.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:43:57.138Z,1638611037.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:43:57.961Z,1638611037.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094358.15*59

2021-12-04T09:43:57.962Z,1638611037.962 [Micromodem](INFO): Nmea in: $CAREV,094359,AUV,2.1.4000*28

2021-12-04T09:43:58.337Z,1638611038.337 [Micromodem](INFO): Nmea in: $CAREV,094359,COPROC,0.20.0.39330*79

2021-12-04T09:43:58.771Z,1638611038.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:43:59.153Z,1638611039.153 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T09:44:02.024Z,1638611042.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:02.785Z,1638611042.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:03.195Z,1638611043.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:04.000Z,1638611044.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094404.21*50

2021-12-04T09:44:04.001Z,1638611044.001 [Micromodem](INFO): Nmea in: $CAREV,094405,AUV,2.1.4000*26

2021-12-04T09:44:04.401Z,1638611044.401 [Micromodem](INFO): Nmea in: $CAREV,094405,COPROC,0.20.0.39330*77

2021-12-04T09:44:07.641Z,1638611047.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:08.435Z,1638611048.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:08.843Z,1638611048.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:09.650Z,1638611049.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094409.86*50

2021-12-04T09:44:09.651Z,1638611049.651 [Micromodem](INFO): Nmea in: $CAREV,094410,AUV,2.1.4000*22

2021-12-04T09:44:10.065Z,1638611050.065 [Micromodem](INFO): Nmea in: $CAREV,094410,COPROC,0.20.0.39330*73

2021-12-04T09:44:13.317Z,1638611053.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:14.099Z,1638611054.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:14.503Z,1638611054.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:15.309Z,1638611055.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094415.53*55

2021-12-04T09:44:15.310Z,1638611055.310 [Micromodem](INFO): Nmea in: $CAREV,094416,AUV,2.1.4000*24

2021-12-04T09:44:15.714Z,1638611055.714 [Micromodem](INFO): Nmea in: $CAREV,094416,COPROC,0.20.0.39330*75

2021-12-04T09:44:19.022Z,1638611059.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:19.753Z,1638611059.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:20.179Z,1638611060.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:20.971Z,1638611060.971 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094421.18*5D

2021-12-04T09:44:20.972Z,1638611060.972 [Micromodem](INFO): Nmea in: $CAREV,094422,AUV,2.1.4000*23

2021-12-04T09:44:21.364Z,1638611061.364 [Micromodem](INFO): Nmea in: $CAREV,094422,COPROC,0.20.0.39330*72

2021-12-04T09:44:24.617Z,1638611064.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:25.421Z,1638611065.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:25.859Z,1638611065.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:26.631Z,1638611066.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094426.85*5E

2021-12-04T09:44:26.632Z,1638611066.632 [Micromodem](INFO): Nmea in: $CAREV,094427,AUV,2.1.4000*26

2021-12-04T09:44:27.029Z,1638611067.029 [Micromodem](INFO): Nmea in: $CAREV,094427,COPROC,0.20.0.39330*77

2021-12-04T09:44:30.283Z,1638611070.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:31.065Z,1638611071.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:31.477Z,1638611071.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:32.276Z,1638611072.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094432.49*5B

2021-12-04T09:44:32.278Z,1638611072.278 [Micromodem](INFO): Nmea in: $CAREV,094433,AUV,2.1.4000*23

2021-12-04T09:44:32.681Z,1638611072.681 [Micromodem](INFO): Nmea in: $CAREV,094433,COPROC,0.20.0.39330*72

2021-12-04T09:44:36.031Z,1638611076.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:36.717Z,1638611076.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:37.133Z,1638611077.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:37.965Z,1638611077.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094438.15*58

2021-12-04T09:44:37.966Z,1638611077.966 [Micromodem](INFO): Nmea in: $CAREV,094439,AUV,2.1.4000*29

2021-12-04T09:44:38.341Z,1638611078.341 [Micromodem](INFO): Nmea in: $CAREV,094439,COPROC,0.20.0.39330*78

2021-12-04T09:44:41.578Z,1638611081.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:42.371Z,1638611082.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:42.788Z,1638611082.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:43.585Z,1638611083.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094443.80*58

2021-12-04T09:44:43.586Z,1638611083.586 [Micromodem](INFO): Nmea in: $CAREV,094444,AUV,2.1.4000*23

2021-12-04T09:44:44.021Z,1638611084.021 [Micromodem](INFO): Nmea in: $CAREV,094444,COPROC,0.20.0.39330*72

2021-12-04T09:44:47.246Z,1638611087.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:48.027Z,1638611088.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:48.439Z,1638611088.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:49.242Z,1638611089.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094449.46*58

2021-12-04T09:44:49.243Z,1638611089.243 [Micromodem](INFO): Nmea in: $CAREV,094450,AUV,2.1.4000*26

2021-12-04T09:44:49.649Z,1638611089.649 [Micromodem](INFO): Nmea in: $CAREV,094450,COPROC,0.20.0.39330*77

2021-12-04T09:44:52.893Z,1638611092.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:53.685Z,1638611093.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:54.095Z,1638611094.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:44:54.900Z,1638611094.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094455.11*57

2021-12-04T09:44:54.901Z,1638611094.901 [Micromodem](INFO): Nmea in: $CAREV,094456,AUV,2.1.4000*20

2021-12-04T09:44:55.299Z,1638611095.299 [Micromodem](INFO): Nmea in: $CAREV,094456,COPROC,0.20.0.39330*71

2021-12-04T09:44:58.559Z,1638611098.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:44:59.361Z,1638611099.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:44:59.756Z,1638611099.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:00.565Z,1638611100.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094500.79*58

2021-12-04T09:45:00.567Z,1638611100.567 [Micromodem](INFO): Nmea in: $CAREV,094501,AUV,2.1.4000*23

2021-12-04T09:45:00.969Z,1638611100.969 [Micromodem](INFO): Nmea in: $CAREV,094501,COPROC,0.20.0.39330*72

2021-12-04T09:45:04.211Z,1638611104.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:05.001Z,1638611105.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:05.401Z,1638611105.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:06.213Z,1638611106.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094506.43*57

2021-12-04T09:45:06.214Z,1638611106.214 [Micromodem](INFO): Nmea in: $CAREV,094507,AUV,2.1.4000*25

2021-12-04T09:45:06.613Z,1638611106.613 [Micromodem](INFO): Nmea in: $CAREV,094507,COPROC,0.20.0.39330*74

2021-12-04T09:45:09.892Z,1638611109.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:10.653Z,1638611110.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:11.118Z,1638611111.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:11.939Z,1638611111.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094512.08*5D

2021-12-04T09:45:11.942Z,1638611111.942 [Micromodem](INFO): Nmea in: $CAREV,094513,AUV,2.1.4000*20

2021-12-04T09:45:12.337Z,1638611112.337 [Micromodem](INFO): Nmea in: $CAREV,094513,COPROC,0.20.0.39330*71

2021-12-04T09:45:15.574Z,1638611115.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:16.367Z,1638611116.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:16.779Z,1638611116.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:17.585Z,1638611117.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094517.80*58

2021-12-04T09:45:17.586Z,1638611117.586 [Micromodem](INFO): Nmea in: $CAREV,094518,AUV,2.1.4000*2B

2021-12-04T09:45:17.984Z,1638611117.984 [Micromodem](INFO): Nmea in: $CAREV,094518,COPROC,0.20.0.39330*7A

2021-12-04T09:45:21.239Z,1638611121.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:22.027Z,1638611122.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:22.432Z,1638611122.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:23.245Z,1638611123.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094523.46*55

2021-12-04T09:45:23.246Z,1638611123.246 [Micromodem](INFO): Nmea in: $CAREV,094524,AUV,2.1.4000*24

2021-12-04T09:45:23.647Z,1638611123.647 [Micromodem](INFO): Nmea in: $CAREV,094524,COPROC,0.20.0.39330*75

2021-12-04T09:45:26.898Z,1638611126.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:27.687Z,1638611127.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:28.091Z,1638611128.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:28.906Z,1638611128.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094529.12*5E

2021-12-04T09:45:28.907Z,1638611128.907 [Micromodem](INFO): Nmea in: $CAREV,094530,AUV,2.1.4000*21

2021-12-04T09:45:29.307Z,1638611129.307 [Micromodem](INFO): Nmea in: $CAREV,094530,COPROC,0.20.0.39330*70

2021-12-04T09:45:32.542Z,1638611132.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:33.341Z,1638611133.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:33.741Z,1638611133.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:34.552Z,1638611134.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094534.77*51

2021-12-04T09:45:34.554Z,1638611134.554 [Micromodem](INFO): Nmea in: $CAREV,094535,AUV,2.1.4000*24

2021-12-04T09:45:34.965Z,1638611134.965 [Micromodem](INFO): Nmea in: $CAREV,094535,COPROC,0.20.0.39330*75

2021-12-04T09:45:38.207Z,1638611138.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:38.997Z,1638611138.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:39.400Z,1638611139.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:40.210Z,1638611140.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094540.43*55

2021-12-04T09:45:40.211Z,1638611140.211 [Micromodem](INFO): Nmea in: $CAREV,094541,AUV,2.1.4000*27

2021-12-04T09:45:40.613Z,1638611140.613 [Micromodem](INFO): Nmea in: $CAREV,094541,COPROC,0.20.0.39330*76

2021-12-04T09:45:43.876Z,1638611143.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:44.653Z,1638611144.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:45.055Z,1638611145.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:45.865Z,1638611145.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094546.08*5C

2021-12-04T09:45:45.867Z,1638611145.867 [Micromodem](INFO): Nmea in: $CAREV,094547,AUV,2.1.4000*21

2021-12-04T09:45:46.273Z,1638611146.273 [Micromodem](INFO): Nmea in: $CAREV,094547,COPROC,0.20.0.39330*70

2021-12-04T09:45:49.512Z,1638611149.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:50.309Z,1638611150.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:50.712Z,1638611150.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:51.530Z,1638611151.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094551.74*51

2021-12-04T09:45:51.531Z,1638611151.531 [Micromodem](INFO): Nmea in: $CAREV,094552,AUV,2.1.4000*25

2021-12-04T09:45:51.929Z,1638611151.929 [Micromodem](INFO): Nmea in: $CAREV,094552,COPROC,0.20.0.39330*74

2021-12-04T09:45:55.192Z,1638611155.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:45:55.972Z,1638611155.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:45:56.367Z,1638611156.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:45:57.180Z,1638611157.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094557.40*50

2021-12-04T09:45:57.181Z,1638611157.181 [Micromodem](INFO): Nmea in: $CAREV,094558,AUV,2.1.4000*2F

2021-12-04T09:45:57.577Z,1638611157.577 [Micromodem](INFO): Nmea in: $CAREV,094558,COPROC,0.20.0.39330*7E

2021-12-04T09:46:00.833Z,1638611160.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:01.621Z,1638611161.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:02.023Z,1638611162.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:02.834Z,1638611162.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094603.05*53

2021-12-04T09:46:02.835Z,1638611162.835 [Micromodem](INFO): Nmea in: $CAREV,094604,AUV,2.1.4000*25

2021-12-04T09:46:03.233Z,1638611163.233 [Micromodem](INFO): Nmea in: $CAREV,094604,COPROC,0.20.0.39330*74

2021-12-04T09:46:06.487Z,1638611166.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:07.273Z,1638611167.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:07.688Z,1638611167.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:08.493Z,1638611168.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094608.70*5A

2021-12-04T09:46:08.494Z,1638611168.494 [Micromodem](INFO): Nmea in: $CAREV,094609,AUV,2.1.4000*28

2021-12-04T09:46:08.900Z,1638611168.900 [Micromodem](INFO): Nmea in: $CAREV,094609,COPROC,0.20.0.39330*79

2021-12-04T09:46:12.184Z,1638611172.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:12.963Z,1638611172.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:13.335Z,1638611173.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:14.155Z,1638611174.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094614.39*5A

2021-12-04T09:46:14.157Z,1638611174.157 [Micromodem](INFO): Nmea in: $CAREV,094615,AUV,2.1.4000*25

2021-12-04T09:46:14.546Z,1638611174.546 [Micromodem](INFO): Nmea in: $CAREV,094615,COPROC,0.20.0.39330*74

2021-12-04T09:46:17.870Z,1638611177.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:18.583Z,1638611178.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:18.999Z,1638611178.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:19.833Z,1638611179.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094620.01*56

2021-12-04T09:46:19.834Z,1638611179.834 [Micromodem](INFO): Nmea in: $CAREV,094621,AUV,2.1.4000*22

2021-12-04T09:46:20.205Z,1638611180.205 [Micromodem](INFO): Nmea in: $CAREV,094621,COPROC,0.20.0.39330*73

2021-12-04T09:46:23.448Z,1638611183.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:24.245Z,1638611184.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:24.654Z,1638611184.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:25.459Z,1638611185.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094625.67*53

2021-12-04T09:46:25.461Z,1638611185.461 [Micromodem](INFO): Nmea in: $CAREV,094626,AUV,2.1.4000*25

2021-12-04T09:46:25.858Z,1638611185.858 [Micromodem](INFO): Nmea in: $CAREV,094626,COPROC,0.20.0.39330*74

2021-12-04T09:46:25.981Z,1638611185.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:29.137Z,1638611189.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:29.901Z,1638611189.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:30.303Z,1638611190.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:31.133Z,1638611191.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094631.33*57

2021-12-04T09:46:31.134Z,1638611191.134 [Micromodem](INFO): Nmea in: $CAREV,094632,AUV,2.1.4000*20

2021-12-04T09:46:31.511Z,1638611191.511 [Micromodem](INFO): Nmea in: $CAREV,094632,COPROC,0.20.0.39330*71

2021-12-04T09:46:34.767Z,1638611194.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:35.553Z,1638611195.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:35.969Z,1638611195.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:36.787Z,1638611196.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094636.98*51

2021-12-04T09:46:36.788Z,1638611196.788 [Micromodem](INFO): Nmea in: $CAREV,094638,AUV,2.1.4000*2A

2021-12-04T09:46:37.169Z,1638611197.169 [Micromodem](INFO): Nmea in: $CAREV,094638,COPROC,0.20.0.39330*7B

2021-12-04T09:46:40.417Z,1638611200.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:41.213Z,1638611201.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:41.623Z,1638611201.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:42.442Z,1638611202.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094642.64*51

2021-12-04T09:46:42.443Z,1638611202.443 [Micromodem](INFO): Nmea in: $CAREV,094643,AUV,2.1.4000*26

2021-12-04T09:46:42.825Z,1638611202.825 [Micromodem](INFO): Nmea in: $CAREV,094643,COPROC,0.20.0.39330*77

2021-12-04T09:46:46.115Z,1638611206.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:46.864Z,1638611206.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:47.269Z,1638611207.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:48.083Z,1638611208.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094648.29*52

2021-12-04T09:46:48.084Z,1638611208.084 [Micromodem](INFO): Nmea in: $CAREV,094649,AUV,2.1.4000*2C

2021-12-04T09:46:48.485Z,1638611208.485 [Micromodem](INFO): Nmea in: $CAREV,094649,COPROC,0.20.0.39330*7D

2021-12-04T09:46:51.728Z,1638611211.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:52.539Z,1638611212.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:52.944Z,1638611212.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:53.752Z,1638611213.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094653.97*5D

2021-12-04T09:46:53.753Z,1638611213.753 [Micromodem](INFO): Nmea in: $CAREV,094655,AUV,2.1.4000*21

2021-12-04T09:46:54.141Z,1638611214.141 [Micromodem](INFO): Nmea in: $CAREV,094655,COPROC,0.20.0.39330*70

2021-12-04T09:46:57.384Z,1638611217.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:46:58.175Z,1638611218.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:46:58.583Z,1638611218.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:46:59.393Z,1638611219.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094659.61*5E

2021-12-04T09:46:59.395Z,1638611219.395 [Micromodem](INFO): Nmea in: $CAREV,094700,AUV,2.1.4000*20

2021-12-04T09:46:59.836Z,1638611219.836 [Micromodem](INFO): Nmea in: $CAREV,094700,COPROC,0.20.0.39330*71

2021-12-04T09:47:03.051Z,1638611223.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:03.847Z,1638611223.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:04.240Z,1638611224.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:05.055Z,1638611225.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094705.28*5B

2021-12-04T09:47:05.057Z,1638611225.057 [Micromodem](INFO): Nmea in: $CAREV,094706,AUV,2.1.4000*26

2021-12-04T09:47:05.447Z,1638611225.447 [Micromodem](INFO): Nmea in: $CAREV,094706,COPROC,0.20.0.39330*77

2021-12-04T09:47:08.703Z,1638611228.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:09.488Z,1638611229.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:09.899Z,1638611229.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:10.758Z,1638611230.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094710.92*5E

2021-12-04T09:47:10.761Z,1638611230.761 [Micromodem](INFO): Nmea in: $CAREV,094711,AUV,2.1.4000*20

2021-12-04T09:47:11.121Z,1638611231.121 [Micromodem](INFO): Nmea in: $CAREV,094711,COPROC,0.20.0.39330*71

2021-12-04T09:47:14.362Z,1638611234.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:15.150Z,1638611235.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:15.562Z,1638611235.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:16.369Z,1638611236.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094716.58*5E

2021-12-04T09:47:16.370Z,1638611236.370 [Micromodem](INFO): Nmea in: $CAREV,094717,AUV,2.1.4000*26

2021-12-04T09:47:16.775Z,1638611236.775 [Micromodem](INFO): Nmea in: $CAREV,094717,COPROC,0.20.0.39330*77

2021-12-04T09:47:20.075Z,1638611240.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:20.809Z,1638611240.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:21.208Z,1638611241.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:22.018Z,1638611242.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094722.24*52

2021-12-04T09:47:22.019Z,1638611242.019 [Micromodem](INFO): Nmea in: $CAREV,094723,AUV,2.1.4000*21

2021-12-04T09:47:22.415Z,1638611242.415 [Micromodem](INFO): Nmea in: $CAREV,094723,COPROC,0.20.0.39330*70

2021-12-04T09:47:25.662Z,1638611245.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:26.457Z,1638611246.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:26.871Z,1638611246.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:27.677Z,1638611247.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094727.89*50

2021-12-04T09:47:27.678Z,1638611247.678 [Micromodem](INFO): Nmea in: $CAREV,094728,AUV,2.1.4000*2A

2021-12-04T09:47:28.072Z,1638611248.072 [Micromodem](INFO): Nmea in: $CAREV,094728,COPROC,0.20.0.39330*7B

2021-12-04T09:47:31.324Z,1638611251.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:32.113Z,1638611252.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:32.523Z,1638611252.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:33.326Z,1638611253.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094733.54*55

2021-12-04T09:47:33.328Z,1638611253.328 [Micromodem](INFO): Nmea in: $CAREV,094734,AUV,2.1.4000*27

2021-12-04T09:47:33.727Z,1638611253.727 [Micromodem](INFO): Nmea in: $CAREV,094734,COPROC,0.20.0.39330*76

2021-12-04T09:47:37.011Z,1638611257.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:37.815Z,1638611257.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:38.173Z,1638611258.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:38.992Z,1638611258.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094739.24*58

2021-12-04T09:47:39.391Z,1638611259.391 [Micromodem](INFO): Nmea in: $CAREV,094740,AUV,2.1.4000*24

2021-12-04T09:47:39.392Z,1638611259.392 [Micromodem](INFO): Nmea in: $CAREV,094740,COPROC,0.20.0.39330*75

2021-12-04T09:47:42.637Z,1638611262.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:43.425Z,1638611263.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:43.842Z,1638611263.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:44.638Z,1638611264.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094744.85*59

2021-12-04T09:47:44.639Z,1638611264.639 [Micromodem](INFO): Nmea in: $CAREV,094745,AUV,2.1.4000*21

2021-12-04T09:47:45.057Z,1638611265.057 [Micromodem](INFO): Nmea in: $CAREV,094745,COPROC,0.20.0.39330*70

2021-12-04T09:47:48.298Z,1638611268.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:49.094Z,1638611269.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:49.487Z,1638611269.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:50.308Z,1638611270.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094750.53*57

2021-12-04T09:47:50.309Z,1638611270.309 [Micromodem](INFO): Nmea in: $CAREV,094751,AUV,2.1.4000*24

2021-12-04T09:47:50.706Z,1638611270.706 [Micromodem](INFO): Nmea in: $CAREV,094751,COPROC,0.20.0.39330*75

2021-12-04T09:47:54.022Z,1638611274.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:47:54.742Z,1638611274.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:47:55.150Z,1638611275.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:47:55.966Z,1638611275.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094756.17*51

2021-12-04T09:47:55.980Z,1638611275.980 [Micromodem](INFO): Nmea in: $CAREV,094757,AUV,2.1.4000*22

2021-12-04T09:47:56.351Z,1638611276.351 [Micromodem](INFO): Nmea in: $CAREV,094757,COPROC,0.20.0.39330*73

2021-12-04T09:47:59.601Z,1638611279.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:00.397Z,1638611280.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:00.807Z,1638611280.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:01.607Z,1638611281.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094801.83*51

2021-12-04T09:48:01.608Z,1638611281.608 [Micromodem](INFO): Nmea in: $CAREV,094802,AUV,2.1.4000*2D

2021-12-04T09:48:02.013Z,1638611282.013 [Micromodem](INFO): Nmea in: $CAREV,094802,COPROC,0.20.0.39330*7C

2021-12-04T09:48:05.266Z,1638611285.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:06.047Z,1638611286.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:06.461Z,1638611286.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:07.273Z,1638611287.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094807.48*50

2021-12-04T09:48:07.274Z,1638611287.274 [Micromodem](INFO): Nmea in: $CAREV,094808,AUV,2.1.4000*27

2021-12-04T09:48:07.663Z,1638611287.663 [Micromodem](INFO): Nmea in: $CAREV,094808,COPROC,0.20.0.39330*76

2021-12-04T09:48:10.939Z,1638611290.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:11.715Z,1638611291.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:12.126Z,1638611292.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:12.956Z,1638611292.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094813.14*5C

2021-12-04T09:48:12.958Z,1638611292.958 [Micromodem](INFO): Nmea in: $CAREV,094814,AUV,2.1.4000*2A

2021-12-04T09:48:13.326Z,1638611293.326 [Micromodem](INFO): Nmea in: $CAREV,094814,COPROC,0.20.0.39330*7B

2021-12-04T09:48:16.592Z,1638611296.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:17.369Z,1638611297.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:17.823Z,1638611297.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:18.584Z,1638611298.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094818.80*5A

2021-12-04T09:48:18.585Z,1638611298.585 [Micromodem](INFO): Nmea in: $CAREV,094819,AUV,2.1.4000*27

2021-12-04T09:48:18.985Z,1638611298.985 [Micromodem](INFO): Nmea in: $CAREV,094819,COPROC,0.20.0.39330*76

2021-12-04T09:48:21.897Z,1638611301.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:22.618Z,1638611302.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:23.021Z,1638611303.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:23.857Z,1638611303.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094824.05*58

2021-12-04T09:48:23.858Z,1638611303.858 [Micromodem](INFO): Nmea in: $CAREV,094825,AUV,2.1.4000*28

2021-12-04T09:48:24.241Z,1638611304.241 [Micromodem](INFO): Nmea in: $CAREV,094825,COPROC,0.20.0.39330*79

2021-12-04T09:48:27.484Z,1638611307.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:28.273Z,1638611308.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:28.679Z,1638611308.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:29.494Z,1638611309.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094829.70*57

2021-12-04T09:48:29.495Z,1638611309.495 [Micromodem](INFO): Nmea in: $CAREV,094830,AUV,2.1.4000*2C

2021-12-04T09:48:29.889Z,1638611309.889 [Micromodem](INFO): Nmea in: $CAREV,094830,COPROC,0.20.0.39330*7D

2021-12-04T09:48:33.154Z,1638611313.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:33.953Z,1638611313.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:34.344Z,1638611314.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:35.152Z,1638611315.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094835.38*56

2021-12-04T09:48:35.154Z,1638611315.154 [Micromodem](INFO): Nmea in: $CAREV,094836,AUV,2.1.4000*2A

2021-12-04T09:48:35.545Z,1638611315.545 [Micromodem](INFO): Nmea in: $CAREV,094836,COPROC,0.20.0.39330*7B

2021-12-04T09:48:38.786Z,1638611318.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:39.585Z,1638611319.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:40.003Z,1638611320.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:40.799Z,1638611320.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094841.02*5C

2021-12-04T09:48:40.800Z,1638611320.800 [Micromodem](INFO): Nmea in: $CAREV,094842,AUV,2.1.4000*29

2021-12-04T09:48:41.213Z,1638611321.213 [Micromodem](INFO): Nmea in: $CAREV,094842,COPROC,0.20.0.39330*78

2021-12-04T09:48:44.447Z,1638611324.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:45.253Z,1638611325.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:45.647Z,1638611325.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:46.458Z,1638611326.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094846.68*57

2021-12-04T09:48:46.459Z,1638611326.459 [Micromodem](INFO): Nmea in: $CAREV,094847,AUV,2.1.4000*2C

2021-12-04T09:48:46.852Z,1638611326.852 [Micromodem](INFO): Nmea in: $CAREV,094847,COPROC,0.20.0.39330*7D

2021-12-04T09:48:50.149Z,1638611330.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:50.897Z,1638611330.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:51.303Z,1638611331.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:52.109Z,1638611332.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094852.33*5C

2021-12-04T09:48:52.110Z,1638611332.110 [Micromodem](INFO): Nmea in: $CAREV,094853,AUV,2.1.4000*29

2021-12-04T09:48:52.509Z,1638611332.509 [Micromodem](INFO): Nmea in: $CAREV,094853,COPROC,0.20.0.39330*78

2021-12-04T09:48:55.825Z,1638611335.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:48:56.555Z,1638611336.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:48:56.973Z,1638611336.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:48:57.811Z,1638611337.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094857.99*59

2021-12-04T09:48:57.814Z,1638611337.814 [Micromodem](INFO): Nmea in: $CAREV,094859,AUV,2.1.4000*23

2021-12-04T09:48:58.174Z,1638611338.174 [Micromodem](INFO): Nmea in: $CAREV,094859,COPROC,0.20.0.39330*72

2021-12-04T09:49:01.419Z,1638611341.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:02.203Z,1638611342.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:02.620Z,1638611342.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:03.423Z,1638611343.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094903.63*5C

2021-12-04T09:49:03.424Z,1638611343.424 [Micromodem](INFO): Nmea in: $CAREV,094904,AUV,2.1.4000*2A

2021-12-04T09:49:03.836Z,1638611343.836 [Micromodem](INFO): Nmea in: $CAREV,094904,COPROC,0.20.0.39330*7B

2021-12-04T09:49:07.075Z,1638611347.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:07.859Z,1638611347.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:08.274Z,1638611348.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:09.077Z,1638611349.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094909.29*58

2021-12-04T09:49:09.079Z,1638611349.079 [Micromodem](INFO): Nmea in: $CAREV,094910,AUV,2.1.4000*2F

2021-12-04T09:49:09.478Z,1638611349.478 [Micromodem](INFO): Nmea in: $CAREV,094910,COPROC,0.20.0.39330*7E

2021-12-04T09:49:12.724Z,1638611352.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:13.521Z,1638611353.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:13.943Z,1638611353.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:14.734Z,1638611354.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094914.95*53

2021-12-04T09:49:14.735Z,1638611354.735 [Micromodem](INFO): Nmea in: $CAREV,094916,AUV,2.1.4000*29

2021-12-04T09:49:15.131Z,1638611355.131 [Micromodem](INFO): Nmea in: $CAREV,094916,COPROC,0.20.0.39330*78

2021-12-04T09:49:18.392Z,1638611358.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:19.173Z,1638611359.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:19.584Z,1638611359.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:20.386Z,1638611360.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094920.60*5E

2021-12-04T09:49:20.387Z,1638611360.387 [Micromodem](INFO): Nmea in: $CAREV,094921,AUV,2.1.4000*2D

2021-12-04T09:49:20.793Z,1638611360.793 [Micromodem](INFO): Nmea in: $CAREV,094921,COPROC,0.20.0.39330*7C

2021-12-04T09:49:24.077Z,1638611364.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:24.833Z,1638611364.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:25.251Z,1638611365.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:26.049Z,1638611366.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094926.26*5A

2021-12-04T09:49:26.050Z,1638611366.050 [Micromodem](INFO): Nmea in: $CAREV,094927,AUV,2.1.4000*2B

2021-12-04T09:49:26.461Z,1638611366.461 [Micromodem](INFO): Nmea in: $CAREV,094927,COPROC,0.20.0.39330*7A

2021-12-04T09:49:29.703Z,1638611369.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:30.489Z,1638611370.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:30.909Z,1638611370.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:31.706Z,1638611371.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094931.92*53

2021-12-04T09:49:31.707Z,1638611371.707 [Micromodem](INFO): Nmea in: $CAREV,094932,AUV,2.1.4000*2F

2021-12-04T09:49:32.105Z,1638611372.105 [Micromodem](INFO): Nmea in: $CAREV,094932,COPROC,0.20.0.39330*7E

2021-12-04T09:49:35.355Z,1638611375.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:36.145Z,1638611376.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:36.547Z,1638611376.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:37.361Z,1638611377.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094937.57*5C

2021-12-04T09:49:37.362Z,1638611377.362 [Micromodem](INFO): Nmea in: $CAREV,094938,AUV,2.1.4000*25

2021-12-04T09:49:37.773Z,1638611377.773 [Micromodem](INFO): Nmea in: $CAREV,094938,COPROC,0.20.0.39330*74

2021-12-04T09:49:41.026Z,1638611381.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:41.835Z,1638611381.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:42.208Z,1638611382.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:43.037Z,1638611383.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094943.27*58

2021-12-04T09:49:43.038Z,1638611383.038 [Micromodem](INFO): Nmea in: $CAREV,094944,AUV,2.1.4000*2E

2021-12-04T09:49:43.414Z,1638611383.414 [Micromodem](INFO): Nmea in: $CAREV,094944,COPROC,0.20.0.39330*7F

2021-12-04T09:49:46.655Z,1638611386.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:47.457Z,1638611387.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:47.863Z,1638611387.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:48.671Z,1638611388.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094948.89*57

2021-12-04T09:49:48.672Z,1638611388.672 [Micromodem](INFO): Nmea in: $CAREV,094949,AUV,2.1.4000*23

2021-12-04T09:49:49.069Z,1638611389.069 [Micromodem](INFO): Nmea in: $CAREV,094949,COPROC,0.20.0.39330*72

2021-12-04T09:49:52.328Z,1638611392.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:53.108Z,1638611393.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:53.523Z,1638611393.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:54.325Z,1638611394.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094954.54*5A

2021-12-04T09:49:54.326Z,1638611394.326 [Micromodem](INFO): Nmea in: $CAREV,094955,AUV,2.1.4000*2E

2021-12-04T09:49:54.741Z,1638611394.741 [Micromodem](INFO): Nmea in: $CAREV,094955,COPROC,0.20.0.39330*7F

2021-12-04T09:49:58.016Z,1638611398.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:49:58.770Z,1638611398.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:49:59.171Z,1638611399.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:49:59.985Z,1638611399.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095000.20*50

2021-12-04T09:49:59.986Z,1638611399.986 [Micromodem](INFO): Nmea in: $CAREV,095001,AUV,2.1.4000*27

2021-12-04T09:50:00.391Z,1638611400.391 [Micromodem](INFO): Nmea in: $CAREV,095001,COPROC,0.20.0.39330*76

2021-12-04T09:50:03.633Z,1638611403.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:04.442Z,1638611404.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:04.828Z,1638611404.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:05.653Z,1638611405.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095005.87*58

2021-12-04T09:50:05.654Z,1638611405.654 [Micromodem](INFO): Nmea in: $CAREV,095006,AUV,2.1.4000*20

2021-12-04T09:50:06.051Z,1638611406.051 [Micromodem](INFO): Nmea in: $CAREV,095006,COPROC,0.20.0.39330*71

2021-12-04T09:50:09.341Z,1638611409.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:10.081Z,1638611410.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:10.483Z,1638611410.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:11.301Z,1638611411.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095011.51*56

2021-12-04T09:50:11.302Z,1638611411.302 [Micromodem](INFO): Nmea in: $CAREV,095012,AUV,2.1.4000*25

2021-12-04T09:50:11.697Z,1638611411.697 [Micromodem](INFO): Nmea in: $CAREV,095012,COPROC,0.20.0.39330*74

2021-12-04T09:50:12.149Z,1638611412.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:13.720Z,1638611413.720 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:50:14.981Z,1638611414.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:15.746Z,1638611415.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:16.151Z,1638611416.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:16.967Z,1638611416.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095017.18*5D

2021-12-04T09:50:16.968Z,1638611416.968 [Micromodem](INFO): Nmea in: $CAREV,095018,AUV,2.1.4000*2F

2021-12-04T09:50:17.361Z,1638611417.361 [Micromodem](INFO): Nmea in: $CAREV,095018,COPROC,0.20.0.39330*7E

2021-12-04T09:50:20.621Z,1638611420.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:21.396Z,1638611421.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:21.832Z,1638611421.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:22.610Z,1638611422.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095022.83*59

2021-12-04T09:50:22.611Z,1638611422.611 [Micromodem](INFO): Nmea in: $CAREV,095023,AUV,2.1.4000*27

2021-12-04T09:50:23.017Z,1638611423.017 [Micromodem](INFO): Nmea in: $CAREV,095023,COPROC,0.20.0.39330*76

2021-12-04T09:50:26.275Z,1638611426.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:27.051Z,1638611427.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:27.467Z,1638611427.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:28.269Z,1638611428.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095028.48*54

2021-12-04T09:50:28.270Z,1638611428.270 [Micromodem](INFO): Nmea in: $CAREV,095029,AUV,2.1.4000*2D

2021-12-04T09:50:28.673Z,1638611428.673 [Micromodem](INFO): Nmea in: $CAREV,095029,COPROC,0.20.0.39330*7C

2021-12-04T09:50:31.997Z,1638611431.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:32.713Z,1638611432.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:33.113Z,1638611433.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:33.953Z,1638611433.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095034.15*51

2021-12-04T09:50:33.957Z,1638611433.957 [Micromodem](INFO): Nmea in: $CAREV,095035,AUV,2.1.4000*20

2021-12-04T09:50:34.325Z,1638611434.325 [Micromodem](INFO): Nmea in: $CAREV,095035,COPROC,0.20.0.39330*71

2021-12-04T09:50:37.578Z,1638611437.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:38.369Z,1638611438.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:38.772Z,1638611438.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:39.584Z,1638611439.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095039.80*50

2021-12-04T09:50:39.585Z,1638611439.585 [Micromodem](INFO): Nmea in: $CAREV,095040,AUV,2.1.4000*22

2021-12-04T09:50:39.986Z,1638611439.986 [Micromodem](INFO): Nmea in: $CAREV,095040,COPROC,0.20.0.39330*73

2021-12-04T09:50:43.235Z,1638611443.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:44.021Z,1638611444.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:44.434Z,1638611444.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:45.233Z,1638611445.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095045.45*52

2021-12-04T09:50:45.234Z,1638611445.234 [Micromodem](INFO): Nmea in: $CAREV,095046,AUV,2.1.4000*24

2021-12-04T09:50:45.636Z,1638611445.636 [Micromodem](INFO): Nmea in: $CAREV,095046,COPROC,0.20.0.39330*75

2021-12-04T09:50:48.884Z,1638611448.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:49.677Z,1638611449.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:50.091Z,1638611450.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:50.894Z,1638611450.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095051.11*56

2021-12-04T09:50:50.896Z,1638611450.896 [Micromodem](INFO): Nmea in: $CAREV,095052,AUV,2.1.4000*21

2021-12-04T09:50:51.293Z,1638611451.293 [Micromodem](INFO): Nmea in: $CAREV,095052,COPROC,0.20.0.39330*70

2021-12-04T09:50:54.541Z,1638611454.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:50:55.334Z,1638611455.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:50:55.782Z,1638611455.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:50:56.555Z,1638611456.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095056.77*51

2021-12-04T09:50:56.556Z,1638611456.556 [Micromodem](INFO): Nmea in: $CAREV,095057,AUV,2.1.4000*24

2021-12-04T09:50:56.961Z,1638611456.961 [Micromodem](INFO): Nmea in: $CAREV,095057,COPROC,0.20.0.39330*75

2021-12-04T09:51:00.219Z,1638611460.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:00.987Z,1638611460.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:01.401Z,1638611461.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:02.201Z,1638611462.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095102.42*57

2021-12-04T09:51:02.202Z,1638611462.202 [Micromodem](INFO): Nmea in: $CAREV,095103,AUV,2.1.4000*24

2021-12-04T09:51:02.609Z,1638611462.609 [Micromodem](INFO): Nmea in: $CAREV,095103,COPROC,0.20.0.39330*75

2021-12-04T09:51:05.876Z,1638611465.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:06.661Z,1638611466.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:07.049Z,1638611467.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:07.869Z,1638611467.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095108.09*52

2021-12-04T09:51:07.870Z,1638611467.870 [Micromodem](INFO): Nmea in: $CAREV,095109,AUV,2.1.4000*2E

2021-12-04T09:51:08.260Z,1638611468.260 [Micromodem](INFO): Nmea in: $CAREV,095109,COPROC,0.20.0.39330*7F

2021-12-04T09:51:11.505Z,1638611471.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:12.303Z,1638611472.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:12.705Z,1638611472.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:13.515Z,1638611473.515 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095113.73*55

2021-12-04T09:51:13.517Z,1638611473.517 [Micromodem](INFO): Nmea in: $CAREV,095114,AUV,2.1.4000*22

2021-12-04T09:51:13.937Z,1638611473.937 [Micromodem](INFO): Nmea in: $CAREV,095114,COPROC,0.20.0.39330*73

2021-12-04T09:51:14.028Z,1638611474.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:17.177Z,1638611477.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:17.985Z,1638611477.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:18.369Z,1638611478.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:19.183Z,1638611479.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095119.42*5D

2021-12-04T09:51:19.184Z,1638611479.184 [Micromodem](INFO): Nmea in: $CAREV,095120,AUV,2.1.4000*25

2021-12-04T09:51:19.574Z,1638611479.574 [Micromodem](INFO): Nmea in: $CAREV,095120,COPROC,0.20.0.39330*74

2021-12-04T09:51:22.815Z,1638611482.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:23.612Z,1638611483.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:24.019Z,1638611484.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:24.827Z,1638611484.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095125.04*50

2021-12-04T09:51:24.829Z,1638611484.829 [Micromodem](INFO): Nmea in: $CAREV,095126,AUV,2.1.4000*23

2021-12-04T09:51:25.229Z,1638611485.229 [Micromodem](INFO): Nmea in: $CAREV,095126,COPROC,0.20.0.39330*72

2021-12-04T09:51:28.484Z,1638611488.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:29.268Z,1638611489.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:29.680Z,1638611489.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:30.484Z,1638611490.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095130.70*57

2021-12-04T09:51:30.485Z,1638611490.485 [Micromodem](INFO): Nmea in: $CAREV,095131,AUV,2.1.4000*25

2021-12-04T09:51:30.889Z,1638611490.889 [Micromodem](INFO): Nmea in: $CAREV,095131,COPROC,0.20.0.39330*74

2021-12-04T09:51:34.169Z,1638611494.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:34.951Z,1638611494.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:35.331Z,1638611495.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:36.153Z,1638611496.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095136.38*5D

2021-12-04T09:51:36.154Z,1638611496.154 [Micromodem](INFO): Nmea in: $CAREV,095137,AUV,2.1.4000*23

2021-12-04T09:51:36.539Z,1638611496.539 [Micromodem](INFO): Nmea in: $CAREV,095137,COPROC,0.20.0.39330*72

2021-12-04T09:51:39.857Z,1638611499.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:40.580Z,1638611500.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:40.992Z,1638611500.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:41.827Z,1638611501.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095142.01*54

2021-12-04T09:51:41.828Z,1638611501.828 [Micromodem](INFO): Nmea in: $CAREV,095143,AUV,2.1.4000*20

2021-12-04T09:51:42.196Z,1638611502.196 [Micromodem](INFO): Nmea in: $CAREV,095143,COPROC,0.20.0.39330*71

2021-12-04T09:51:45.447Z,1638611505.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:46.244Z,1638611506.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:46.654Z,1638611506.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:47.472Z,1638611507.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095147.68*5E

2021-12-04T09:51:47.473Z,1638611507.473 [Micromodem](INFO): Nmea in: $CAREV,095148,AUV,2.1.4000*2B

2021-12-04T09:51:47.860Z,1638611507.860 [Micromodem](INFO): Nmea in: $CAREV,095148,COPROC,0.20.0.39330*7A

2021-12-04T09:51:51.125Z,1638611511.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:51.904Z,1638611511.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:52.303Z,1638611512.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:53.116Z,1638611513.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095153.34*52

2021-12-04T09:51:53.117Z,1638611513.117 [Micromodem](INFO): Nmea in: $CAREV,095154,AUV,2.1.4000*26

2021-12-04T09:51:53.511Z,1638611513.511 [Micromodem](INFO): Nmea in: $CAREV,095154,COPROC,0.20.0.39330*77

2021-12-04T09:51:56.769Z,1638611516.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:51:57.547Z,1638611517.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:51:57.969Z,1638611517.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:51:58.762Z,1638611518.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095158.98*5F

2021-12-04T09:51:58.763Z,1638611518.763 [Micromodem](INFO): Nmea in: $CAREV,095200,AUV,2.1.4000*24

2021-12-04T09:51:59.164Z,1638611519.164 [Micromodem](INFO): Nmea in: $CAREV,095200,COPROC,0.20.0.39330*75

2021-12-04T09:52:02.416Z,1638611522.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:03.209Z,1638611523.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:03.617Z,1638611523.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:04.421Z,1638611524.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095204.64*56

2021-12-04T09:52:04.422Z,1638611524.422 [Micromodem](INFO): Nmea in: $CAREV,095205,AUV,2.1.4000*21

2021-12-04T09:52:04.825Z,1638611524.825 [Micromodem](INFO): Nmea in: $CAREV,095205,COPROC,0.20.0.39330*70

2021-12-04T09:52:08.101Z,1638611528.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:08.859Z,1638611528.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:09.278Z,1638611529.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:10.077Z,1638611530.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095210.29*5A

2021-12-04T09:52:10.078Z,1638611530.078 [Micromodem](INFO): Nmea in: $CAREV,095211,AUV,2.1.4000*24

2021-12-04T09:52:10.481Z,1638611530.481 [Micromodem](INFO): Nmea in: $CAREV,095211,COPROC,0.20.0.39330*75

2021-12-04T09:52:13.724Z,1638611533.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:14.521Z,1638611534.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:14.945Z,1638611534.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:15.750Z,1638611535.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095215.95*58

2021-12-04T09:52:15.752Z,1638611535.752 [Micromodem](INFO): Nmea in: $CAREV,095217,AUV,2.1.4000*22

2021-12-04T09:52:16.131Z,1638611536.131 [Micromodem](INFO): Nmea in: $CAREV,095217,COPROC,0.20.0.39330*73

2021-12-04T09:52:19.418Z,1638611539.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:20.189Z,1638611540.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:20.579Z,1638611540.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:21.396Z,1638611541.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095221.62*57

2021-12-04T09:52:21.397Z,1638611541.397 [Micromodem](INFO): Nmea in: $CAREV,095222,AUV,2.1.4000*24

2021-12-04T09:52:21.830Z,1638611541.830 [Micromodem](INFO): Nmea in: $CAREV,095222,COPROC,0.20.0.39330*75

2021-12-04T09:52:24.633Z,1638611544.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:25.425Z,1638611545.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:25.839Z,1638611545.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:26.645Z,1638611546.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095226.86*5A

2021-12-04T09:52:26.646Z,1638611546.646 [Micromodem](INFO): Nmea in: $CAREV,095227,AUV,2.1.4000*21

2021-12-04T09:52:27.046Z,1638611547.046 [Micromodem](INFO): Nmea in: $CAREV,095227,COPROC,0.20.0.39330*70

2021-12-04T09:52:29.968Z,1638611549.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:30.678Z,1638611550.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:31.081Z,1638611551.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:31.893Z,1638611551.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095232.11*51

2021-12-04T09:52:31.897Z,1638611551.897 [Micromodem](INFO): Nmea in: $CAREV,095233,AUV,2.1.4000*24

2021-12-04T09:52:32.293Z,1638611552.293 [Micromodem](INFO): Nmea in: $CAREV,095233,COPROC,0.20.0.39330*75

2021-12-04T09:52:35.542Z,1638611555.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:36.341Z,1638611556.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:36.737Z,1638611556.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:37.562Z,1638611557.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095237.78*5B

2021-12-04T09:52:37.564Z,1638611557.564 [Micromodem](INFO): Nmea in: $CAREV,095238,AUV,2.1.4000*2F

2021-12-04T09:52:37.969Z,1638611557.969 [Micromodem](INFO): Nmea in: $CAREV,095238,COPROC,0.20.0.39330*7E

2021-12-04T09:52:40.814Z,1638611560.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:41.592Z,1638611561.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:41.991Z,1638611561.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:42.802Z,1638611562.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095243.02*55

2021-12-04T09:52:42.804Z,1638611562.804 [Micromodem](INFO): Nmea in: $CAREV,095244,AUV,2.1.4000*24

2021-12-04T09:52:43.209Z,1638611563.209 [Micromodem](INFO): Nmea in: $CAREV,095244,COPROC,0.20.0.39330*75

2021-12-04T09:52:43.623Z,1638611563.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:47.291Z,1638611567.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:48.054Z,1638611568.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:48.460Z,1638611568.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:49.281Z,1638611569.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095249.49*50

2021-12-04T09:52:49.282Z,1638611569.282 [Micromodem](INFO): Nmea in: $CAREV,095250,AUV,2.1.4000*21

2021-12-04T09:52:49.672Z,1638611569.672 [Micromodem](INFO): Nmea in: $CAREV,095250,COPROC,0.20.0.39330*70

2021-12-04T09:52:52.508Z,1638611572.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:53.317Z,1638611573.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:53.718Z,1638611573.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:54.537Z,1638611574.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095254.75*53

2021-12-04T09:52:54.538Z,1638611574.538 [Micromodem](INFO): Nmea in: $CAREV,095255,AUV,2.1.4000*24

2021-12-04T09:52:54.943Z,1638611574.943 [Micromodem](INFO): Nmea in: $CAREV,095255,COPROC,0.20.0.39330*75

2021-12-04T09:52:57.826Z,1638611577.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:52:58.561Z,1638611578.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:52:58.974Z,1638611578.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:52:59.808Z,1638611579.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095259.99*5C

2021-12-04T09:52:59.811Z,1638611579.811 [Micromodem](INFO): Nmea in: $CAREV,095301,AUV,2.1.4000*24

2021-12-04T09:53:00.172Z,1638611580.172 [Micromodem](INFO): Nmea in: $CAREV,095301,COPROC,0.20.0.39330*75

2021-12-04T09:53:03.027Z,1638611583.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:03.831Z,1638611583.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:04.211Z,1638611584.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:05.033Z,1638611585.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095305.26*50

2021-12-04T09:53:05.035Z,1638611585.035 [Micromodem](INFO): Nmea in: $CAREV,095306,AUV,2.1.4000*23

2021-12-04T09:53:05.420Z,1638611585.420 [Micromodem](INFO): Nmea in: $CAREV,095306,COPROC,0.20.0.39330*72

2021-12-04T09:53:08.696Z,1638611588.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:09.459Z,1638611589.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:09.865Z,1638611589.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:10.676Z,1638611590.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095310.89*51

2021-12-04T09:53:10.677Z,1638611590.677 [Micromodem](INFO): Nmea in: $CAREV,095311,AUV,2.1.4000*25

2021-12-04T09:53:11.087Z,1638611591.087 [Micromodem](INFO): Nmea in: $CAREV,095311,COPROC,0.20.0.39330*74

2021-12-04T09:53:13.983Z,1638611593.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:14.713Z,1638611594.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:15.135Z,1638611595.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:15.957Z,1638611595.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095316.14*53

2021-12-04T09:53:15.959Z,1638611595.959 [Micromodem](INFO): Nmea in: $CAREV,095317,AUV,2.1.4000*23

2021-12-04T09:53:16.340Z,1638611596.340 [Micromodem](INFO): Nmea in: $CAREV,095317,COPROC,0.20.0.39330*72

2021-12-04T09:53:19.185Z,1638611599.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:19.969Z,1638611599.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:20.376Z,1638611600.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:21.180Z,1638611601.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095321.40*56

2021-12-04T09:53:21.181Z,1638611601.181 [Micromodem](INFO): Nmea in: $CAREV,095322,AUV,2.1.4000*25

2021-12-04T09:53:21.587Z,1638611601.587 [Micromodem](INFO): Nmea in: $CAREV,095322,COPROC,0.20.0.39330*74

2021-12-04T09:53:24.477Z,1638611604.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:25.221Z,1638611605.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:25.631Z,1638611605.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:26.433Z,1638611606.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095326.66*55

2021-12-04T09:53:26.435Z,1638611606.435 [Micromodem](INFO): Nmea in: $CAREV,095327,AUV,2.1.4000*20

2021-12-04T09:53:26.843Z,1638611606.843 [Micromodem](INFO): Nmea in: $CAREV,095327,COPROC,0.20.0.39330*71

2021-12-04T09:53:29.692Z,1638611609.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:30.477Z,1638611610.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:30.886Z,1638611610.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:31.687Z,1638611611.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095331.91*5B

2021-12-04T09:53:31.688Z,1638611611.688 [Micromodem](INFO): Nmea in: $CAREV,095332,AUV,2.1.4000*24

2021-12-04T09:53:32.105Z,1638611612.105 [Micromodem](INFO): Nmea in: $CAREV,095332,COPROC,0.20.0.39330*75

2021-12-04T09:53:34.967Z,1638611614.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:35.890Z,1638611615.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:36.144Z,1638611616.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:37.360Z,1638611617.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095337.32*54

2021-12-04T09:53:37.361Z,1638611617.361 [Micromodem](INFO): Nmea in: $CAREV,095338,AUV,2.1.4000*2E

2021-12-04T09:53:37.768Z,1638611617.768 [Micromodem](INFO): Nmea in: $CAREV,095338,COPROC,0.20.0.39330*7F

2021-12-04T09:53:40.588Z,1638611620.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:41.375Z,1638611621.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:41.836Z,1638611621.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:42.593Z,1638611622.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095342.81*5E

2021-12-04T09:53:42.595Z,1638611622.595 [Micromodem](INFO): Nmea in: $CAREV,095343,AUV,2.1.4000*22

2021-12-04T09:53:42.000Z,1638611623.000 [Micromodem](INFO): Nmea in: $CAREV,095343,COPROC,0.20.0.39330*73

2021-12-04T09:53:45.881Z,1638611625.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:46.630Z,1638611626.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:47.039Z,1638611627.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:47.844Z,1638611627.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095348.06*5B

2021-12-04T09:53:47.845Z,1638611627.845 [Micromodem](INFO): Nmea in: $CAREV,095349,AUV,2.1.4000*28

2021-12-04T09:53:48.249Z,1638611628.249 [Micromodem](INFO): Nmea in: $CAREV,095349,COPROC,0.20.0.39330*79

2021-12-04T09:53:50.776Z,1638611630.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:51.478Z,1638611631.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:51.881Z,1638611631.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:52.697Z,1638611632.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095352.91*5E

2021-12-04T09:53:52.699Z,1638611632.699 [Micromodem](INFO): Nmea in: $CAREV,095353,AUV,2.1.4000*23

2021-12-04T09:53:53.097Z,1638611633.097 [Micromodem](INFO): Nmea in: $CAREV,095353,COPROC,0.20.0.39330*72

2021-12-04T09:53:55.999Z,1638611635.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:53:56.733Z,1638611636.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:53:57.135Z,1638611637.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:53:57.964Z,1638611637.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095358.17*5A

2021-12-04T09:53:57.965Z,1638611637.965 [Micromodem](INFO): Nmea in: $CAREV,095359,AUV,2.1.4000*29

2021-12-04T09:53:58.356Z,1638611638.356 [Micromodem](INFO): Nmea in: $CAREV,095359,COPROC,0.20.0.39330*78

2021-12-04T09:54:01.195Z,1638611641.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:01.985Z,1638611641.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:02.403Z,1638611642.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:03.196Z,1638611643.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095403.42*53

2021-12-04T09:54:03.197Z,1638611643.197 [Micromodem](INFO): Nmea in: $CAREV,095404,AUV,2.1.4000*26

2021-12-04T09:54:03.599Z,1638611643.599 [Micromodem](INFO): Nmea in: $CAREV,095404,COPROC,0.20.0.39330*77

2021-12-04T09:54:06.436Z,1638611646.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:07.239Z,1638611647.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:07.642Z,1638611647.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:08.453Z,1638611648.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095408.67*5F

2021-12-04T09:54:08.455Z,1638611648.455 [Micromodem](INFO): Nmea in: $CAREV,095409,AUV,2.1.4000*2B

2021-12-04T09:54:08.856Z,1638611648.856 [Micromodem](INFO): Nmea in: $CAREV,095409,COPROC,0.20.0.39330*7A

2021-12-04T09:54:11.693Z,1638611651.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:12.485Z,1638611652.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:12.896Z,1638611652.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:13.699Z,1638611653.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095413.92*5F

2021-12-04T09:54:13.700Z,1638611653.700 [Micromodem](INFO): Nmea in: $CAREV,095414,AUV,2.1.4000*27

2021-12-04T09:54:14.102Z,1638611654.102 [Micromodem](INFO): Nmea in: $CAREV,095414,COPROC,0.20.0.39330*76

2021-12-04T09:54:16.979Z,1638611656.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:17.756Z,1638611657.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:18.147Z,1638611658.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:18.969Z,1638611658.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095419.19*56

2021-12-04T09:54:18.970Z,1638611658.970 [Micromodem](INFO): Nmea in: $CAREV,095420,AUV,2.1.4000*20

2021-12-04T09:54:19.360Z,1638611659.360 [Micromodem](INFO): Nmea in: $CAREV,095420,COPROC,0.20.0.39330*71

2021-12-04T09:54:22.207Z,1638611662.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:22.989Z,1638611662.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:23.404Z,1638611663.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:24.203Z,1638611664.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095424.42*56

2021-12-04T09:54:24.204Z,1638611664.204 [Micromodem](INFO): Nmea in: $CAREV,095425,AUV,2.1.4000*25

2021-12-04T09:54:24.606Z,1638611664.606 [Micromodem](INFO): Nmea in: $CAREV,095425,COPROC,0.20.0.39330*74

2021-12-04T09:54:27.471Z,1638611667.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:28.245Z,1638611668.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:28.645Z,1638611668.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:29.461Z,1638611669.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095429.68*53

2021-12-04T09:54:29.462Z,1638611669.462 [Micromodem](INFO): Nmea in: $CAREV,095430,AUV,2.1.4000*21

2021-12-04T09:54:29.867Z,1638611669.867 [Micromodem](INFO): Nmea in: $CAREV,095430,COPROC,0.20.0.39330*70

2021-12-04T09:54:32.700Z,1638611672.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:33.503Z,1638611673.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:33.933Z,1638611673.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:34.718Z,1638611674.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095434.94*5C

2021-12-04T09:54:34.719Z,1638611674.719 [Micromodem](INFO): Nmea in: $CAREV,095435,AUV,2.1.4000*24

2021-12-04T09:54:35.108Z,1638611675.108 [Micromodem](INFO): Nmea in: $CAREV,095435,COPROC,0.20.0.39330*75

2021-12-04T09:54:38.024Z,1638611678.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:38.743Z,1638611678.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:39.159Z,1638611679.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:39.965Z,1638611679.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095440.18*5B

2021-12-04T09:54:39.966Z,1638611679.966 [Micromodem](INFO): Nmea in: $CAREV,095441,AUV,2.1.4000*27

2021-12-04T09:54:40.367Z,1638611680.367 [Micromodem](INFO): Nmea in: $CAREV,095441,COPROC,0.20.0.39330*76

2021-12-04T09:54:43.217Z,1638611683.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:43.997Z,1638611683.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:44.403Z,1638611684.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:45.211Z,1638611685.211 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095445.43*50

2021-12-04T09:54:45.212Z,1638611685.212 [Micromodem](INFO): Nmea in: $CAREV,095446,AUV,2.1.4000*20

2021-12-04T09:54:45.615Z,1638611685.615 [Micromodem](INFO): Nmea in: $CAREV,095446,COPROC,0.20.0.39330*71

2021-12-04T09:54:48.464Z,1638611688.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:49.253Z,1638611689.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:49.665Z,1638611689.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:50.464Z,1638611690.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095450.69*5C

2021-12-04T09:54:50.465Z,1638611690.465 [Micromodem](INFO): Nmea in: $CAREV,095451,AUV,2.1.4000*26

2021-12-04T09:54:50.868Z,1638611690.868 [Micromodem](INFO): Nmea in: $CAREV,095451,COPROC,0.20.0.39330*77

2021-12-04T09:54:53.708Z,1638611693.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:54.528Z,1638611694.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:54:54.925Z,1638611694.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:54:55.729Z,1638611695.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095455.96*59

2021-12-04T09:54:55.730Z,1638611695.730 [Micromodem](INFO): Nmea in: $CAREV,095457,AUV,2.1.4000*20

2021-12-04T09:54:56.118Z,1638611696.118 [Micromodem](INFO): Nmea in: $CAREV,095457,COPROC,0.20.0.39330*71

2021-12-04T09:54:58.989Z,1638611698.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:54:59.780Z,1638611699.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:00.177Z,1638611700.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:00.984Z,1638611700.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095501.22*56

2021-12-04T09:55:00.985Z,1638611700.985 [Micromodem](INFO): Nmea in: $CAREV,095502,AUV,2.1.4000*21

2021-12-04T09:55:01.368Z,1638611701.368 [Micromodem](INFO): Nmea in: $CAREV,095502,COPROC,0.20.0.39330*70

2021-12-04T09:55:04.229Z,1638611704.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:05.009Z,1638611705.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:05.411Z,1638611705.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:06.221Z,1638611706.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095506.44*51

2021-12-04T09:55:06.223Z,1638611706.223 [Micromodem](INFO): Nmea in: $CAREV,095507,AUV,2.1.4000*24

2021-12-04T09:55:06.627Z,1638611706.627 [Micromodem](INFO): Nmea in: $CAREV,095507,COPROC,0.20.0.39330*75

2021-12-04T09:55:09.462Z,1638611709.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:10.255Z,1638611710.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:10.664Z,1638611710.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:11.473Z,1638611711.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095511.69*58

2021-12-04T09:55:11.474Z,1638611711.474 [Micromodem](INFO): Nmea in: $CAREV,095512,AUV,2.1.4000*20

2021-12-04T09:55:11.873Z,1638611711.873 [Micromodem](INFO): Nmea in: $CAREV,095512,COPROC,0.20.0.39330*71

2021-12-04T09:55:14.710Z,1638611714.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:15.528Z,1638611715.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:15.951Z,1638611715.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:16.734Z,1638611716.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095516.96*5F

2021-12-04T09:55:16.735Z,1638611716.735 [Micromodem](INFO): Nmea in: $CAREV,095518,AUV,2.1.4000*2A

2021-12-04T09:55:17.142Z,1638611717.142 [Micromodem](INFO): Nmea in: $CAREV,095518,COPROC,0.20.0.39330*7B

2021-12-04T09:55:20.015Z,1638611720.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:20.765Z,1638611720.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:21.179Z,1638611721.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:21.979Z,1638611721.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095522.20*55

2021-12-04T09:55:21.980Z,1638611721.980 [Micromodem](INFO): Nmea in: $CAREV,095523,AUV,2.1.4000*22

2021-12-04T09:55:22.391Z,1638611722.391 [Micromodem](INFO): Nmea in: $CAREV,095523,COPROC,0.20.0.39330*73

2021-12-04T09:55:25.236Z,1638611725.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:26.020Z,1638611726.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:26.419Z,1638611726.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:27.233Z,1638611727.233 [Micromodem](INFO): Nmea in: $SNTTA,0.463489,,,,095527.45*49

2021-12-04T09:55:27.234Z,1638611727.234 [Micromodem](INFO): Nmea in: $CAREV,095528,AUV,2.1.4000*29

2021-12-04T09:55:27.636Z,1638611727.636 [Micromodem](INFO): Nmea in: $CAREV,095528,COPROC,0.20.0.39330*78

2021-12-04T09:55:30.496Z,1638611730.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:31.269Z,1638611731.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:31.674Z,1638611731.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:32.496Z,1638611732.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095532.70*51

2021-12-04T09:55:32.498Z,1638611732.498 [Micromodem](INFO): Nmea in: $CAREV,095533,AUV,2.1.4000*23

2021-12-04T09:55:32.890Z,1638611732.890 [Micromodem](INFO): Nmea in: $CAREV,095533,COPROC,0.20.0.39330*72

2021-12-04T09:55:35.831Z,1638611735.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:36.524Z,1638611736.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:36.951Z,1638611736.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:37.739Z,1638611737.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095537.96*5C

2021-12-04T09:55:37.740Z,1638611737.740 [Micromodem](INFO): Nmea in: $CAREV,095539,AUV,2.1.4000*29

2021-12-04T09:55:38.143Z,1638611738.143 [Micromodem](INFO): Nmea in: $CAREV,095539,COPROC,0.20.0.39330*78

2021-12-04T09:55:40.986Z,1638611740.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:41.810Z,1638611741.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:42.176Z,1638611742.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:42.994Z,1638611742.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095543.25*57

2021-12-04T09:55:42.996Z,1638611742.996 [Micromodem](INFO): Nmea in: $CAREV,095544,AUV,2.1.4000*23

2021-12-04T09:55:43.385Z,1638611743.385 [Micromodem](INFO): Nmea in: $CAREV,095544,COPROC,0.20.0.39330*72

2021-12-04T09:55:45.909Z,1638611745.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:46.621Z,1638611746.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:47.035Z,1638611747.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:47.853Z,1638611747.853 [Micromodem](INFO): Nmea in: $SNTTA,0.455213,,,,095548.06*47

2021-12-04T09:55:47.854Z,1638611747.854 [Micromodem](INFO): Nmea in: $CAREV,095549,AUV,2.1.4000*2E

2021-12-04T09:55:48.236Z,1638611748.236 [Micromodem](INFO): Nmea in: $CAREV,095549,COPROC,0.20.0.39330*7F

2021-12-04T09:55:51.085Z,1638611751.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:51.873Z,1638611751.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:52.283Z,1638611752.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:53.089Z,1638611753.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095553.31*53

2021-12-04T09:55:53.090Z,1638611753.090 [Micromodem](INFO): Nmea in: $CAREV,095554,AUV,2.1.4000*22

2021-12-04T09:55:53.490Z,1638611753.490 [Micromodem](INFO): Nmea in: $CAREV,095554,COPROC,0.20.0.39330*73

2021-12-04T09:55:56.331Z,1638611756.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:55:57.125Z,1638611757.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:55:57.525Z,1638611757.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:55:58.339Z,1638611758.339 [Micromodem](INFO): Nmea in: $SNTTA,0.451326,,,,095558.56*40

2021-12-04T09:55:58.340Z,1638611758.340 [Micromodem](INFO): Nmea in: $CAREV,095559,AUV,2.1.4000*2F

2021-12-04T09:55:58.740Z,1638611758.740 [Micromodem](INFO): Nmea in: $CAREV,095559,COPROC,0.20.0.39330*7E

2021-12-04T09:56:01.574Z,1638611761.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:02.372Z,1638611762.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:02.779Z,1638611762.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:03.593Z,1638611763.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095603.81*5E

2021-12-04T09:56:03.595Z,1638611763.595 [Micromodem](INFO): Nmea in: $CAREV,095604,AUV,2.1.4000*24

2021-12-04T09:56:03.991Z,1638611763.991 [Micromodem](INFO): Nmea in: $CAREV,095604,COPROC,0.20.0.39330*75

2021-12-04T09:56:06.848Z,1638611766.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:07.626Z,1638611767.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:08.031Z,1638611768.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:08.840Z,1638611768.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095609.06*5B

2021-12-04T09:56:08.841Z,1638611768.841 [Micromodem](INFO): Nmea in: $CAREV,095610,AUV,2.1.4000*21

2021-12-04T09:56:09.247Z,1638611769.247 [Micromodem](INFO): Nmea in: $CAREV,095610,COPROC,0.20.0.39330*70

2021-12-04T09:56:12.131Z,1638611772.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:12.881Z,1638611772.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:13.287Z,1638611773.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:14.100Z,1638611774.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095614.31*53

2021-12-04T09:56:14.101Z,1638611774.101 [Micromodem](INFO): Nmea in: $CAREV,095615,AUV,2.1.4000*24

2021-12-04T09:56:14.499Z,1638611774.499 [Micromodem](INFO): Nmea in: $CAREV,095615,COPROC,0.20.0.39330*75

2021-12-04T09:56:17.353Z,1638611777.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:18.135Z,1638611778.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:18.540Z,1638611778.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:19.353Z,1638611779.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095619.57*5E

2021-12-04T09:56:19.354Z,1638611779.354 [Micromodem](INFO): Nmea in: $CAREV,095620,AUV,2.1.4000*22

2021-12-04T09:56:19.772Z,1638611779.772 [Micromodem](INFO): Nmea in: $CAREV,095620,COPROC,0.20.0.39330*73

2021-12-04T09:56:22.588Z,1638611782.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:23.390Z,1638611783.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:23.843Z,1638611783.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:24.653Z,1638611784.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095624.83*59

2021-12-04T09:56:24.654Z,1638611784.654 [Micromodem](INFO): Nmea in: $CAREV,095625,AUV,2.1.4000*27

2021-12-04T09:56:25.015Z,1638611785.015 [Micromodem](INFO): Nmea in: $CAREV,095625,COPROC,0.20.0.39330*76

2021-12-04T09:56:27.901Z,1638611787.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:28.637Z,1638611788.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:29.044Z,1638611789.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:29.850Z,1638611789.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095630.07*50

2021-12-04T09:56:29.851Z,1638611789.851 [Micromodem](INFO): Nmea in: $CAREV,095631,AUV,2.1.4000*22

2021-12-04T09:56:30.255Z,1638611790.255 [Micromodem](INFO): Nmea in: $CAREV,095631,COPROC,0.20.0.39330*73

2021-12-04T09:56:33.114Z,1638611793.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:33.886Z,1638611793.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:34.291Z,1638611794.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:35.105Z,1638611795.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095635.32*53

2021-12-04T09:56:35.106Z,1638611795.106 [Micromodem](INFO): Nmea in: $CAREV,095636,AUV,2.1.4000*25

2021-12-04T09:56:35.503Z,1638611795.503 [Micromodem](INFO): Nmea in: $CAREV,095636,COPROC,0.20.0.39330*74

2021-12-04T09:56:38.017Z,1638611798.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:38.734Z,1638611798.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:39.139Z,1638611799.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:39.956Z,1638611799.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095640.17*56

2021-12-04T09:56:39.957Z,1638611799.957 [Micromodem](INFO): Nmea in: $CAREV,095641,AUV,2.1.4000*25

2021-12-04T09:56:40.352Z,1638611800.352 [Micromodem](INFO): Nmea in: $CAREV,095641,COPROC,0.20.0.39330*74

2021-12-04T09:56:43.197Z,1638611803.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:43.989Z,1638611803.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:44.392Z,1638611804.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:45.199Z,1638611805.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095645.42*53

2021-12-04T09:56:45.200Z,1638611805.200 [Micromodem](INFO): Nmea in: $CAREV,095646,AUV,2.1.4000*22

2021-12-04T09:56:45.606Z,1638611805.606 [Micromodem](INFO): Nmea in: $CAREV,095646,COPROC,0.20.0.39330*73

2021-12-04T09:56:48.438Z,1638611808.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:49.242Z,1638611809.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:49.647Z,1638611809.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:50.457Z,1638611810.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095650.68*5F

2021-12-04T09:56:50.458Z,1638611810.458 [Micromodem](INFO): Nmea in: $CAREV,095651,AUV,2.1.4000*24

2021-12-04T09:56:50.863Z,1638611810.863 [Micromodem](INFO): Nmea in: $CAREV,095651,COPROC,0.20.0.39330*75

2021-12-04T09:56:51.292Z,1638611811.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T09:56:51.292Z,1638611811.292 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T09:56:51.294Z,1638611811.294 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T09:56:51.295Z,1638611811.295 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 647.219971 m 
2021-12-04T09:56:51.295Z,1638611811.295 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T09:56:51.295Z,1638611811.295 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T09:56:51.694Z,1638611811.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T09:56:51.694Z,1638611811.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T09:56:51.694Z,1638611811.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T09:56:51.710Z,1638611811.710 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T09:56:52.139Z,1638611812.139 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T09:56:52.139Z,1638611812.139 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T09:56:52.140Z,1638611812.140 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T09:56:52.141Z,1638611812.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T09:56:52.142Z,1638611812.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T09:56:52.142Z,1638611812.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T09:56:52.142Z,1638611812.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T09:56:52.142Z,1638611812.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T09:56:52.142Z,1638611812.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T09:56:52.143Z,1638611812.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T09:56:52.143Z,1638611812.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T09:56:52.143Z,1638611812.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T09:56:52.143Z,1638611812.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T09:56:52.143Z,1638611812.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T09:56:52.143Z,1638611812.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T09:56:52.144Z,1638611812.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T09:56:52.144Z,1638611812.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T09:56:52.145Z,1638611812.145 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T09:56:52.504Z,1638611812.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 647.219971 m, bearing: 268.917088 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T09:56:52.505Z,1638611812.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 268.917088deg and heading rate command to 0 deg/s.
2021-12-04T09:56:53.427Z,1638611813.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:54.129Z,1638611814.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:54.529Z,1638611814.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:56:54.891Z,1638611814.891 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:55.314Z,1638611815.314 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:55.349Z,1638611815.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095655.56*57

2021-12-04T09:56:55.350Z,1638611815.350 [Micromodem](INFO): Nmea in: $CAREV,095656,AUV,2.1.4000*23

2021-12-04T09:56:55.696Z,1638611815.696 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:55.740Z,1638611815.740 [Micromodem](INFO): Nmea in: $CAREV,095656,COPROC,0.20.0.39330*72

2021-12-04T09:56:55.816Z,1638611815.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 644.579956 m, bearing: 268.146752 deg, deltaT: 4.890710 s, deltaX: -2.640015 m, approachRate: -0.539802 m/s, LOS rate: -0.157510 deg/s, posRepo size: 2
2021-12-04T09:56:55.817Z,1638611815.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.157510 deg/s. Setting heading cmd to target bearing of 268.146752deg and heading rate command to 0 deg/s.
2021-12-04T09:56:56.104Z,1638611816.104 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:56.504Z,1638611816.504 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:56.913Z,1638611816.913 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:57.313Z,1638611817.313 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:57.719Z,1638611817.719 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:58.131Z,1638611818.131 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T09:56:58.576Z,1638611818.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:56:59.377Z,1638611819.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:56:59.819Z,1638611819.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:00.605Z,1638611820.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095700.81*5C

2021-12-04T09:57:00.606Z,1638611820.606 [Micromodem](INFO): Nmea in: $CAREV,095701,AUV,2.1.4000*20

2021-12-04T09:57:01.007Z,1638611821.007 [Micromodem](INFO): Nmea in: $CAREV,095701,COPROC,0.20.0.39330*71

2021-12-04T09:57:01.062Z,1638611821.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 642.599976 m, bearing: 268.030939 deg, deltaT: 5.283473 s, deltaX: -1.979980 m, approachRate: -0.374750 m/s, LOS rate: -0.021920 deg/s, posRepo size: 3
2021-12-04T09:57:01.064Z,1638611821.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 642.599976 m,
      bearing: 268.030939 deg,
      approachRate: -0.374750 m/s,
      LOS rate: -0.021920 deg/s,
      cmd update: -0.065759 deg/s,
      cmd heading: 268.146752 deg,
      new cmd heading: 268.146752 deg.

2021-12-04T09:57:03.888Z,1638611823.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:04.628Z,1638611824.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:05.023Z,1638611825.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:05.861Z,1638611825.861 [Micromodem](INFO): Nmea in: $SNTTA,0.426582,,,,095706.06*44

2021-12-04T09:57:05.863Z,1638611825.863 [Micromodem](INFO): Nmea in: $CAREV,095707,AUV,2.1.4000*26

2021-12-04T09:57:06.243Z,1638611826.243 [Micromodem](INFO): Nmea in: $CAREV,095707,COPROC,0.20.0.39330*77

2021-12-04T09:57:06.271Z,1638611826.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 640.320007 m, bearing: 268.489054 deg, deltaT: 5.216523 s, deltaX: -2.279968 m, approachRate: -0.437067 m/s, LOS rate: 0.087820 deg/s, posRepo size: 4
2021-12-04T09:57:06.273Z,1638611826.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 640.320007 m,
      bearing: 268.489054 deg,
      approachRate: -0.437067 m/s,
      LOS rate: 0.087820 deg/s,
      cmd update: 0.263460 deg/s,
      cmd heading: 267.797833 deg,
      new cmd heading: 267.776936 deg.

2021-12-04T09:57:09.091Z,1638611829.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:09.869Z,1638611829.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:10.283Z,1638611830.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:11.097Z,1638611831.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095711.31*57

2021-12-04T09:57:11.098Z,1638611831.098 [Micromodem](INFO): Nmea in: $CAREV,095712,AUV,2.1.4000*22

2021-12-04T09:57:11.494Z,1638611831.494 [Micromodem](INFO): Nmea in: $CAREV,095712,COPROC,0.20.0.39330*73

2021-12-04T09:57:11.512Z,1638611831.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 637.500000 m, bearing: 268.715406 deg, deltaT: 5.241102 s, deltaX: -2.820007 m, approachRate: -0.538056 m/s, LOS rate: 0.043188 deg/s, posRepo size: 4
2021-12-04T09:57:11.514Z,1638611831.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 637.500000 m,
      bearing: 268.715406 deg,
      approachRate: -0.538056 m/s,
      LOS rate: 0.043188 deg/s,
      cmd update: 0.129564 deg/s,
      cmd heading: 269.165992 deg,
      new cmd heading: 269.262317 deg.

2021-12-04T09:57:14.340Z,1638611834.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:15.129Z,1638611835.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:15.535Z,1638611835.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:16.359Z,1638611836.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095716.56*51

2021-12-04T09:57:16.360Z,1638611836.360 [Micromodem](INFO): Nmea in: $CAREV,095717,AUV,2.1.4000*27

2021-12-04T09:57:16.755Z,1638611836.755 [Micromodem](INFO): Nmea in: $CAREV,095717,COPROC,0.20.0.39330*76

2021-12-04T09:57:16.806Z,1638611836.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 634.500000 m, bearing: 266.900679 deg, deltaT: 5.289644 s, deltaX: -3.000000 m, approachRate: -0.567146 m/s, LOS rate: -0.343072 deg/s, posRepo size: 4
2021-12-04T09:57:16.812Z,1638611836.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 634.500000 m,
      bearing: 266.900679 deg,
      approachRate: -0.567146 m/s,
      LOS rate: -0.343072 deg/s,
      cmd update: -1.029215 deg/s,
      cmd heading: 269.843437 deg,
      new cmd heading: 269.899321 deg.

2021-12-04T09:57:19.596Z,1638611839.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:20.377Z,1638611840.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:20.821Z,1638611840.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:21.615Z,1638611841.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095721.81*5F

2021-12-04T09:57:21.616Z,1638611841.616 [Micromodem](INFO): Nmea in: $CAREV,095722,AUV,2.1.4000*21

2021-12-04T09:57:22.002Z,1638611842.002 [Micromodem](INFO): Nmea in: $CAREV,095722,COPROC,0.20.0.39330*70

2021-12-04T09:57:22.084Z,1638611842.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 631.559998 m, bearing: 267.671097 deg, deltaT: 5.266521 s, deltaX: -2.940002 m, approachRate: -0.558244 m/s, LOS rate: 0.146286 deg/s, posRepo size: 4
2021-12-04T09:57:22.086Z,1638611842.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 631.559998 m,
      bearing: 267.671097 deg,
      approachRate: -0.558244 m/s,
      LOS rate: 0.146286 deg/s,
      cmd update: 0.438858 deg/s,
      cmd heading: 264.403552 deg,
      new cmd heading: 263.983995 deg.

2021-12-04T09:57:24.855Z,1638611844.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:25.629Z,1638611845.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:26.035Z,1638611846.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:26.857Z,1638611846.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095727.07*57

2021-12-04T09:57:26.858Z,1638611846.858 [Micromodem](INFO): Nmea in: $CAREV,095728,AUV,2.1.4000*2B

2021-12-04T09:57:27.247Z,1638611847.247 [Micromodem](INFO): Nmea in: $CAREV,095728,COPROC,0.20.0.39330*7A

2021-12-04T09:57:27.335Z,1638611847.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 628.739990 m, bearing: 268.599156 deg, deltaT: 5.256811 s, deltaX: -2.820007 m, approachRate: -0.536448 m/s, LOS rate: 0.176544 deg/s, posRepo size: 4
2021-12-04T09:57:27.337Z,1638611847.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 628.739990 m,
      bearing: 268.599156 deg,
      approachRate: -0.536448 m/s,
      LOS rate: 0.176544 deg/s,
      cmd update: 0.529632 deg/s,
      cmd heading: 266.691149 deg,
      new cmd heading: 266.891854 deg.

2021-12-04T09:57:30.133Z,1638611850.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:30.881Z,1638611850.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:31.283Z,1638611851.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:32.117Z,1638611852.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095732.32*55

2021-12-04T09:57:32.118Z,1638611852.118 [Micromodem](INFO): Nmea in: $CAREV,095733,AUV,2.1.4000*21

2021-12-04T09:57:32.503Z,1638611852.503 [Micromodem](INFO): Nmea in: $CAREV,095733,COPROC,0.20.0.39330*70

2021-12-04T09:57:32.520Z,1638611852.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 625.500000 m, bearing: 267.810297 deg, deltaT: 5.195459 s, deltaX: -3.239990 m, approachRate: -0.623620 m/s, LOS rate: -0.151836 deg/s, posRepo size: 4
2021-12-04T09:57:32.522Z,1638611852.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 625.500000 m,
      bearing: 267.810297 deg,
      approachRate: -0.623620 m/s,
      LOS rate: -0.151836 deg/s,
      cmd update: -0.455509 deg/s,
      cmd heading: 269.518182 deg,
      new cmd heading: 269.682265 deg.

2021-12-04T09:57:35.355Z,1638611855.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:36.141Z,1638611856.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:36.543Z,1638611856.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:37.365Z,1638611857.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095737.58*5C

2021-12-04T09:57:37.366Z,1638611857.366 [Micromodem](INFO): Nmea in: $CAREV,095738,AUV,2.1.4000*2A

2021-12-04T09:57:37.747Z,1638611857.747 [Micromodem](INFO): Nmea in: $CAREV,095738,COPROC,0.20.0.39330*7B

2021-12-04T09:57:37.839Z,1638611857.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 622.259949 m, bearing: 268.790183 deg, deltaT: 5.306023 s, deltaX: -3.240051 m, approachRate: -0.610636 m/s, LOS rate: 0.184674 deg/s, posRepo size: 4
2021-12-04T09:57:37.841Z,1638611857.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 622.259949 m,
      bearing: 268.790183 deg,
      approachRate: -0.610636 m/s,
      LOS rate: 0.184674 deg/s,
      cmd update: 0.554023 deg/s,
      cmd heading: 267.162890 deg,
      new cmd heading: 266.959969 deg.

2021-12-04T09:57:40.596Z,1638611860.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:41.382Z,1638611861.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:41.820Z,1638611861.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:42.616Z,1638611862.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095742.82*59

2021-12-04T09:57:42.617Z,1638611862.617 [Micromodem](INFO): Nmea in: $CAREV,095743,AUV,2.1.4000*26

2021-12-04T09:57:42.999Z,1638611862.999 [Micromodem](INFO): Nmea in: $CAREV,095743,COPROC,0.20.0.39330*77

2021-12-04T09:57:43.050Z,1638611863.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 619.140015 m, bearing: 267.373083 deg, deltaT: 5.200027 s, deltaX: -3.119934 m, approachRate: -0.599984 m/s, LOS rate: -0.272518 deg/s, posRepo size: 4
2021-12-04T09:57:43.052Z,1638611863.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 619.140015 m,
      bearing: 267.373083 deg,
      approachRate: -0.599984 m/s,
      LOS rate: -0.272518 deg/s,
      cmd update: -0.817554 deg/s,
      cmd heading: 270.071726 deg,
      new cmd heading: 270.290461 deg.

2021-12-04T09:57:45.884Z,1638611865.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:46.637Z,1638611866.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:47.047Z,1638611867.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:47.900Z,1638611867.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095748.07*5E

2021-12-04T09:57:47.901Z,1638611867.901 [Micromodem](INFO): Nmea in: $CAREV,095749,AUV,2.1.4000*2C

2021-12-04T09:57:48.254Z,1638611868.254 [Micromodem](INFO): Nmea in: $CAREV,095749,COPROC,0.20.0.39330*7D

2021-12-04T09:57:48.272Z,1638611868.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 616.139954 m, bearing: 267.811226 deg, deltaT: 5.246207 s, deltaX: -3.000061 m, approachRate: -0.571853 m/s, LOS rate: 0.083516 deg/s, posRepo size: 4
2021-12-04T09:57:48.274Z,1638611868.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 616.139954 m,
      bearing: 267.811226 deg,
      approachRate: -0.571853 m/s,
      LOS rate: 0.083516 deg/s,
      cmd update: 0.250548 deg/s,
      cmd heading: 265.665887 deg,
      new cmd heading: 265.459884 deg.

2021-12-04T09:57:51.103Z,1638611871.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:51.885Z,1638611871.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:52.295Z,1638611872.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:53.113Z,1638611873.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095753.32*52

2021-12-04T09:57:53.114Z,1638611873.114 [Micromodem](INFO): Nmea in: $CAREV,095754,AUV,2.1.4000*20

2021-12-04T09:57:53.515Z,1638611873.515 [Micromodem](INFO): Nmea in: $CAREV,095754,COPROC,0.20.0.39330*71

2021-12-04T09:57:53.533Z,1638611873.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 613.380005 m, bearing: 267.498020 deg, deltaT: 5.260654 s, deltaX: -2.759949 m, approachRate: -0.524640 m/s, LOS rate: -0.059537 deg/s, posRepo size: 4
2021-12-04T09:57:53.535Z,1638611873.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 613.380005 m,
      bearing: 267.498020 deg,
      approachRate: -0.524640 m/s,
      LOS rate: -0.059537 deg/s,
      cmd update: -0.178612 deg/s,
      cmd heading: 266.948132 deg,
      new cmd heading: 267.047064 deg.

2021-12-04T09:57:56.353Z,1638611876.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:57:57.141Z,1638611877.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:57:57.557Z,1638611877.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:57:58.413Z,1638611878.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095758.58*55

2021-12-04T09:57:58.414Z,1638611878.414 [Micromodem](INFO): Nmea in: $CAREV,095759,AUV,2.1.4000*2D

2021-12-04T09:57:58.758Z,1638611878.758 [Micromodem](INFO): Nmea in: $CAREV,095759,COPROC,0.20.0.39330*7C

2021-12-04T09:57:58.776Z,1638611878.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 610.260010 m, bearing: 268.251172 deg, deltaT: 5.242496 s, deltaX: -3.119995 m, approachRate: -0.595135 m/s, LOS rate: 0.143663 deg/s, posRepo size: 4
2021-12-04T09:57:58.777Z,1638611878.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 610.260010 m,
      bearing: 268.251172 deg,
      approachRate: -0.595135 m/s,
      LOS rate: 0.143663 deg/s,
      cmd update: 0.430988 deg/s,
      cmd heading: 266.003183 deg,
      new cmd heading: 265.941279 deg.

2021-12-04T09:58:01.596Z,1638611881.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:02.394Z,1638611882.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:02.808Z,1638611882.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:03.625Z,1638611883.625 [Micromodem](INFO): Nmea in: $SNTTA,0.404560,,,,095803.83*4F

2021-12-04T09:58:03.627Z,1638611883.627 [Micromodem](INFO): Nmea in: $CAREV,095804,AUV,2.1.4000*2A

2021-12-04T09:58:04.010Z,1638611884.010 [Micromodem](INFO): Nmea in: $CAREV,095804,COPROC,0.20.0.39330*7B

2021-12-04T09:58:04.086Z,1638611884.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 607.320007 m, bearing: 268.436953 deg, deltaT: 5.310585 s, deltaX: -2.940002 m, approachRate: -0.553612 m/s, LOS rate: 0.034983 deg/s, posRepo size: 4
2021-12-04T09:58:04.088Z,1638611884.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 607.320007 m,
      bearing: 268.436953 deg,
      approachRate: -0.553612 m/s,
      LOS rate: 0.034983 deg/s,
      cmd update: 0.104950 deg/s,
      cmd heading: 268.262007 deg,
      new cmd heading: 268.441474 deg.

2021-12-04T09:58:06.855Z,1638611886.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:07.649Z,1638611887.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:08.062Z,1638611888.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:08.881Z,1638611888.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095809.09*5A

2021-12-04T09:58:08.882Z,1638611888.882 [Micromodem](INFO): Nmea in: $CAREV,095810,AUV,2.1.4000*2F

2021-12-04T09:58:09.275Z,1638611889.275 [Micromodem](INFO): Nmea in: $CAREV,095810,COPROC,0.20.0.39330*7E

2021-12-04T09:58:09.302Z,1638611889.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 604.319946 m, bearing: 268.256472 deg, deltaT: 5.215376 s, deltaX: -3.000061 m, approachRate: -0.575234 m/s, LOS rate: -0.034606 deg/s, posRepo size: 4
2021-12-04T09:58:09.304Z,1638611889.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 604.319946 m,
      bearing: 268.256472 deg,
      approachRate: -0.575234 m/s,
      LOS rate: -0.034606 deg/s,
      cmd update: -0.103817 deg/s,
      cmd heading: 268.817167 deg,
      new cmd heading: 268.853062 deg.

2021-12-04T09:58:12.156Z,1638611892.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:12.907Z,1638611892.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:13.299Z,1638611893.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:14.121Z,1638611894.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095814.34*58

2021-12-04T09:58:14.122Z,1638611894.122 [Micromodem](INFO): Nmea in: $CAREV,095815,AUV,2.1.4000*2A

2021-12-04T09:58:14.512Z,1638611894.512 [Micromodem](INFO): Nmea in: $CAREV,095815,COPROC,0.20.0.39330*7B

2021-12-04T09:58:14.540Z,1638611894.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 601.320007 m, bearing: 268.754830 deg, deltaT: 5.235054 s, deltaX: -2.999939 m, approachRate: -0.573048 m/s, LOS rate: 0.095196 deg/s, posRepo size: 4
2021-12-04T09:58:14.563Z,1638611894.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 601.320007 m,
      bearing: 268.754830 deg,
      approachRate: -0.573048 m/s,
      LOS rate: 0.095196 deg/s,
      cmd update: 0.285589 deg/s,
      cmd heading: 268.273372 deg,
      new cmd heading: 268.237933 deg.

2021-12-04T09:58:17.364Z,1638611897.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:18.145Z,1638611898.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:18.556Z,1638611898.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:19.374Z,1638611899.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095819.58*5F

2021-12-04T09:58:19.376Z,1638611899.376 [Micromodem](INFO): Nmea in: $CAREV,095820,AUV,2.1.4000*2C

2021-12-04T09:58:19.793Z,1638611899.793 [Micromodem](INFO): Nmea in: $CAREV,095820,COPROC,0.20.0.39330*7D

2021-12-04T09:58:19.851Z,1638611899.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 598.320007 m, bearing: 268.353078 deg, deltaT: 5.305645 s, deltaX: -3.000000 m, approachRate: -0.565435 m/s, LOS rate: -0.075722 deg/s, posRepo size: 4
2021-12-04T09:58:19.852Z,1638611899.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 598.320007 m,
      bearing: 268.353078 deg,
      approachRate: -0.565435 m/s,
      LOS rate: -0.075722 deg/s,
      cmd update: -0.227165 deg/s,
      cmd heading: 269.769181 deg,
      new cmd heading: 269.886597 deg.

2021-12-04T09:58:22.622Z,1638611902.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:23.409Z,1638611903.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:23.843Z,1638611903.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:24.625Z,1638611904.625 [Micromodem](INFO): Nmea in: $SNTTA,0.396592,,,,095824.85*4D

2021-12-04T09:58:24.626Z,1638611904.626 [Micromodem](INFO): Nmea in: $CAREV,095825,AUV,2.1.4000*29

2021-12-04T09:58:25.031Z,1638611905.031 [Micromodem](INFO): Nmea in: $CAREV,095825,COPROC,0.20.0.39330*78

2021-12-04T09:58:25.059Z,1638611905.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 595.320007 m, bearing: 267.888598 deg, deltaT: 5.215884 s, deltaX: -3.000000 m, approachRate: -0.575166 m/s, LOS rate: -0.089051 deg/s, posRepo size: 4
2021-12-04T09:58:25.061Z,1638611905.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 595.320007 m,
      bearing: 267.888598 deg,
      approachRate: -0.575166 m/s,
      LOS rate: -0.089051 deg/s,
      cmd update: -0.267153 deg/s,
      cmd heading: 268.586504 deg,
      new cmd heading: 268.491742 deg.

2021-12-04T09:58:27.907Z,1638611907.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:28.653Z,1638611908.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:29.051Z,1638611909.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:29.881Z,1638611909.881 [Micromodem](INFO): Nmea in: $SNTTA,0.394591,,,,095830.09*4D

2021-12-04T09:58:29.882Z,1638611909.882 [Micromodem](INFO): Nmea in: $CAREV,095831,AUV,2.1.4000*2C

2021-12-04T09:58:30.274Z,1638611910.274 [Micromodem](INFO): Nmea in: $CAREV,095831,COPROC,0.20.0.39330*7D

2021-12-04T09:58:30.298Z,1638611910.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 592.260010 m, bearing: 267.167084 deg, deltaT: 5.239617 s, deltaX: -3.059998 m, approachRate: -0.584012 m/s, LOS rate: -0.137704 deg/s, posRepo size: 4
2021-12-04T09:58:30.300Z,1638611910.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 592.260010 m,
      bearing: 267.167084 deg,
      approachRate: -0.584012 m/s,
      LOS rate: -0.137704 deg/s,
      cmd update: -0.413111 deg/s,
      cmd heading: 267.155526 deg,
      new cmd heading: 267.075413 deg.

2021-12-04T09:58:33.118Z,1638611913.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:33.912Z,1638611913.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:34.303Z,1638611914.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:35.133Z,1638611915.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095835.35*5A

2021-12-04T09:58:35.135Z,1638611915.135 [Micromodem](INFO): Nmea in: $CAREV,095836,AUV,2.1.4000*2B

2021-12-04T09:58:35.522Z,1638611915.522 [Micromodem](INFO): Nmea in: $CAREV,095836,COPROC,0.20.0.39330*7A

2021-12-04T09:58:35.541Z,1638611915.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 589.380005 m, bearing: 266.418741 deg, deltaT: 5.243679 s, deltaX: -2.880005 m, approachRate: -0.549234 m/s, LOS rate: -0.142713 deg/s, posRepo size: 4
2021-12-04T09:58:35.544Z,1638611915.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 589.380005 m,
      bearing: 266.418741 deg,
      approachRate: -0.549234 m/s,
      LOS rate: -0.142713 deg/s,
      cmd update: -0.428140 deg/s,
      cmd heading: 265.014162 deg,
      new cmd heading: 264.865430 deg.

2021-12-04T09:58:38.365Z,1638611918.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:39.153Z,1638611919.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:39.559Z,1638611919.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:40.386Z,1638611920.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095840.59*52

2021-12-04T09:58:40.387Z,1638611920.387 [Micromodem](INFO): Nmea in: $CAREV,095841,AUV,2.1.4000*2B

2021-12-04T09:58:40.786Z,1638611920.786 [Micromodem](INFO): Nmea in: $CAREV,095841,COPROC,0.20.0.39330*7A

2021-12-04T09:58:40.826Z,1638611920.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 586.320007 m, bearing: 266.514965 deg, deltaT: 5.279733 s, deltaX: -3.059998 m, approachRate: -0.579574 m/s, LOS rate: 0.018225 deg/s, posRepo size: 4
2021-12-04T09:58:40.832Z,1638611920.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 586.320007 m,
      bearing: 266.514965 deg,
      approachRate: -0.579574 m/s,
      LOS rate: 0.018225 deg/s,
      cmd update: 0.054675 deg/s,
      cmd heading: 262.778925 deg,
      new cmd heading: 262.597678 deg.

2021-12-04T09:58:43.621Z,1638611923.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:44.409Z,1638611924.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:44.819Z,1638611924.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:45.645Z,1638611925.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095845.85*56

2021-12-04T09:58:45.646Z,1638611925.646 [Micromodem](INFO): Nmea in: $CAREV,095846,AUV,2.1.4000*2C

2021-12-04T09:58:46.027Z,1638611926.027 [Micromodem](INFO): Nmea in: $CAREV,095846,COPROC,0.20.0.39330*7D

2021-12-04T09:58:46.095Z,1638611926.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 583.200012 m, bearing: 267.422724 deg, deltaT: 5.273982 s, deltaX: -3.119995 m, approachRate: -0.591582 m/s, LOS rate: 0.172120 deg/s, posRepo size: 4
2021-12-04T09:58:46.097Z,1638611926.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 583.200012 m,
      bearing: 267.422724 deg,
      approachRate: -0.591582 m/s,
      LOS rate: 0.172120 deg/s,
      cmd update: 0.516361 deg/s,
      cmd heading: 263.066450 deg,
      new cmd heading: 263.090174 deg.

2021-12-04T09:58:48.890Z,1638611928.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:49.665Z,1638611929.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:50.068Z,1638611930.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:50.893Z,1638611930.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095851.10*5F

2021-12-04T09:58:50.894Z,1638611930.894 [Micromodem](INFO): Nmea in: $CAREV,095852,AUV,2.1.4000*29

2021-12-04T09:58:51.292Z,1638611931.292 [Micromodem](INFO): Nmea in: $CAREV,095852,COPROC,0.20.0.39330*78

2021-12-04T09:58:51.320Z,1638611931.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 580.559998 m, bearing: 268.008727 deg, deltaT: 5.224848 s, deltaX: -2.640015 m, approachRate: -0.505281 m/s, LOS rate: 0.112157 deg/s, posRepo size: 4
2021-12-04T09:58:51.322Z,1638611931.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 580.559998 m,
      bearing: 268.008727 deg,
      approachRate: -0.505281 m/s,
      LOS rate: 0.112157 deg/s,
      cmd update: 0.336471 deg/s,
      cmd heading: 265.798104 deg,
      new cmd heading: 265.988418 deg.

2021-12-04T09:58:54.152Z,1638611934.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:58:54.993Z,1638611934.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:58:55.355Z,1638611935.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:58:56.527Z,1638611936.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095856.43*5E

2021-12-04T09:58:56.528Z,1638611936.528 [Micromodem](INFO): Nmea in: $CAREV,095857,AUV,2.1.4000*2C

2021-12-04T09:58:56.545Z,1638611936.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 577.500000 m, bearing: 267.556268 deg, deltaT: 5.225417 s, deltaX: -3.059998 m, approachRate: -0.585599 m/s, LOS rate: -0.086588 deg/s, posRepo size: 4
2021-12-04T09:58:56.547Z,1638611936.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 577.500000 m,
      bearing: 267.556268 deg,
      approachRate: -0.585599 m/s,
      LOS rate: -0.086588 deg/s,
      cmd update: -0.259764 deg/s,
      cmd heading: 267.571597 deg,
      new cmd heading: 267.680400 deg.

2021-12-04T09:58:56.957Z,1638611936.957 [Micromodem](INFO): Nmea in: $CAREV,095857,COPROC,0.20.0.39330*7D

2021-12-04T09:58:59.393Z,1638611939.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:00.169Z,1638611940.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:00.578Z,1638611940.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:01.397Z,1638611941.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095901.61*5D

2021-12-04T09:59:01.398Z,1638611941.398 [Micromodem](INFO): Nmea in: $CAREV,095902,AUV,2.1.4000*2D

2021-12-04T09:59:01.816Z,1638611941.816 [Micromodem](INFO): Nmea in: $CAREV,095902,COPROC,0.20.0.39330*7C

2021-12-04T09:59:01.869Z,1638611941.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 574.559998 m, bearing: 268.144921 deg, deltaT: 5.323624 s, deltaX: -2.940002 m, approachRate: -0.552256 m/s, LOS rate: 0.110574 deg/s, posRepo size: 4
2021-12-04T09:59:01.888Z,1638611941.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 574.559998 m,
      bearing: 268.144921 deg,
      approachRate: -0.552256 m/s,
      LOS rate: 0.110574 deg/s,
      cmd update: 0.331721 deg/s,
      cmd heading: 266.215979 deg,
      new cmd heading: 266.104599 deg.

2021-12-04T09:59:04.632Z,1638611944.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:05.417Z,1638611945.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:05.864Z,1638611945.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:06.646Z,1638611946.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095906.85*50

2021-12-04T09:59:06.648Z,1638611946.648 [Micromodem](INFO): Nmea in: $CAREV,095907,AUV,2.1.4000*28

2021-12-04T09:59:07.039Z,1638611947.039 [Micromodem](INFO): Nmea in: $CAREV,095907,COPROC,0.20.0.39330*79

2021-12-04T09:59:07.086Z,1638611947.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 571.500000 m, bearing: 267.483377 deg, deltaT: 5.216940 s, deltaX: -3.059998 m, approachRate: -0.586550 m/s, LOS rate: -0.126807 deg/s, posRepo size: 4
2021-12-04T09:59:07.092Z,1638611947.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 571.500000 m,
      bearing: 267.483377 deg,
      approachRate: -0.586550 m/s,
      LOS rate: -0.126807 deg/s,
      cmd update: -0.380421 deg/s,
      cmd heading: 267.948112 deg,
      new cmd heading: 268.088666 deg.

2021-12-04T09:59:09.964Z,1638611949.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:10.675Z,1638611950.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:11.080Z,1638611951.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:11.921Z,1638611951.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095912.12*5B

2021-12-04T09:59:11.930Z,1638611951.930 [Micromodem](INFO): Nmea in: $CAREV,095913,AUV,2.1.4000*2D

2021-12-04T09:59:12.296Z,1638611952.296 [Micromodem](INFO): Nmea in: $CAREV,095913,COPROC,0.20.0.39330*7C

2021-12-04T09:59:12.340Z,1638611952.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 568.320007 m, bearing: 267.531680 deg, deltaT: 5.235528 s, deltaX: -3.179993 m, approachRate: -0.607387 m/s, LOS rate: 0.009226 deg/s, posRepo size: 4
2021-12-04T09:59:12.351Z,1638611952.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 568.320007 m,
      bearing: 267.531680 deg,
      approachRate: -0.607387 m/s,
      LOS rate: 0.009226 deg/s,
      cmd update: 0.027678 deg/s,
      cmd heading: 265.916897 deg,
      new cmd heading: 265.794780 deg.

2021-12-04T09:59:15.164Z,1638611955.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:15.949Z,1638611955.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:16.335Z,1638611956.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:17.149Z,1638611957.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095917.39*57

2021-12-04T09:59:17.151Z,1638611957.151 [Micromodem](INFO): Nmea in: $CAREV,095918,AUV,2.1.4000*26

2021-12-04T09:59:17.529Z,1638611957.529 [Micromodem](INFO): Nmea in: $CAREV,095918,COPROC,0.20.0.39330*77

2021-12-04T09:59:18.000Z,1638611958.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:19.552Z,1638611959.552 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T09:59:20.796Z,1638611960.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:21.590Z,1638611961.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:22.003Z,1638611962.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:22.828Z,1638611962.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095923.03*59

2021-12-04T09:59:22.829Z,1638611962.829 [Micromodem](INFO): Nmea in: $CAREV,095924,AUV,2.1.4000*29

2021-12-04T09:59:23.202Z,1638611963.202 [Micromodem](INFO): Nmea in: $CAREV,095924,COPROC,0.20.0.39330*78

2021-12-04T09:59:23.230Z,1638611963.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 561.840027 m, bearing: 267.451439 deg, deltaT: 10.907940 s, deltaX: -6.479980 m, approachRate: -0.594061 m/s, LOS rate: -0.007356 deg/s, posRepo size: 4
2021-12-04T09:59:23.232Z,1638611963.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 561.840027 m,
      bearing: 267.451439 deg,
      approachRate: -0.594061 m/s,
      LOS rate: -0.007356 deg/s,
      cmd update: -0.022069 deg/s,
      cmd heading: 266.216975 deg,
      new cmd heading: 266.227660 deg.

2021-12-04T09:59:26.077Z,1638611966.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:26.825Z,1638611966.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:27.231Z,1638611967.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:28.049Z,1638611968.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095928.26*55

2021-12-04T09:59:28.050Z,1638611968.050 [Micromodem](INFO): Nmea in: $CAREV,095929,AUV,2.1.4000*24

2021-12-04T09:59:28.455Z,1638611968.455 [Micromodem](INFO): Nmea in: $CAREV,095929,COPROC,0.20.0.39330*75

2021-12-04T09:59:28.473Z,1638611968.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 559.319946 m, bearing: 267.663120 deg, deltaT: 5.243568 s, deltaX: -2.520081 m, approachRate: -0.480604 m/s, LOS rate: 0.040370 deg/s, posRepo size: 4
2021-12-04T09:59:28.475Z,1638611968.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 559.319946 m,
      bearing: 267.663120 deg,
      approachRate: -0.480604 m/s,
      LOS rate: 0.040370 deg/s,
      cmd update: 0.121109 deg/s,
      cmd heading: 266.100330 deg,
      new cmd heading: 266.092739 deg.

2021-12-04T09:59:30.083Z,1638611970.083 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T09:59:31.291Z,1638611971.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:32.077Z,1638611972.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:32.483Z,1638611972.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:33.310Z,1638611973.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095933.51*5F

2021-12-04T09:59:33.311Z,1638611973.311 [Micromodem](INFO): Nmea in: $CAREV,095934,AUV,2.1.4000*28

2021-12-04T09:59:33.707Z,1638611973.707 [Micromodem](INFO): Nmea in: $CAREV,095934,COPROC,0.20.0.39330*79

2021-12-04T09:59:33.807Z,1638611973.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 556.500000 m, bearing: 268.302835 deg, deltaT: 5.298287 s, deltaX: -2.819946 m, approachRate: -0.532237 m/s, LOS rate: 0.120740 deg/s, posRepo size: 4
2021-12-04T09:59:33.815Z,1638611973.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 556.500000 m,
      bearing: 268.302835 deg,
      approachRate: -0.532237 m/s,
      LOS rate: 0.120740 deg/s,
      cmd update: 0.362220 deg/s,
      cmd heading: 266.730880 deg,
      new cmd heading: 266.786338 deg.

2021-12-04T09:59:36.553Z,1638611976.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:37.326Z,1638611977.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:37.750Z,1638611977.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:38.561Z,1638611978.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095938.76*51

2021-12-04T09:59:38.562Z,1638611978.562 [Micromodem](INFO): Nmea in: $CAREV,095939,AUV,2.1.4000*25

2021-12-04T09:59:38.966Z,1638611978.966 [Micromodem](INFO): Nmea in: $CAREV,095939,COPROC,0.20.0.39330*74

2021-12-04T09:59:39.018Z,1638611979.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 552.779968 m, bearing: 267.490562 deg, deltaT: 5.242515 s, deltaX: -3.720032 m, approachRate: -0.709589 m/s, LOS rate: -0.154940 deg/s, posRepo size: 4
2021-12-04T09:59:39.024Z,1638611979.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 552.779968 m,
      bearing: 267.490562 deg,
      approachRate: -0.709589 m/s,
      LOS rate: -0.154940 deg/s,
      cmd update: -0.464819 deg/s,
      cmd heading: 268.640936 deg,
      new cmd heading: 268.789138 deg.

2021-12-04T09:59:41.817Z,1638611981.817 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:59:41.830Z,1638611981.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:42.581Z,1638611982.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:42.998Z,1638611982.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:43.829Z,1638611983.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095944.02*59

2021-12-04T09:59:43.830Z,1638611983.830 [Micromodem](INFO): Nmea in: $CAREV,095945,AUV,2.1.4000*2E

2021-12-04T09:59:44.203Z,1638611984.203 [Micromodem](INFO): Nmea in: $CAREV,095945,COPROC,0.20.0.39330*7F

2021-12-04T09:59:44.231Z,1638611984.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 550.020020 m, bearing: 267.919744 deg, deltaT: 5.216637 s, deltaX: -2.759949 m, approachRate: -0.529067 m/s, LOS rate: 0.082272 deg/s, posRepo size: 4
2021-12-04T09:59:44.233Z,1638611984.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 550.020020 m,
      bearing: 267.919744 deg,
      approachRate: -0.529067 m/s,
      LOS rate: 0.082272 deg/s,
      cmd update: 0.246815 deg/s,
      cmd heading: 266.198117 deg,
      new cmd heading: 266.027800 deg.

2021-12-04T09:59:47.047Z,1638611987.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:47.934Z,1638611987.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:48.247Z,1638611988.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:49.527Z,1638611989.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095949.37*52

2021-12-04T09:59:49.528Z,1638611989.528 [Micromodem](INFO): Nmea in: $CAREV,095950,AUV,2.1.4000*2A

2021-12-04T09:59:49.546Z,1638611989.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 546.419983 m, bearing: 267.059741 deg, deltaT: 5.314739 s, deltaX: -3.600037 m, approachRate: -0.677368 m/s, LOS rate: -0.161815 deg/s, posRepo size: 4
2021-12-04T09:59:49.548Z,1638611989.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 546.419983 m,
      bearing: 267.059741 deg,
      approachRate: -0.677368 m/s,
      LOS rate: -0.161815 deg/s,
      cmd update: -0.485444 deg/s,
      cmd heading: 267.488623 deg,
      new cmd heading: 267.600420 deg.

2021-12-04T09:59:49.884Z,1638611989.884 [Micromodem](INFO): Nmea in: $CAREV,095950,COPROC,0.20.0.39330*7B

2021-12-04T09:59:49.888Z,1638611989.888 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T09:59:52.306Z,1638611992.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:53.097Z,1638611993.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:53.498Z,1638611993.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:54.317Z,1638611994.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095954.53*5C

2021-12-04T09:59:54.318Z,1638611994.318 [Micromodem](INFO): Nmea in: $CAREV,095955,AUV,2.1.4000*2F

2021-12-04T09:59:54.707Z,1638611994.707 [Micromodem](INFO): Nmea in: $CAREV,095955,COPROC,0.20.0.39330*7E

2021-12-04T09:59:54.725Z,1638611994.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 543.719971 m, bearing: 268.489436 deg, deltaT: 5.179695 s, deltaX: -2.700012 m, approachRate: -0.521269 m/s, LOS rate: 0.276019 deg/s, posRepo size: 4
2021-12-04T09:59:54.727Z,1638611994.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 543.719971 m,
      bearing: 268.489436 deg,
      approachRate: -0.521269 m/s,
      LOS rate: 0.276019 deg/s,
      cmd update: 0.828058 deg/s,
      cmd heading: 264.933751 deg,
      new cmd heading: 264.754524 deg.

2021-12-04T09:59:57.540Z,1638611997.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T09:59:58.337Z,1638611998.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T09:59:58.754Z,1638611998.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T09:59:59.569Z,1638611999.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095959.77*57

2021-12-04T09:59:59.570Z,1638611999.570 [Micromodem](INFO): Nmea in: $CAREV,100000,AUV,2.1.4000*2B

2021-12-04T09:59:59.979Z,1638611999.979 [Micromodem](INFO): Nmea in: $CAREV,100000,COPROC,0.20.0.39330*7A

2021-12-04T09:59:59.985Z,1638611999.985 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:00:00.044Z,1638612000.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 541.080017 m, bearing: 268.926623 deg, deltaT: 5.315494 s, deltaX: -2.639954 m, approachRate: -0.496653 m/s, LOS rate: 0.082248 deg/s, posRepo size: 4
2021-12-04T10:00:00.050Z,1638612000.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 541.080017 m,
      bearing: 268.926623 deg,
      approachRate: -0.496653 m/s,
      LOS rate: 0.082248 deg/s,
      cmd update: 0.246743 deg/s,
      cmd heading: 269.287200 deg,
      new cmd heading: 269.644331 deg.

2021-12-04T10:00:02.886Z,1638612002.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:03.610Z,1638612003.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:04.015Z,1638612004.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:04.849Z,1638612004.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100005.05*5F

2021-12-04T10:00:04.850Z,1638612004.850 [Micromodem](INFO): Nmea in: $CAREV,100006,AUV,2.1.4000*2D

2021-12-04T10:00:05.209Z,1638612005.209 [Micromodem](INFO): Nmea in: $CAREV,100006,COPROC,0.20.0.39330*7C

2021-12-04T10:00:05.284Z,1638612005.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 538.260010 m, bearing: 269.183110 deg, deltaT: 5.239691 s, deltaX: -2.820007 m, approachRate: -0.538201 m/s, LOS rate: 0.048951 deg/s, posRepo size: 4
2021-12-04T10:00:05.286Z,1638612005.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 538.260010 m,
      bearing: 269.183110 deg,
      approachRate: -0.538201 m/s,
      LOS rate: 0.048951 deg/s,
      cmd update: 0.146853 deg/s,
      cmd heading: 270.592333 deg,
      new cmd heading: 270.686462 deg.

2021-12-04T10:00:08.090Z,1638612008.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:08.841Z,1638612008.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:09.254Z,1638612009.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:10.073Z,1638612010.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100010.28*54

2021-12-04T10:00:10.074Z,1638612010.074 [Micromodem](INFO): Nmea in: $CAREV,100011,AUV,2.1.4000*2B

2021-12-04T10:00:10.115Z,1638612010.115 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T10:00:10.472Z,1638612010.472 [Micromodem](INFO): Nmea in: $CAREV,100011,COPROC,0.20.0.39330*7A

2021-12-04T10:00:10.490Z,1638612010.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 535.259949 m, bearing: 268.689315 deg, deltaT: 5.209593 s, deltaX: -3.000061 m, approachRate: -0.575872 m/s, LOS rate: -0.094786 deg/s, posRepo size: 4
2021-12-04T10:00:10.492Z,1638612010.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 535.259949 m,
      bearing: 268.689315 deg,
      approachRate: -0.575872 m/s,
      LOS rate: -0.094786 deg/s,
      cmd update: -0.284357 deg/s,
      cmd heading: 271.366670 deg,
      new cmd heading: 271.412816 deg.

2021-12-04T10:00:13.340Z,1638612013.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:14.093Z,1638612014.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:14.559Z,1638612014.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:15.337Z,1638612015.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100015.53*5D

2021-12-04T10:00:15.338Z,1638612015.338 [Micromodem](INFO): Nmea in: $CAREV,100016,AUV,2.1.4000*2C

2021-12-04T10:00:15.728Z,1638612015.728 [Micromodem](INFO): Nmea in: $CAREV,100016,COPROC,0.20.0.39330*7D

2021-12-04T10:00:15.784Z,1638612015.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 532.080017 m, bearing: 267.860458 deg, deltaT: 5.261859 s, deltaX: -3.179932 m, approachRate: -0.604336 m/s, LOS rate: -0.157522 deg/s, posRepo size: 4
2021-12-04T10:00:15.807Z,1638612015.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 532.080017 m,
      bearing: 267.860458 deg,
      approachRate: -0.604336 m/s,
      LOS rate: -0.157522 deg/s,
      cmd update: -0.472565 deg/s,
      cmd heading: 269.884381 deg,
      new cmd heading: 269.778911 deg.

2021-12-04T10:00:18.553Z,1638612018.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:19.353Z,1638612019.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:19.818Z,1638612019.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:20.585Z,1638612020.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100020.79*53

2021-12-04T10:00:20.586Z,1638612020.586 [Micromodem](INFO): Nmea in: $CAREV,100021,AUV,2.1.4000*28

2021-12-04T10:00:21.022Z,1638612021.022 [Micromodem](INFO): Nmea in: $CAREV,100021,COPROC,0.20.0.39330*79

2021-12-04T10:00:21.080Z,1638612021.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 529.260010 m, bearing: 267.759535 deg, deltaT: 5.328583 s, deltaX: -2.820007 m, approachRate: -0.529223 m/s, LOS rate: -0.018940 deg/s, posRepo size: 4
2021-12-04T10:00:21.082Z,1638612021.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 529.260010 m,
      bearing: 267.759535 deg,
      approachRate: -0.529223 m/s,
      LOS rate: -0.018940 deg/s,
      cmd update: -0.056820 deg/s,
      cmd heading: 267.421113 deg,
      new cmd heading: 267.194594 deg.

2021-12-04T10:00:23.871Z,1638612023.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:24.597Z,1638612024.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:25.017Z,1638612025.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:25.849Z,1638612025.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100026.03*58

2021-12-04T10:00:25.851Z,1638612025.851 [Micromodem](INFO): Nmea in: $CAREV,100027,AUV,2.1.4000*2E

2021-12-04T10:00:26.219Z,1638612026.219 [Micromodem](INFO): Nmea in: $CAREV,100027,COPROC,0.20.0.39330*7F

2021-12-04T10:00:26.246Z,1638612026.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 526.200012 m, bearing: 266.784894 deg, deltaT: 5.165836 s, deltaX: -3.059998 m, approachRate: -0.592353 m/s, LOS rate: -0.188670 deg/s, posRepo size: 4
2021-12-04T10:00:26.248Z,1638612026.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 526.200012 m,
      bearing: 266.784894 deg,
      approachRate: -0.592353 m/s,
      LOS rate: -0.188670 deg/s,
      cmd update: -0.566011 deg/s,
      cmd heading: 267.117352 deg,
      new cmd heading: 267.100349 deg.

2021-12-04T10:00:29.099Z,1638612029.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:29.861Z,1638612029.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:30.315Z,1638612030.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:31.089Z,1638612031.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100031.30*5E

2021-12-04T10:00:31.090Z,1638612031.090 [Micromodem](INFO): Nmea in: $CAREV,100032,AUV,2.1.4000*2A

2021-12-04T10:00:31.475Z,1638612031.475 [Micromodem](INFO): Nmea in: $CAREV,100032,COPROC,0.20.0.39330*7B

2021-12-04T10:00:31.513Z,1638612031.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 523.079956 m, bearing: 265.887380 deg, deltaT: 5.266610 s, deltaX: -3.120056 m, approachRate: -0.592422 m/s, LOS rate: -0.170416 deg/s, posRepo size: 4
2021-12-04T10:00:31.515Z,1638612031.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 523.079956 m,
      bearing: 265.887380 deg,
      approachRate: -0.592422 m/s,
      LOS rate: -0.170416 deg/s,
      cmd update: -0.511248 deg/s,
      cmd heading: 264.191839 deg,
      new cmd heading: 263.967059 deg.

2021-12-04T10:00:34.305Z,1638612034.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:35.101Z,1638612035.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:35.514Z,1638612035.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:36.333Z,1638612036.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100036.54*5B

2021-12-04T10:00:36.334Z,1638612036.334 [Micromodem](INFO): Nmea in: $CAREV,100037,AUV,2.1.4000*2F

2021-12-04T10:00:36.719Z,1638612036.719 [Micromodem](INFO): Nmea in: $CAREV,100037,COPROC,0.20.0.39330*7E

2021-12-04T10:00:36.736Z,1638612036.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 519.840027 m, bearing: 265.810144 deg, deltaT: 5.223715 s, deltaX: -3.239929 m, approachRate: -0.620235 m/s, LOS rate: -0.014786 deg/s, posRepo size: 4
2021-12-04T10:00:36.739Z,1638612036.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 519.840027 m,
      bearing: 265.810144 deg,
      approachRate: -0.620235 m/s,
      LOS rate: -0.014786 deg/s,
      cmd update: -0.044357 deg/s,
      cmd heading: 261.499271 deg,
      new cmd heading: 261.318187 deg.

2021-12-04T10:00:39.556Z,1638612039.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:40.349Z,1638612040.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:40.819Z,1638612040.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:41.594Z,1638612041.594 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100041.79*54

2021-12-04T10:00:41.595Z,1638612041.595 [Micromodem](INFO): Nmea in: $CAREV,100042,AUV,2.1.4000*2D

2021-12-04T10:00:42.015Z,1638612042.015 [Micromodem](INFO): Nmea in: $CAREV,100042,COPROC,0.20.0.39330*7C

2021-12-04T10:00:42.087Z,1638612042.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 517.080017 m, bearing: 267.665852 deg, deltaT: 5.351035 s, deltaX: -2.760010 m, approachRate: -0.515790 m/s, LOS rate: 0.346794 deg/s, posRepo size: 4
2021-12-04T10:00:42.089Z,1638612042.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 517.080017 m,
      bearing: 267.665852 deg,
      approachRate: -0.515790 m/s,
      LOS rate: 0.346794 deg/s,
      cmd update: 1.040383 deg/s,
      cmd heading: 261.267200 deg,
      new cmd heading: 261.246218 deg.

2021-12-04T10:00:44.842Z,1638612044.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:45.601Z,1638612045.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:46.020Z,1638612046.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:46.833Z,1638612046.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100047.04*58

2021-12-04T10:00:46.834Z,1638612046.834 [Micromodem](INFO): Nmea in: $CAREV,100048,AUV,2.1.4000*27

2021-12-04T10:00:47.223Z,1638612047.223 [Micromodem](INFO): Nmea in: $CAREV,100048,COPROC,0.20.0.39330*76

2021-12-04T10:00:47.274Z,1638612047.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 514.259949 m, bearing: 266.787244 deg, deltaT: 5.186733 s, deltaX: -2.820068 m, approachRate: -0.543708 m/s, LOS rate: -0.169395 deg/s, posRepo size: 4
2021-12-04T10:00:47.276Z,1638612047.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 514.259949 m,
      bearing: 266.787244 deg,
      approachRate: -0.543708 m/s,
      LOS rate: -0.169395 deg/s,
      cmd update: -0.508186 deg/s,
      cmd heading: 266.715554 deg,
      new cmd heading: 267.155840 deg.

2021-12-04T10:00:50.098Z,1638612050.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:50.861Z,1638612050.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:51.259Z,1638612051.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:52.089Z,1638612052.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100052.30*5B

2021-12-04T10:00:52.091Z,1638612052.091 [Micromodem](INFO): Nmea in: $CAREV,100053,AUV,2.1.4000*2D

2021-12-04T10:00:52.489Z,1638612052.489 [Micromodem](INFO): Nmea in: $CAREV,100053,COPROC,0.20.0.39330*7C

2021-12-04T10:00:52.507Z,1638612052.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 511.320007 m, bearing: 267.248281 deg, deltaT: 5.232054 s, deltaX: -2.939941 m, approachRate: -0.561910 m/s, LOS rate: 0.088118 deg/s, posRepo size: 4
2021-12-04T10:00:52.509Z,1638612052.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 511.320007 m,
      bearing: 267.248281 deg,
      approachRate: -0.561910 m/s,
      LOS rate: 0.088118 deg/s,
      cmd update: 0.264354 deg/s,
      cmd heading: 264.005077 deg,
      new cmd heading: 263.841367 deg.

2021-12-04T10:00:55.325Z,1638612055.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:00:56.121Z,1638612056.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:00:56.517Z,1638612056.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:00:57.364Z,1638612057.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100057.56*5E

2021-12-04T10:00:57.365Z,1638612057.365 [Micromodem](INFO): Nmea in: $CAREV,100058,AUV,2.1.4000*26

2021-12-04T10:00:57.827Z,1638612057.827 [Micromodem](INFO): Nmea in: $CAREV,100058,COPROC,0.20.0.39330*77

2021-12-04T10:00:57.863Z,1638612057.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 508.199982 m, bearing: 268.280733 deg, deltaT: 5.357180 s, deltaX: -3.120026 m, approachRate: -0.582401 m/s, LOS rate: 0.192723 deg/s, posRepo size: 4
2021-12-04T10:00:57.865Z,1638612057.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 508.199982 m,
      bearing: 268.280733 deg,
      approachRate: -0.582401 m/s,
      LOS rate: 0.192723 deg/s,
      cmd update: 0.578169 deg/s,
      cmd heading: 265.379440 deg,
      new cmd heading: 265.506212 deg.

2021-12-04T10:00:59.846Z,1638612059.846 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T10:01:00.601Z,1638612060.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:01.395Z,1638612061.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:01.831Z,1638612061.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:02.625Z,1638612062.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100102.83*57

2021-12-04T10:01:02.627Z,1638612062.627 [Micromodem](INFO): Nmea in: $CAREV,100103,AUV,2.1.4000*29

2021-12-04T10:01:03.013Z,1638612063.013 [Micromodem](INFO): Nmea in: $CAREV,100103,COPROC,0.20.0.39330*78

2021-12-04T10:01:03.076Z,1638612063.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 505.320007 m, bearing: 266.898740 deg, deltaT: 5.209214 s, deltaX: -2.879974 m, approachRate: -0.552862 m/s, LOS rate: -0.265298 deg/s, posRepo size: 4
2021-12-04T10:01:03.083Z,1638612063.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 505.320007 m,
      bearing: 266.898740 deg,
      approachRate: -0.552862 m/s,
      LOS rate: -0.265298 deg/s,
      cmd update: -0.795894 deg/s,
      cmd heading: 268.438770 deg,
      new cmd heading: 268.670968 deg.

2021-12-04T10:01:05.888Z,1638612065.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:06.637Z,1638612066.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:07.039Z,1638612067.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:07.979Z,1638612067.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100108.08*5E

2021-12-04T10:01:07.980Z,1638612067.980 [Micromodem](INFO): Nmea in: $CAREV,100109,AUV,2.1.4000*23

2021-12-04T10:01:08.079Z,1638612068.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 502.260010 m, bearing: 266.885107 deg, deltaT: 5.002818 s, deltaX: -3.059998 m, approachRate: -0.611655 m/s, LOS rate: -0.002725 deg/s, posRepo size: 4
2021-12-04T10:01:08.081Z,1638612068.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 502.260010 m,
      bearing: 266.885107 deg,
      approachRate: -0.611655 m/s,
      LOS rate: -0.002725 deg/s,
      cmd update: -0.008175 deg/s,
      cmd heading: 264.630951 deg,
      new cmd heading: 264.140788 deg.

2021-12-04T10:01:08.284Z,1638612068.284 [Micromodem](INFO): Nmea in: $CAREV,100109,COPROC,0.20.0.39330*72

2021-12-04T10:01:10.697Z,1638612070.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:11.493Z,1638612071.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:11.935Z,1638612071.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:12.714Z,1638612072.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100112.93*57

2021-12-04T10:01:12.715Z,1638612072.715 [Micromodem](INFO): Nmea in: $CAREV,100113,AUV,2.1.4000*28

2021-12-04T10:01:13.099Z,1638612073.099 [Micromodem](INFO): Nmea in: $CAREV,100113,COPROC,0.20.0.39330*79

2021-12-04T10:01:13.155Z,1638612073.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 499.439972 m, bearing: 267.485917 deg, deltaT: 5.075707 s, deltaX: -2.820038 m, approachRate: -0.555595 m/s, LOS rate: 0.118370 deg/s, posRepo size: 4
2021-12-04T10:01:13.157Z,1638612073.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 499.439972 m,
      bearing: 267.485917 deg,
      approachRate: -0.555595 m/s,
      LOS rate: 0.118370 deg/s,
      cmd update: 0.355110 deg/s,
      cmd heading: 264.587828 deg,
      new cmd heading: 264.584421 deg.

2021-12-04T10:01:15.000Z,1638612076.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:16.737Z,1638612076.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:17.151Z,1638612077.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:17.979Z,1638612077.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100118.17*51

2021-12-04T10:01:17.981Z,1638612077.981 [Micromodem](INFO): Nmea in: $CAREV,100119,AUV,2.1.4000*22

2021-12-04T10:01:18.067Z,1638612078.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 499.439972 m, bearing: 265.510408 deg, deltaT: 4.916323 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.401827 deg/s, posRepo size: 4
2021-12-04T10:01:18.069Z,1638612078.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 499.439972 m,
      bearing: 265.510408 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.401827 deg/s,
      cmd update: -1.205480 deg/s,
      cmd heading: 266.302566 deg,
      new cmd heading: 266.481659 deg.

2021-12-04T10:01:18.364Z,1638612078.364 [Micromodem](INFO): Nmea in: $CAREV,100119,COPROC,0.20.0.39330*73

2021-12-04T10:01:20.809Z,1638612080.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:21.601Z,1638612081.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:22.019Z,1638612082.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:22.809Z,1638612082.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100123.04*5B

2021-12-04T10:01:22.810Z,1638612082.810 [Micromodem](INFO): Nmea in: $CAREV,100124,AUV,2.1.4000*2C

2021-12-04T10:01:23.203Z,1638612083.203 [Micromodem](INFO): Nmea in: $CAREV,100124,COPROC,0.20.0.39330*7D

2021-12-04T10:01:23.230Z,1638612083.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.380005 m, bearing: 266.980866 deg, deltaT: 5.162735 s, deltaX: -6.059967 m, approachRate: -1.173790 m/s, LOS rate: 0.284821 deg/s, posRepo size: 4
2021-12-04T10:01:23.252Z,1638612083.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 493.380005 m,
      bearing: 266.980866 deg,
      approachRate: -1.173790 m/s,
      LOS rate: 0.284821 deg/s,
      cmd update: 0.854464 deg/s,
      cmd heading: 259.919979 deg,
      new cmd heading: 259.470705 deg.

2021-12-04T10:01:26.073Z,1638612086.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:26.837Z,1638612086.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:27.250Z,1638612087.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:28.068Z,1638612088.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100128.28*5E

2021-12-04T10:01:28.069Z,1638612088.069 [Micromodem](INFO): Nmea in: $CAREV,100129,AUV,2.1.4000*21

2021-12-04T10:01:28.155Z,1638612088.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.380005 m, bearing: 267.025344 deg, deltaT: 4.924246 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.009032 deg/s, posRepo size: 4
2021-12-04T10:01:28.157Z,1638612088.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 493.380005 m,
      bearing: 267.025344 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.009032 deg/s,
      cmd update: 0.027097 deg/s,
      cmd heading: 264.039409 deg,
      new cmd heading: 264.446115 deg.

2021-12-04T10:01:28.472Z,1638612088.472 [Micromodem](INFO): Nmea in: $CAREV,100129,COPROC,0.20.0.39330*70

2021-12-04T10:01:30.889Z,1638612090.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:31.693Z,1638612091.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:32.104Z,1638612092.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:32.946Z,1638612092.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100133.13*5C

2021-12-04T10:01:32.948Z,1638612092.948 [Micromodem](INFO): Nmea in: $CAREV,100134,AUV,2.1.4000*2D

2021-12-04T10:01:33.010Z,1638612093.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 493.380005 m, bearing: 268.344008 deg, deltaT: 4.854736 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.271624 deg/s, posRepo size: 4
2021-12-04T10:01:33.020Z,1638612093.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 493.380005 m,
      bearing: 268.344008 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.271624 deg/s,
      cmd update: 0.814873 deg/s,
      cmd heading: 264.170807 deg,
      new cmd heading: 264.183879 deg.

2021-12-04T10:01:33.320Z,1638612093.320 [Micromodem](INFO): Nmea in: $CAREV,100134,COPROC,0.20.0.39330*7C

2021-12-04T10:01:35.966Z,1638612095.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:36.553Z,1638612096.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:36.991Z,1638612096.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:37.897Z,1638612097.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100137.99*5A

2021-12-04T10:01:37.898Z,1638612097.898 [Micromodem](INFO): Nmea in: $CAREV,100139,AUV,2.1.4000*20

2021-12-04T10:01:38.029Z,1638612098.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 485.640015 m, bearing: 266.528352 deg, deltaT: 5.009146 s, deltaX: -7.739990 m, approachRate: -1.545172 m/s, LOS rate: -0.362468 deg/s, posRepo size: 4
2021-12-04T10:01:38.036Z,1638612098.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 485.640015 m,
      bearing: 266.528352 deg,
      approachRate: -1.545172 m/s,
      LOS rate: -0.362468 deg/s,
      cmd update: -1.087404 deg/s,
      cmd heading: 268.127089 deg,
      new cmd heading: 268.649298 deg.

2021-12-04T10:01:38.248Z,1638612098.248 [Micromodem](INFO): Nmea in: $CAREV,100139,COPROC,0.20.0.39330*71

2021-12-04T10:01:40.656Z,1638612100.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:41.461Z,1638612101.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:41.863Z,1638612101.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:42.687Z,1638612102.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100142.90*51

2021-12-04T10:01:42.689Z,1638612102.689 [Micromodem](INFO): Nmea in: $CAREV,100143,AUV,2.1.4000*2D

2021-12-04T10:01:42.737Z,1638612102.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 485.640015 m, bearing: 267.459006 deg, deltaT: 4.711257 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.197538 deg/s, posRepo size: 4
2021-12-04T10:01:42.744Z,1638612102.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 485.640015 m,
      bearing: 267.459006 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.197538 deg/s,
      cmd update: 0.592615 deg/s,
      cmd heading: 262.772636 deg,
      new cmd heading: 262.304215 deg.

2021-12-04T10:01:43.088Z,1638612103.088 [Micromodem](INFO): Nmea in: $CAREV,100143,COPROC,0.20.0.39330*7C

2021-12-04T10:01:45.508Z,1638612105.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:46.301Z,1638612106.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:46.711Z,1638612106.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:47.536Z,1638612107.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100147.74*5E

2021-12-04T10:01:47.537Z,1638612107.537 [Micromodem](INFO): Nmea in: $CAREV,100148,AUV,2.1.4000*26

2021-12-04T10:01:47.560Z,1638612107.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 479.880005 m, bearing: 266.666021 deg, deltaT: 4.829032 s, deltaX: -5.760010 m, approachRate: -1.192788 m/s, LOS rate: -0.164212 deg/s, posRepo size: 4
2021-12-04T10:01:47.562Z,1638612107.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 479.880005 m,
      bearing: 266.666021 deg,
      approachRate: -1.192788 m/s,
      LOS rate: -0.164212 deg/s,
      cmd update: -0.492636 deg/s,
      cmd heading: 265.634327 deg,
      new cmd heading: 265.885116 deg.

2021-12-04T10:01:47.948Z,1638612107.948 [Micromodem](INFO): Nmea in: $CAREV,100148,COPROC,0.20.0.39330*77

2021-12-04T10:01:50.356Z,1638612110.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:51.213Z,1638612111.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:51.563Z,1638612111.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:52.391Z,1638612112.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100152.65*5A

2021-12-04T10:01:52.394Z,1638612112.394 [Micromodem](INFO): Nmea in: $CAREV,100153,AUV,2.1.4000*2C

2021-12-04T10:01:52.775Z,1638612112.775 [Micromodem](INFO): Nmea in: $CAREV,100153,COPROC,0.20.0.39330*7D

2021-12-04T10:01:52.792Z,1638612112.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 477.299988 m, bearing: 267.567852 deg, deltaT: 5.233751 s, deltaX: -2.580017 m, approachRate: -0.492958 m/s, LOS rate: 0.172311 deg/s, posRepo size: 4
2021-12-04T10:01:52.794Z,1638612112.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 477.299988 m,
      bearing: 267.567852 deg,
      approachRate: -0.492958 m/s,
      LOS rate: 0.172311 deg/s,
      cmd update: 0.516932 deg/s,
      cmd heading: 263.027362 deg,
      new cmd heading: 262.847678 deg.

2021-12-04T10:01:55.608Z,1638612115.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:01:56.401Z,1638612116.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:01:56.815Z,1638612116.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:01:57.639Z,1638612117.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100157.84*50

2021-12-04T10:01:57.641Z,1638612117.641 [Micromodem](INFO): Nmea in: $CAREV,100158,AUV,2.1.4000*27

2021-12-04T10:01:57.693Z,1638612117.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 474.540009 m, bearing: 268.563339 deg, deltaT: 4.888802 s, deltaX: -2.759979 m, approachRate: -0.564551 m/s, LOS rate: 0.203626 deg/s, posRepo size: 4
2021-12-04T10:01:57.695Z,1638612117.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 474.540009 m,
      bearing: 268.563339 deg,
      approachRate: -0.564551 m/s,
      LOS rate: 0.203626 deg/s,
      cmd update: 0.610877 deg/s,
      cmd heading: 265.524463 deg,
      new cmd heading: 265.749255 deg.

2021-12-04T10:01:58.028Z,1638612118.028 [Micromodem](INFO): Nmea in: $CAREV,100158,COPROC,0.20.0.39330*76

2021-12-04T10:02:00.457Z,1638612120.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:01.257Z,1638612121.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:01.671Z,1638612121.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:02.519Z,1638612122.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100202.69*50

2021-12-04T10:02:02.520Z,1638612122.520 [Micromodem](INFO): Nmea in: $CAREV,100203,AUV,2.1.4000*2A

2021-12-04T10:02:02.541Z,1638612122.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 471.779999 m, bearing: 266.854535 deg, deltaT: 4.860309 s, deltaX: -2.760010 m, approachRate: -0.567867 m/s, LOS rate: -0.351583 deg/s, posRepo size: 4
2021-12-04T10:02:02.543Z,1638612122.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 471.779999 m,
      bearing: 266.854535 deg,
      approachRate: -0.567867 m/s,
      LOS rate: -0.351583 deg/s,
      cmd update: -1.054750 deg/s,
      cmd heading: 268.532060 deg,
      new cmd heading: 268.751861 deg.

2021-12-04T10:02:02.895Z,1638612122.895 [Micromodem](INFO): Nmea in: $CAREV,100203,COPROC,0.20.0.39330*7B

2021-12-04T10:02:05.320Z,1638612125.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:06.097Z,1638612126.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:06.503Z,1638612126.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:07.343Z,1638612127.343 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100207.54*5B

2021-12-04T10:02:07.344Z,1638612127.344 [Micromodem](INFO): Nmea in: $CAREV,100208,AUV,2.1.4000*21

2021-12-04T10:02:07.411Z,1638612127.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 469.020020 m, bearing: 268.142080 deg, deltaT: 4.865999 s, deltaX: -2.759979 m, approachRate: -0.567197 m/s, LOS rate: 0.264600 deg/s, posRepo size: 4
2021-12-04T10:02:07.413Z,1638612127.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 469.020020 m,
      bearing: 268.142080 deg,
      approachRate: -0.567197 m/s,
      LOS rate: 0.264600 deg/s,
      cmd update: 0.793801 deg/s,
      cmd heading: 263.481546 deg,
      new cmd heading: 263.020343 deg.

2021-12-04T10:02:07.730Z,1638612127.730 [Micromodem](INFO): Nmea in: $CAREV,100208,COPROC,0.20.0.39330*70

2021-12-04T10:02:10.193Z,1638612130.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:10.957Z,1638612130.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:11.347Z,1638612131.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:12.176Z,1638612132.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100212.40*5A

2021-12-04T10:02:12.177Z,1638612132.177 [Micromodem](INFO): Nmea in: $CAREV,100213,AUV,2.1.4000*2B

2021-12-04T10:02:12.248Z,1638612132.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 466.320007 m, bearing: 267.881522 deg, deltaT: 4.800508 s, deltaX: -2.700012 m, approachRate: -0.562443 m/s, LOS rate: -0.054277 deg/s, posRepo size: 4
2021-12-04T10:02:12.255Z,1638612132.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 466.320007 m,
      bearing: 267.881522 deg,
      approachRate: -0.562443 m/s,
      LOS rate: -0.054277 deg/s,
      cmd update: -0.162832 deg/s,
      cmd heading: 267.349837 deg,
      new cmd heading: 267.664131 deg.

2021-12-04T10:02:12.572Z,1638612132.572 [Micromodem](INFO): Nmea in: $CAREV,100213,COPROC,0.20.0.39330*7A

2021-12-04T10:02:15.018Z,1638612135.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:15.853Z,1638612135.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:16.235Z,1638612136.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:17.055Z,1638612137.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100217.29*50

2021-12-04T10:02:17.057Z,1638612137.057 [Micromodem](INFO): Nmea in: $CAREV,100218,AUV,2.1.4000*20

2021-12-04T10:02:17.149Z,1638612137.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 466.320007 m, bearing: 267.612112 deg, deltaT: 4.929872 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.054648 deg/s, posRepo size: 4
2021-12-04T10:02:17.157Z,1638612137.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 466.320007 m,
      bearing: 267.612112 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.054648 deg/s,
      cmd update: -0.163945 deg/s,
      cmd heading: 266.566971 deg,
      new cmd heading: 266.486720 deg.

2021-12-04T10:02:17.508Z,1638612137.508 [Micromodem](INFO): Nmea in: $CAREV,100218,COPROC,0.20.0.39330*71

2021-12-04T10:02:19.968Z,1638612139.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:20.661Z,1638612140.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:21.080Z,1638612141.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:21.905Z,1638612141.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100222.10*5C

2021-12-04T10:02:21.909Z,1638612141.909 [Micromodem](INFO): Nmea in: $CAREV,100223,AUV,2.1.4000*28

2021-12-04T10:02:22.048Z,1638612142.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 460.920013 m, bearing: 266.550619 deg, deltaT: 4.905833 s, deltaX: -5.399994 m, approachRate: -1.100729 m/s, LOS rate: -0.216374 deg/s, posRepo size: 4
2021-12-04T10:02:22.049Z,1638612142.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 460.920013 m,
      bearing: 266.550619 deg,
      approachRate: -1.100729 m/s,
      LOS rate: -0.216374 deg/s,
      cmd update: -0.649121 deg/s,
      cmd heading: 265.772380 deg,
      new cmd heading: 265.682893 deg.

2021-12-04T10:02:22.288Z,1638612142.288 [Micromodem](INFO): Nmea in: $CAREV,100223,COPROC,0.20.0.39330*79

2021-12-04T10:02:24.712Z,1638612144.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:25.514Z,1638612145.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:25.952Z,1638612145.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:26.743Z,1638612146.743 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100226.95*55

2021-12-04T10:02:26.744Z,1638612146.744 [Micromodem](INFO): Nmea in: $CAREV,100228,AUV,2.1.4000*23

2021-12-04T10:02:26.794Z,1638612146.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 458.099976 m, bearing: 267.746667 deg, deltaT: 4.745931 s, deltaX: -2.820038 m, approachRate: -0.594201 m/s, LOS rate: 0.252015 deg/s, posRepo size: 4
2021-12-04T10:02:26.800Z,1638612146.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 458.099976 m,
      bearing: 267.746667 deg,
      approachRate: -0.594201 m/s,
      LOS rate: 0.252015 deg/s,
      cmd update: 0.756046 deg/s,
      cmd heading: 262.631993 deg,
      new cmd heading: 262.334572 deg.

2021-12-04T10:02:27.140Z,1638612147.140 [Micromodem](INFO): Nmea in: $CAREV,100228,COPROC,0.20.0.39330*72

2021-12-04T10:02:29.580Z,1638612149.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:30.373Z,1638612150.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:30.875Z,1638612150.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:31.623Z,1638612151.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100231.81*56

2021-12-04T10:02:31.624Z,1638612151.624 [Micromodem](INFO): Nmea in: $CAREV,100232,AUV,2.1.4000*28

2021-12-04T10:02:31.642Z,1638612151.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 455.279999 m, bearing: 267.067336 deg, deltaT: 4.852313 s, deltaX: -2.819977 m, approachRate: -0.581161 m/s, LOS rate: -0.140001 deg/s, posRepo size: 4
2021-12-04T10:02:31.644Z,1638612151.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 455.279999 m,
      bearing: 267.067336 deg,
      approachRate: -0.581161 m/s,
      LOS rate: -0.140001 deg/s,
      cmd update: -0.420004 deg/s,
      cmd heading: 266.317832 deg,
      new cmd heading: 266.643874 deg.

2021-12-04T10:02:32.016Z,1638612152.016 [Micromodem](INFO): Nmea in: $CAREV,100232,COPROC,0.20.0.39330*79

2021-12-04T10:02:34.417Z,1638612154.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:35.205Z,1638612155.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:35.615Z,1638612155.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:36.446Z,1638612156.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100236.64*5A

2021-12-04T10:02:36.447Z,1638612156.447 [Micromodem](INFO): Nmea in: $CAREV,100237,AUV,2.1.4000*2D

2021-12-04T10:02:36.465Z,1638612156.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 452.579987 m, bearing: 266.610396 deg, deltaT: 4.822933 s, deltaX: -2.700012 m, approachRate: -0.559828 m/s, LOS rate: -0.094743 deg/s, posRepo size: 4
2021-12-04T10:02:36.467Z,1638612156.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 452.579987 m,
      bearing: 266.610396 deg,
      approachRate: -0.559828 m/s,
      LOS rate: -0.094743 deg/s,
      cmd update: -0.284229 deg/s,
      cmd heading: 264.280206 deg,
      new cmd heading: 264.111078 deg.

2021-12-04T10:02:36.844Z,1638612156.844 [Micromodem](INFO): Nmea in: $CAREV,100237,COPROC,0.20.0.39330*7C

2021-12-04T10:02:39.291Z,1638612159.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:40.065Z,1638612160.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:40.459Z,1638612160.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:41.286Z,1638612161.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100241.50*5D

2021-12-04T10:02:41.287Z,1638612161.287 [Micromodem](INFO): Nmea in: $CAREV,100242,AUV,2.1.4000*2F

2021-12-04T10:02:41.347Z,1638612161.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 449.999969 m, bearing: 266.919777 deg, deltaT: 4.878244 s, deltaX: -2.580017 m, approachRate: -0.528882 m/s, LOS rate: 0.063420 deg/s, posRepo size: 4
2021-12-04T10:02:41.349Z,1638612161.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 449.999969 m,
      bearing: 266.919777 deg,
      approachRate: -0.528882 m/s,
      LOS rate: 0.063420 deg/s,
      cmd update: 0.190261 deg/s,
      cmd heading: 262.910999 deg,
      new cmd heading: 262.779269 deg.

2021-12-04T10:02:41.685Z,1638612161.685 [Micromodem](INFO): Nmea in: $CAREV,100242,COPROC,0.20.0.39330*7E

2021-12-04T10:02:43.858Z,1638612163.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:44.513Z,1638612164.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:44.952Z,1638612164.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:45.735Z,1638612165.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100245.95*50

2021-12-04T10:02:45.736Z,1638612165.736 [Micromodem](INFO): Nmea in: $CAREV,100247,AUV,2.1.4000*2A

2021-12-04T10:02:45.869Z,1638612165.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 447.599976 m, bearing: 267.391879 deg, deltaT: 4.514119 s, deltaX: -2.399994 m, approachRate: -0.531664 m/s, LOS rate: 0.104584 deg/s, posRepo size: 4
2021-12-04T10:02:45.883Z,1638612165.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 447.599976 m,
      bearing: 267.391879 deg,
      approachRate: -0.531664 m/s,
      LOS rate: 0.104584 deg/s,
      cmd update: 0.313751 deg/s,
      cmd heading: 263.756537 deg,
      new cmd heading: 263.860357 deg.

2021-12-04T10:02:46.140Z,1638612166.140 [Micromodem](INFO): Nmea in: $CAREV,100247,COPROC,0.20.0.39330*7B

2021-12-04T10:02:48.560Z,1638612168.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:49.377Z,1638612169.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:49.811Z,1638612169.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:50.584Z,1638612170.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100250.82*52

2021-12-04T10:02:50.585Z,1638612170.585 [Micromodem](INFO): Nmea in: $CAREV,100251,AUV,2.1.4000*2D

2021-12-04T10:02:50.603Z,1638612170.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 445.199982 m, bearing: 267.143971 deg, deltaT: 4.745488 s, deltaX: -2.399994 m, approachRate: -0.505742 m/s, LOS rate: -0.052241 deg/s, posRepo size: 4
2021-12-04T10:02:50.605Z,1638612170.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 445.199982 m,
      bearing: 267.143971 deg,
      approachRate: -0.505742 m/s,
      LOS rate: -0.052241 deg/s,
      cmd update: -0.156723 deg/s,
      cmd heading: 265.291164 deg,
      new cmd heading: 265.412883 deg.

2021-12-04T10:02:50.996Z,1638612170.996 [Micromodem](INFO): Nmea in: $CAREV,100251,COPROC,0.20.0.39330*7C

2021-12-04T10:02:53.408Z,1638612173.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:54.205Z,1638612174.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:54.618Z,1638612174.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:02:55.442Z,1638612175.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100255.64*5F

2021-12-04T10:02:55.443Z,1638612175.443 [Micromodem](INFO): Nmea in: $CAREV,100256,AUV,2.1.4000*2A

2021-12-04T10:02:55.488Z,1638612175.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 442.320007 m, bearing: 267.247571 deg, deltaT: 4.885718 s, deltaX: -2.879974 m, approachRate: -0.589468 m/s, LOS rate: 0.021205 deg/s, posRepo size: 4
2021-12-04T10:02:55.491Z,1638612175.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 442.320007 m,
      bearing: 267.247571 deg,
      approachRate: -0.589468 m/s,
      LOS rate: 0.021205 deg/s,
      cmd update: 0.063614 deg/s,
      cmd heading: 264.532343 deg,
      new cmd heading: 264.464628 deg.

2021-12-04T10:02:55.931Z,1638612175.931 [Micromodem](INFO): Nmea in: $CAREV,100256,COPROC,0.20.0.39330*7B

2021-12-04T10:02:58.268Z,1638612178.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:02:59.053Z,1638612179.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:02:59.465Z,1638612179.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:00.288Z,1638612180.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100300.49*51

2021-12-04T10:03:00.290Z,1638612180.290 [Micromodem](INFO): Nmea in: $CAREV,100301,AUV,2.1.4000*29

2021-12-04T10:03:00.298Z,1638612180.298 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:03:00.359Z,1638612180.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 439.260010 m, bearing: 267.047966 deg, deltaT: 4.859134 s, deltaX: -3.059998 m, approachRate: -0.629741 m/s, LOS rate: -0.041078 deg/s, posRepo size: 4
2021-12-04T10:03:00.361Z,1638612180.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 439.260010 m,
      bearing: 267.047966 deg,
      approachRate: -0.629741 m/s,
      LOS rate: -0.041078 deg/s,
      cmd update: -0.123235 deg/s,
      cmd heading: 264.844804 deg,
      new cmd heading: 264.868910 deg.

2021-12-04T10:03:00.687Z,1638612180.687 [Micromodem](INFO): Nmea in: $CAREV,100301,COPROC,0.20.0.39330*78

2021-12-04T10:03:03.111Z,1638612183.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:03.909Z,1638612183.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:04.318Z,1638612184.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:05.133Z,1638612185.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100305.35*5F

2021-12-04T10:03:05.151Z,1638612185.151 [Micromodem](INFO): Nmea in: $CAREV,100306,AUV,2.1.4000*2E

2021-12-04T10:03:05.161Z,1638612185.161 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:03:05.202Z,1638612185.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 436.679993 m, bearing: 267.287077 deg, deltaT: 4.850588 s, deltaX: -2.580017 m, approachRate: -0.531898 m/s, LOS rate: 0.049295 deg/s, posRepo size: 4
2021-12-04T10:03:05.204Z,1638612185.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 436.679993 m,
      bearing: 267.287077 deg,
      approachRate: -0.531898 m/s,
      LOS rate: 0.049295 deg/s,
      cmd update: 0.147886 deg/s,
      cmd heading: 264.257071 deg,
      new cmd heading: 264.200295 deg.

2021-12-04T10:03:05.520Z,1638612185.520 [Micromodem](INFO): Nmea in: $CAREV,100306,COPROC,0.20.0.39330*7F

2021-12-04T10:03:07.999Z,1638612187.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:08.813Z,1638612188.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:09.219Z,1638612189.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:10.115Z,1638612190.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100310.25*5A

2021-12-04T10:03:10.116Z,1638612190.116 [Micromodem](INFO): Nmea in: $CAREV,100311,AUV,2.1.4000*28

2021-12-04T10:03:10.168Z,1638612190.168 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:03:10.204Z,1638612190.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 433.679993 m, bearing: 266.689135 deg, deltaT: 5.002117 s, deltaX: -3.000000 m, approachRate: -0.599746 m/s, LOS rate: -0.119538 deg/s, posRepo size: 4
2021-12-04T10:03:10.206Z,1638612190.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 433.679993 m,
      bearing: 266.689135 deg,
      approachRate: -0.599746 m/s,
      LOS rate: -0.119538 deg/s,
      cmd update: -0.358613 deg/s,
      cmd heading: 264.977156 deg,
      new cmd heading: 265.065526 deg.

2021-12-04T10:03:10.532Z,1638612190.532 [Micromodem](INFO): Nmea in: $CAREV,100311,COPROC,0.20.0.39330*79

2021-12-04T10:03:12.975Z,1638612192.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:13.751Z,1638612193.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:14.175Z,1638612194.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:15.019Z,1638612195.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100315.19*50

2021-12-04T10:03:15.020Z,1638612195.020 [Micromodem](INFO): Nmea in: $CAREV,100316,AUV,2.1.4000*2F

2021-12-04T10:03:15.029Z,1638612195.029 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:03:15.046Z,1638612195.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 431.399963 m, bearing: 266.969692 deg, deltaT: 4.844981 s, deltaX: -2.280029 m, approachRate: -0.470596 m/s, LOS rate: 0.057907 deg/s, posRepo size: 4
2021-12-04T10:03:15.068Z,1638612195.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 431.399963 m,
      bearing: 266.969692 deg,
      approachRate: -0.470596 m/s,
      LOS rate: 0.057907 deg/s,
      cmd update: 0.173720 deg/s,
      cmd heading: 263.199733 deg,
      new cmd heading: 263.026676 deg.

2021-12-04T10:03:15.364Z,1638612195.364 [Micromodem](INFO): Nmea in: $CAREV,100316,COPROC,0.20.0.39330*7E

2021-12-04T10:03:17.846Z,1638612197.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:18.585Z,1638612198.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:19.021Z,1638612199.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:19.858Z,1638612199.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100320.03*5D

2021-12-04T10:03:19.859Z,1638612199.859 [Micromodem](INFO): Nmea in: $CAREV,100321,AUV,2.1.4000*2B

2021-12-04T10:03:19.973Z,1638612199.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 428.519989 m, bearing: 267.208584 deg, deltaT: 4.923913 s, deltaX: -2.879974 m, approachRate: -0.584895 m/s, LOS rate: 0.048517 deg/s, posRepo size: 4
2021-12-04T10:03:19.979Z,1638612199.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.519989 m,
      bearing: 267.208584 deg,
      approachRate: -0.584895 m/s,
      LOS rate: 0.048517 deg/s,
      cmd update: 0.145551 deg/s,
      cmd heading: 264.041938 deg,
      new cmd heading: 264.139567 deg.

2021-12-04T10:03:20.225Z,1638612200.225 [Micromodem](INFO): Nmea in: $CAREV,100321,COPROC,0.20.0.39330*7A

2021-12-04T10:03:20.232Z,1638612200.232 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:03:22.662Z,1638612202.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:23.518Z,1638612203.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:23.885Z,1638612203.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:24.689Z,1638612204.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100324.96*55

2021-12-04T10:03:24.748Z,1638612204.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 428.519989 m, bearing: 267.122661 deg, deltaT: 4.774680 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.017996 deg/s, posRepo size: 4
2021-12-04T10:03:24.750Z,1638612204.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.519989 m,
      bearing: 267.122661 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.017996 deg/s,
      cmd update: -0.053987 deg/s,
      cmd heading: 264.748150 deg,
      new cmd heading: 264.818082 deg.

2021-12-04T10:03:25.064Z,1638612205.064 [Micromodem](INFO): Nmea in: $CAREV,100326,AUV,2.1.4000*2C

2021-12-04T10:03:25.065Z,1638612205.065 [Micromodem](INFO): Nmea in: $CAREV,100326,COPROC,0.20.0.39330*7D

2021-12-04T10:03:25.070Z,1638612205.070 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T10:03:27.502Z,1638612207.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:28.286Z,1638612208.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:28.688Z,1638612208.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:29.524Z,1638612209.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100329.73*53

2021-12-04T10:03:29.525Z,1638612209.525 [Micromodem](INFO): Nmea in: $CAREV,100330,AUV,2.1.4000*2B

2021-12-04T10:03:29.543Z,1638612209.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 422.640015 m, bearing: 266.024257 deg, deltaT: 4.798302 s, deltaX: -5.879974 m, approachRate: -1.225428 m/s, LOS rate: -0.228915 deg/s, posRepo size: 4
2021-12-04T10:03:29.547Z,1638612209.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 422.640015 m,
      bearing: 266.024257 deg,
      approachRate: -1.225428 m/s,
      LOS rate: -0.228915 deg/s,
      cmd update: -0.686745 deg/s,
      cmd heading: 264.484296 deg,
      new cmd heading: 264.463151 deg.

2021-12-04T10:03:29.960Z,1638612209.960 [Micromodem](INFO): Nmea in: $CAREV,100330,COPROC,0.20.0.39330*7A

2021-12-04T10:03:32.337Z,1638612212.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:33.141Z,1638612213.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:33.553Z,1638612213.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:34.375Z,1638612214.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100334.58*56

2021-12-04T10:03:34.376Z,1638612214.376 [Micromodem](INFO): Nmea in: $CAREV,100335,AUV,2.1.4000*2E

2021-12-04T10:03:34.420Z,1638612214.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 419.699982 m, bearing: 265.805527 deg, deltaT: 4.878265 s, deltaX: -2.940033 m, approachRate: -0.602680 m/s, LOS rate: -0.044838 deg/s, posRepo size: 4
2021-12-04T10:03:34.422Z,1638612214.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 419.699982 m,
      bearing: 265.805527 deg,
      approachRate: -0.602680 m/s,
      LOS rate: -0.044838 deg/s,
      cmd update: -0.134513 deg/s,
      cmd heading: 261.126430 deg,
      new cmd heading: 260.865189 deg.

2021-12-04T10:03:34.756Z,1638612214.756 [Micromodem](INFO): Nmea in: $CAREV,100335,COPROC,0.20.0.39330*7F

2021-12-04T10:03:36.041Z,1638612216.041 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T10:03:37.240Z,1638612217.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:38.005Z,1638612218.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:38.387Z,1638612218.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:39.208Z,1638612219.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100339.44*56

2021-12-04T10:03:39.209Z,1638612219.209 [Micromodem](INFO): Nmea in: $CAREV,100340,AUV,2.1.4000*2C

2021-12-04T10:03:39.267Z,1638612219.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 417.000000 m, bearing: 266.559061 deg, deltaT: 4.834223 s, deltaX: -2.699982 m, approachRate: -0.558514 m/s, LOS rate: 0.155875 deg/s, posRepo size: 4
2021-12-04T10:03:39.269Z,1638612219.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 417.000000 m,
      bearing: 266.559061 deg,
      approachRate: -0.558514 m/s,
      LOS rate: 0.155875 deg/s,
      cmd update: 0.467625 deg/s,
      cmd heading: 260.484731 deg,
      new cmd heading: 260.423920 deg.

2021-12-04T10:03:39.608Z,1638612219.608 [Micromodem](INFO): Nmea in: $CAREV,100340,COPROC,0.20.0.39330*7D

2021-12-04T10:03:42.082Z,1638612222.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:42.829Z,1638612222.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:43.231Z,1638612223.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:44.065Z,1638612224.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100344.27*59

2021-12-04T10:03:44.067Z,1638612224.067 [Micromodem](INFO): Nmea in: $CAREV,100345,AUV,2.1.4000*29

2021-12-04T10:03:44.139Z,1638612224.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 414.239990 m, bearing: 267.471929 deg, deltaT: 4.859689 s, deltaX: -2.760010 m, approachRate: -0.567940 m/s, LOS rate: 0.187845 deg/s, posRepo size: 4
2021-12-04T10:03:44.141Z,1638612224.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 414.239990 m,
      bearing: 267.471929 deg,
      approachRate: -0.567940 m/s,
      LOS rate: 0.187845 deg/s,
      cmd update: 0.563535 deg/s,
      cmd heading: 262.750220 deg,
      new cmd heading: 262.974483 deg.

2021-12-04T10:03:44.457Z,1638612224.457 [Micromodem](INFO): Nmea in: $CAREV,100345,COPROC,0.20.0.39330*78

2021-12-04T10:03:45.281Z,1638612225.281 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:03:46.881Z,1638612226.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:47.673Z,1638612227.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:48.092Z,1638612228.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:48.949Z,1638612228.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100349.11*51

2021-12-04T10:03:48.950Z,1638612228.950 [Micromodem](INFO): Nmea in: $CAREV,100350,AUV,2.1.4000*2D

2021-12-04T10:03:49.013Z,1638612229.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 411.600006 m, bearing: 267.168723 deg, deltaT: 4.891201 s, deltaX: -2.639984 m, approachRate: -0.539742 m/s, LOS rate: -0.061990 deg/s, posRepo size: 4
2021-12-04T10:03:49.020Z,1638612229.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 411.600006 m,
      bearing: 267.168723 deg,
      approachRate: -0.539742 m/s,
      LOS rate: -0.061990 deg/s,
      cmd update: -0.185970 deg/s,
      cmd heading: 265.517935 deg,
      new cmd heading: 265.769826 deg.

2021-12-04T10:03:49.312Z,1638612229.312 [Micromodem](INFO): Nmea in: $CAREV,100350,COPROC,0.20.0.39330*7C

2021-12-04T10:03:51.810Z,1638612231.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:52.529Z,1638612232.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:52.949Z,1638612232.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:53.808Z,1638612233.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100353.97*54

2021-12-04T10:03:53.810Z,1638612233.810 [Micromodem](INFO): Nmea in: $CAREV,100355,AUV,2.1.4000*28

2021-12-04T10:03:53.891Z,1638612233.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 408.779999 m, bearing: 266.858032 deg, deltaT: 4.865139 s, deltaX: -2.820007 m, approachRate: -0.579636 m/s, LOS rate: -0.063861 deg/s, posRepo size: 4
2021-12-04T10:03:53.898Z,1638612233.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 408.779999 m,
      bearing: 266.858032 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.063861 deg/s,
      cmd update: -0.191582 deg/s,
      cmd heading: 264.628865 deg,
      new cmd heading: 264.528562 deg.

2021-12-04T10:03:54.148Z,1638612234.148 [Micromodem](INFO): Nmea in: $CAREV,100355,COPROC,0.20.0.39330*79

2021-12-04T10:03:56.577Z,1638612236.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:03:57.377Z,1638612237.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:03:57.815Z,1638612237.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:03:58.599Z,1638612238.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100358.82*5B

2021-12-04T10:03:58.600Z,1638612238.600 [Micromodem](INFO): Nmea in: $CAREV,100359,AUV,2.1.4000*24

2021-12-04T10:03:58.618Z,1638612238.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 406.140015 m, bearing: 266.736017 deg, deltaT: 4.746779 s, deltaX: -2.639984 m, approachRate: -0.556163 m/s, LOS rate: -0.025705 deg/s, posRepo size: 4
2021-12-04T10:03:58.620Z,1638612238.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 406.140015 m,
      bearing: 266.736017 deg,
      approachRate: -0.556163 m/s,
      LOS rate: -0.025705 deg/s,
      cmd update: -0.077114 deg/s,
      cmd heading: 263.691965 deg,
      new cmd heading: 263.619111 deg.

2021-12-04T10:03:59.011Z,1638612239.011 [Micromodem](INFO): Nmea in: $CAREV,100359,COPROC,0.20.0.39330*75

2021-12-04T10:04:01.492Z,1638612241.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:02.236Z,1638612242.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:02.639Z,1638612242.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:03.452Z,1638612243.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100403.68*56

2021-12-04T10:04:03.453Z,1638612243.453 [Micromodem](INFO): Nmea in: $CAREV,100404,AUV,2.1.4000*2B

2021-12-04T10:04:03.471Z,1638612243.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 403.259979 m, bearing: 267.703227 deg, deltaT: 4.853070 s, deltaX: -2.880035 m, approachRate: -0.593446 m/s, LOS rate: 0.199298 deg/s, posRepo size: 4
2021-12-04T10:04:03.472Z,1638612243.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 403.259979 m,
      bearing: 267.703227 deg,
      approachRate: -0.593446 m/s,
      LOS rate: 0.199298 deg/s,
      cmd update: 0.597895 deg/s,
      cmd heading: 263.320585 deg,
      new cmd heading: 263.288436 deg.

2021-12-04T10:04:03.939Z,1638612243.939 [Micromodem](INFO): Nmea in: $CAREV,100404,COPROC,0.20.0.39330*7A

2021-12-04T10:04:06.307Z,1638612246.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:07.081Z,1638612247.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:07.479Z,1638612247.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:08.292Z,1638612248.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100408.52*54

2021-12-04T10:04:08.293Z,1638612248.293 [Micromodem](INFO): Nmea in: $CAREV,100409,AUV,2.1.4000*26

2021-12-04T10:04:08.311Z,1638612248.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 400.440002 m, bearing: 266.841093 deg, deltaT: 4.840821 s, deltaX: -2.819977 m, approachRate: -0.582541 m/s, LOS rate: -0.178097 deg/s, posRepo size: 4
2021-12-04T10:04:08.313Z,1638612248.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 400.440002 m,
      bearing: 266.841093 deg,
      approachRate: -0.582541 m/s,
      LOS rate: -0.178097 deg/s,
      cmd update: -0.534290 deg/s,
      cmd heading: 266.268203 deg,
      new cmd heading: 266.463983 deg.

2021-12-04T10:04:08.708Z,1638612248.708 [Micromodem](INFO): Nmea in: $CAREV,100409,COPROC,0.20.0.39330*77

2021-12-04T10:04:11.151Z,1638612251.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:11.950Z,1638612251.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:12.323Z,1638612252.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:13.149Z,1638612253.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100413.39*53

2021-12-04T10:04:13.155Z,1638612253.155 [Micromodem](INFO): Nmea in: $CAREV,100414,AUV,2.1.4000*2A

2021-12-04T10:04:13.217Z,1638612253.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 397.380005 m, bearing: 267.005919 deg, deltaT: 4.901424 s, deltaX: -3.059998 m, approachRate: -0.624308 m/s, LOS rate: 0.033628 deg/s, posRepo size: 4
2021-12-04T10:04:13.223Z,1638612253.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 397.380005 m,
      bearing: 267.005919 deg,
      approachRate: -0.624308 m/s,
      LOS rate: 0.033628 deg/s,
      cmd update: 0.100885 deg/s,
      cmd heading: 263.720222 deg,
      new cmd heading: 263.472187 deg.

2021-12-04T10:04:13.553Z,1638612253.553 [Micromodem](INFO): Nmea in: $CAREV,100414,COPROC,0.20.0.39330*7B

2021-12-04T10:04:16.066Z,1638612256.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:16.768Z,1638612256.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:17.235Z,1638612257.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:18.011Z,1638612258.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100418.21*51

2021-12-04T10:04:18.012Z,1638612258.012 [Micromodem](INFO): Nmea in: $CAREV,100419,AUV,2.1.4000*27

2021-12-04T10:04:18.101Z,1638612258.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 394.799988 m, bearing: 267.045097 deg, deltaT: 4.880808 s, deltaX: -2.580017 m, approachRate: -0.528605 m/s, LOS rate: 0.008027 deg/s, posRepo size: 4
2021-12-04T10:04:18.108Z,1638612258.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.799988 m,
      bearing: 267.045097 deg,
      approachRate: -0.528605 m/s,
      LOS rate: 0.008027 deg/s,
      cmd update: 0.024081 deg/s,
      cmd heading: 264.212824 deg,
      new cmd heading: 264.259854 deg.

2021-12-04T10:04:18.401Z,1638612258.401 [Micromodem](INFO): Nmea in: $CAREV,100419,COPROC,0.20.0.39330*76

2021-12-04T10:04:20.817Z,1638612260.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:21.620Z,1638612261.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:22.019Z,1638612262.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:22.847Z,1638612262.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100423.06*5C

2021-12-04T10:04:22.848Z,1638612262.848 [Micromodem](INFO): Nmea in: $CAREV,100424,AUV,2.1.4000*29

2021-12-04T10:04:22.893Z,1638612262.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 392.220001 m, bearing: 267.164079 deg, deltaT: 4.771865 s, deltaX: -2.579987 m, approachRate: -0.540666 m/s, LOS rate: 0.024934 deg/s, posRepo size: 4
2021-12-04T10:04:22.896Z,1638612262.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 392.220001 m,
      bearing: 267.164079 deg,
      approachRate: -0.540666 m/s,
      LOS rate: 0.024934 deg/s,
      cmd update: 0.074802 deg/s,
      cmd heading: 264.328488 deg,
      new cmd heading: 264.339432 deg.

2021-12-04T10:04:23.240Z,1638612263.240 [Micromodem](INFO): Nmea in: $CAREV,100424,COPROC,0.20.0.39330*78

2021-12-04T10:04:25.664Z,1638612265.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:26.468Z,1638612266.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:26.867Z,1638612266.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:27.699Z,1638612267.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100427.91*56

2021-12-04T10:04:27.700Z,1638612267.700 [Micromodem](INFO): Nmea in: $CAREV,100428,AUV,2.1.4000*25

2021-12-04T10:04:27.817Z,1638612267.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 389.220001 m, bearing: 268.422063 deg, deltaT: 4.940499 s, deltaX: -3.000000 m, approachRate: -0.607226 m/s, LOS rate: 0.254627 deg/s, posRepo size: 4
2021-12-04T10:04:27.824Z,1638612267.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 389.220001 m,
      bearing: 268.422063 deg,
      approachRate: -0.607226 m/s,
      LOS rate: 0.254627 deg/s,
      cmd update: 0.763881 deg/s,
      cmd heading: 264.693354 deg,
      new cmd heading: 264.730855 deg.

2021-12-04T10:04:28.096Z,1638612268.096 [Micromodem](INFO): Nmea in: $CAREV,100428,COPROC,0.20.0.39330*74

2021-12-04T10:04:30.508Z,1638612270.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:31.373Z,1638612271.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:31.736Z,1638612271.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:32.549Z,1638612272.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100432.81*53

2021-12-04T10:04:32.619Z,1638612272.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 386.760010 m, bearing: 267.801827 deg, deltaT: 4.791416 s, deltaX: -2.459991 m, approachRate: -0.513416 m/s, LOS rate: -0.129447 deg/s, posRepo size: 4
2021-12-04T10:04:32.620Z,1638612272.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.760010 m,
      bearing: 267.801827 deg,
      approachRate: -0.513416 m/s,
      LOS rate: -0.129447 deg/s,
      cmd update: -0.388342 deg/s,
      cmd heading: 268.410738 deg,
      new cmd heading: 268.727815 deg.

2021-12-04T10:04:32.956Z,1638612272.956 [Micromodem](INFO): Nmea in: $CAREV,100433,AUV,2.1.4000*2F

2021-12-04T10:04:32.957Z,1638612272.957 [Micromodem](INFO): Nmea in: $CAREV,100433,COPROC,0.20.0.39330*7E

2021-12-04T10:04:35.368Z,1638612275.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:36.198Z,1638612276.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:36.607Z,1638612276.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:37.439Z,1638612277.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100437.64*5D

2021-12-04T10:04:37.440Z,1638612277.440 [Micromodem](INFO): Nmea in: $CAREV,100438,AUV,2.1.4000*24

2021-12-04T10:04:37.461Z,1638612277.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 383.939972 m, bearing: 267.926792 deg, deltaT: 4.860149 s, deltaX: -2.820038 m, approachRate: -0.580237 m/s, LOS rate: 0.025712 deg/s, posRepo size: 4
2021-12-04T10:04:37.463Z,1638612277.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 383.939972 m,
      bearing: 267.926792 deg,
      approachRate: -0.580237 m/s,
      LOS rate: 0.025712 deg/s,
      cmd update: 0.077137 deg/s,
      cmd heading: 266.524885 deg,
      new cmd heading: 266.360879 deg.

2021-12-04T10:04:37.864Z,1638612277.864 [Micromodem](INFO): Nmea in: $CAREV,100438,COPROC,0.20.0.39330*75

2021-12-04T10:04:40.254Z,1638612280.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:41.033Z,1638612281.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:41.448Z,1638612281.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:42.294Z,1638612282.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100442.47*5E

2021-12-04T10:04:42.296Z,1638612282.296 [Micromodem](INFO): Nmea in: $CAREV,100443,AUV,2.1.4000*28

2021-12-04T10:04:42.338Z,1638612282.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 381.179993 m, bearing: 267.757950 deg, deltaT: 4.868230 s, deltaX: -2.759979 m, approachRate: -0.566937 m/s, LOS rate: -0.034682 deg/s, posRepo size: 4
2021-12-04T10:04:42.340Z,1638612282.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 381.179993 m,
      bearing: 267.757950 deg,
      approachRate: -0.566937 m/s,
      LOS rate: -0.034682 deg/s,
      cmd update: -0.104047 deg/s,
      cmd heading: 266.906571 deg,
      new cmd heading: 266.933045 deg.

2021-12-04T10:04:42.672Z,1638612282.672 [Micromodem](INFO): Nmea in: $CAREV,100443,COPROC,0.20.0.39330*79

2021-12-04T10:04:45.136Z,1638612285.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:45.893Z,1638612285.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:46.287Z,1638612286.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:46.701Z,1638612286.701 [Micromodem](INFO): Nmea in: $SNTTA,0.255160,0.252155,,,100447.33*59

2021-12-04T10:04:46.702Z,1638612286.702 [Micromodem](INFO): Nmea in: $CAREV,100447,AUV,2.1.4000*2C

2021-12-04T10:04:47.103Z,1638612287.103 [Micromodem](INFO): Nmea in: $CAREV,100447,COPROC,0.20.0.39330*7D

2021-12-04T10:04:47.130Z,1638612287.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 378.599976 m, bearing: 267.538892 deg, deltaT: 4.804293 s, deltaX: -2.580017 m, approachRate: -0.537023 m/s, LOS rate: -0.045596 deg/s, posRepo size: 4
2021-12-04T10:04:47.132Z,1638612287.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 378.599976 m,
      bearing: 267.538892 deg,
      approachRate: -0.537023 m/s,
      LOS rate: -0.045596 deg/s,
      cmd update: -0.136789 deg/s,
      cmd heading: 266.414373 deg,
      new cmd heading: 266.371443 deg.

2021-12-04T10:04:50.036Z,1638612290.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:50.767Z,1638612290.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:51.135Z,1638612291.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:51.980Z,1638612291.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100452.25*5B

2021-12-04T10:04:52.074Z,1638612292.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.720001 m, bearing: 267.435620 deg, deltaT: 4.943938 s, deltaX: -2.879974 m, approachRate: -0.582526 m/s, LOS rate: -0.020889 deg/s, posRepo size: 4
2021-12-04T10:04:52.076Z,1638612292.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.720001 m,
      bearing: 267.435620 deg,
      approachRate: -0.582526 m/s,
      LOS rate: -0.020889 deg/s,
      cmd update: -0.062666 deg/s,
      cmd heading: 265.752170 deg,
      new cmd heading: 265.681675 deg.

2021-12-04T10:04:52.356Z,1638612292.356 [Micromodem](INFO): Nmea in: $CAREV,100453,AUV,2.1.4000*29

2021-12-04T10:04:52.357Z,1638612292.357 [Micromodem](INFO): Nmea in: $CAREV,100453,COPROC,0.20.0.39330*78

2021-12-04T10:04:54.781Z,1638612294.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:04:55.585Z,1638612295.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:04:56.015Z,1638612296.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:04:56.815Z,1638612296.815 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100457.03*5A

2021-12-04T10:04:56.816Z,1638612296.816 [Micromodem](INFO): Nmea in: $CAREV,100458,AUV,2.1.4000*22

2021-12-04T10:04:56.833Z,1638612296.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.959991 m, bearing: 267.817263 deg, deltaT: 4.759257 s, deltaX: -2.760010 m, approachRate: -0.579925 m/s, LOS rate: 0.080190 deg/s, posRepo size: 4
2021-12-04T10:04:56.835Z,1638612296.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.959991 m,
      bearing: 267.817263 deg,
      approachRate: -0.579925 m/s,
      LOS rate: 0.080190 deg/s,
      cmd update: 0.240569 deg/s,
      cmd heading: 265.448311 deg,
      new cmd heading: 265.421631 deg.

2021-12-04T10:04:57.212Z,1638612297.212 [Micromodem](INFO): Nmea in: $CAREV,100458,COPROC,0.20.0.39330*73

2021-12-04T10:04:59.633Z,1638612299.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:00.430Z,1638612300.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:00.847Z,1638612300.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:01.659Z,1638612301.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100501.87*54

2021-12-04T10:05:01.660Z,1638612301.660 [Micromodem](INFO): Nmea in: $CAREV,100502,AUV,2.1.4000*2C

2021-12-04T10:05:01.677Z,1638612301.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 370.260010 m, bearing: 267.645607 deg, deltaT: 4.843974 s, deltaX: -2.699982 m, approachRate: -0.557390 m/s, LOS rate: -0.035437 deg/s, posRepo size: 4
2021-12-04T10:05:01.679Z,1638612301.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 370.260010 m,
      bearing: 267.645607 deg,
      approachRate: -0.557390 m/s,
      LOS rate: -0.035437 deg/s,
      cmd update: -0.106311 deg/s,
      cmd heading: 266.615930 deg,
      new cmd heading: 266.716056 deg.

2021-12-04T10:05:02.056Z,1638612302.056 [Micromodem](INFO): Nmea in: $CAREV,100502,COPROC,0.20.0.39330*7D

2021-12-04T10:05:04.504Z,1638612304.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:05.291Z,1638612305.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:05.707Z,1638612305.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:06.511Z,1638612306.511 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100506.73*58

2021-12-04T10:05:06.512Z,1638612306.512 [Micromodem](INFO): Nmea in: $CAREV,100507,AUV,2.1.4000*29

2021-12-04T10:05:06.529Z,1638612306.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.319977 m, bearing: 266.918192 deg, deltaT: 4.852089 s, deltaX: -2.940033 m, approachRate: -0.605931 m/s, LOS rate: -0.149918 deg/s, posRepo size: 4
2021-12-04T10:05:06.564Z,1638612306.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.319977 m,
      bearing: 266.918192 deg,
      approachRate: -0.605931 m/s,
      LOS rate: -0.149918 deg/s,
      cmd update: -0.449754 deg/s,
      cmd heading: 266.096421 deg,
      new cmd heading: 266.055858 deg.

2021-12-04T10:05:06.907Z,1638612306.907 [Micromodem](INFO): Nmea in: $CAREV,100507,COPROC,0.20.0.39330*78

2021-12-04T10:05:08.481Z,1638612308.481 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T10:05:08.484Z,1638612308.484 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T10:05:09.332Z,1638612309.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:10.125Z,1638612310.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:10.545Z,1638612310.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:11.365Z,1638612311.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100511.57*58

2021-12-04T10:05:11.367Z,1638612311.367 [Micromodem](INFO): Nmea in: $CAREV,100512,AUV,2.1.4000*2D

2021-12-04T10:05:11.384Z,1638612311.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.379974 m, bearing: 267.756338 deg, deltaT: 4.855081 s, deltaX: -2.940002 m, approachRate: -0.605552 m/s, LOS rate: 0.172633 deg/s, posRepo size: 4
2021-12-04T10:05:11.386Z,1638612311.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.379974 m,
      bearing: 267.756338 deg,
      approachRate: -0.605552 m/s,
      LOS rate: 0.172633 deg/s,
      cmd update: 0.517898 deg/s,
      cmd heading: 263.924973 deg,
      new cmd heading: 263.741230 deg.

2021-12-04T10:05:11.758Z,1638612311.758 [Micromodem](INFO): Nmea in: $CAREV,100512,COPROC,0.20.0.39330*7C

2021-12-04T10:05:14.203Z,1638612314.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:14.998Z,1638612314.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:15.381Z,1638612315.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:16.197Z,1638612316.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100516.44*5D

2021-12-04T10:05:16.204Z,1638612316.204 [Micromodem](INFO): Nmea in: $CAREV,100517,AUV,2.1.4000*28

2021-12-04T10:05:16.281Z,1638612316.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.919983 m, bearing: 267.058812 deg, deltaT: 4.892858 s, deltaX: -2.459991 m, approachRate: -0.502772 m/s, LOS rate: -0.142560 deg/s, posRepo size: 4
2021-12-04T10:05:16.287Z,1638612316.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.919983 m,
      bearing: 267.058812 deg,
      approachRate: -0.502772 m/s,
      LOS rate: -0.142560 deg/s,
      cmd update: -0.427680 deg/s,
      cmd heading: 266.522376 deg,
      new cmd heading: 266.672672 deg.

2021-12-04T10:05:16.600Z,1638612316.600 [Micromodem](INFO): Nmea in: $CAREV,100517,COPROC,0.20.0.39330*79

2021-12-04T10:05:19.035Z,1638612319.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:19.845Z,1638612319.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:20.227Z,1638612320.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:21.045Z,1638612321.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100521.29*52

2021-12-04T10:05:21.046Z,1638612321.046 [Micromodem](INFO): Nmea in: $CAREV,100522,AUV,2.1.4000*2E

2021-12-04T10:05:21.136Z,1638612321.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.219971 m, bearing: 267.856851 deg, deltaT: 4.848121 s, deltaX: -2.700012 m, approachRate: -0.556919 m/s, LOS rate: 0.164608 deg/s, posRepo size: 4
2021-12-04T10:05:21.138Z,1638612321.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.219971 m,
      bearing: 267.856851 deg,
      approachRate: -0.556919 m/s,
      LOS rate: 0.164608 deg/s,
      cmd update: 0.493824 deg/s,
      cmd heading: 264.528471 deg,
      new cmd heading: 264.323787 deg.

2021-12-04T10:05:21.444Z,1638612321.444 [Micromodem](INFO): Nmea in: $CAREV,100522,COPROC,0.20.0.39330*7F

2021-12-04T10:05:23.914Z,1638612323.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:24.668Z,1638612324.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:25.103Z,1638612325.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:25.899Z,1638612325.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100526.11*5E

2021-12-04T10:05:25.900Z,1638612325.900 [Micromodem](INFO): Nmea in: $CAREV,100527,AUV,2.1.4000*2B

2021-12-04T10:05:26.053Z,1638612326.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.579987 m, bearing: 267.550367 deg, deltaT: 4.924289 s, deltaX: -2.639984 m, approachRate: -0.536115 m/s, LOS rate: -0.062239 deg/s, posRepo size: 4
2021-12-04T10:05:26.060Z,1638612326.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.579987 m,
      bearing: 267.550367 deg,
      approachRate: -0.536115 m/s,
      LOS rate: -0.062239 deg/s,
      cmd update: -0.186718 deg/s,
      cmd heading: 266.917303 deg,
      new cmd heading: 267.195317 deg.

2021-12-04T10:05:26.288Z,1638612326.288 [Micromodem](INFO): Nmea in: $CAREV,100527,COPROC,0.20.0.39330*7A

2021-12-04T10:05:28.720Z,1638612328.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:29.509Z,1638612329.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:29.950Z,1638612329.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:30.743Z,1638612330.743 [Micromodem](INFO): Nmea in: $SNTTA,0.237823,,,,100530.95*44

2021-12-04T10:05:30.744Z,1638612330.744 [Micromodem](INFO): Nmea in: $CAREV,100532,AUV,2.1.4000*2F

2021-12-04T10:05:30.790Z,1638612330.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 353.700012 m, bearing: 267.330380 deg, deltaT: 4.716691 s, deltaX: -2.879974 m, approachRate: -0.610592 m/s, LOS rate: -0.046640 deg/s, posRepo size: 4
2021-12-04T10:05:30.792Z,1638612330.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 353.700012 m,
      bearing: 267.330380 deg,
      approachRate: -0.610592 m/s,
      LOS rate: -0.046640 deg/s,
      cmd update: -0.139920 deg/s,
      cmd heading: 266.011218 deg,
      new cmd heading: 265.932232 deg.

2021-12-04T10:05:31.156Z,1638612331.156 [Micromodem](INFO): Nmea in: $CAREV,100532,COPROC,0.20.0.39330*7E

2021-12-04T10:05:33.573Z,1638612333.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:34.376Z,1638612334.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:34.768Z,1638612334.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:35.625Z,1638612335.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100535.82*56

2021-12-04T10:05:35.626Z,1638612335.626 [Micromodem](INFO): Nmea in: $CAREV,100536,AUV,2.1.4000*

2021-12-04T10:05:35.626Z,1638612335.626 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,100536,AUV,2.1.4000*
 expected 2B
2021-12-04T10:05:35.644Z,1638612335.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.580017 m, bearing: 267.433899 deg, deltaT: 4.877722 s, deltaX: -3.119995 m, approachRate: -0.639642 m/s, LOS rate: 0.021223 deg/s, posRepo size: 4
2021-12-04T10:05:35.646Z,1638612335.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.580017 m,
      bearing: 267.433899 deg,
      approachRate: -0.639642 m/s,
      LOS rate: 0.021223 deg/s,
      cmd update: 0.063668 deg/s,
      cmd heading: 265.331433 deg,
      new cmd heading: 265.269581 deg.

2021-12-04T10:05:38.421Z,1638612338.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:39.209Z,1638612339.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:39.615Z,1638612339.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:40.447Z,1638612340.447 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100540.65*5D

2021-12-04T10:05:40.448Z,1638612340.448 [Micromodem](INFO): Nmea in: $CAREV,100541,AUV,2.1.4000*2B

2021-12-04T10:05:40.473Z,1638612340.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 347.639984 m, bearing: 268.238987 deg, deltaT: 4.829400 s, deltaX: -2.940033 m, approachRate: -0.608778 m/s, LOS rate: 0.166706 deg/s, posRepo size: 4
2021-12-04T10:05:40.475Z,1638612340.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.639984 m,
      bearing: 268.238987 deg,
      approachRate: -0.608778 m/s,
      LOS rate: 0.166706 deg/s,
      cmd update: 0.500117 deg/s,
      cmd heading: 265.643879 deg,
      new cmd heading: 265.667076 deg.

2021-12-04T10:05:40.836Z,1638612340.836 [Micromodem](INFO): Nmea in: $CAREV,100541,COPROC,0.20.0.39330*7A

2021-12-04T10:05:43.277Z,1638612343.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:44.061Z,1638612344.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:44.471Z,1638612344.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:45.298Z,1638612345.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100545.50*5E

2021-12-04T10:05:45.299Z,1638612345.299 [Micromodem](INFO): Nmea in: $CAREV,100546,AUV,2.1.4000*2C

2021-12-04T10:05:45.349Z,1638612345.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.820007 m, bearing: 267.922640 deg, deltaT: 4.876066 s, deltaX: -2.819977 m, approachRate: -0.578330 m/s, LOS rate: -0.064878 deg/s, posRepo size: 4
2021-12-04T10:05:45.351Z,1638612345.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.820007 m,
      bearing: 267.922640 deg,
      approachRate: -0.578330 m/s,
      LOS rate: -0.064878 deg/s,
      cmd update: -0.194633 deg/s,
      cmd heading: 268.047478 deg,
      new cmd heading: 268.264687 deg.

2021-12-04T10:05:45.695Z,1638612345.695 [Micromodem](INFO): Nmea in: $CAREV,100546,COPROC,0.20.0.39330*7D

2021-12-04T10:05:48.140Z,1638612348.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:48.942Z,1638612348.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:49.319Z,1638612349.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:50.140Z,1638612350.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100550.39*55

2021-12-04T10:05:50.142Z,1638612350.142 [Micromodem](INFO): Nmea in: $CAREV,100551,AUV,2.1.4000*2A

2021-12-04T10:05:50.209Z,1638612350.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 342.239990 m, bearing: 268.112191 deg, deltaT: 4.859704 s, deltaX: -2.580017 m, approachRate: -0.530900 m/s, LOS rate: 0.039005 deg/s, posRepo size: 4
2021-12-04T10:05:50.211Z,1638612350.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.239990 m,
      bearing: 268.112191 deg,
      approachRate: -0.530900 m/s,
      LOS rate: 0.039005 deg/s,
      cmd update: 0.117014 deg/s,
      cmd heading: 267.108934 deg,
      new cmd heading: 267.017090 deg.

2021-12-04T10:05:50.532Z,1638612350.532 [Micromodem](INFO): Nmea in: $CAREV,100551,COPROC,0.20.0.39330*7B

2021-12-04T10:05:52.991Z,1638612352.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:53.764Z,1638612353.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:54.164Z,1638612354.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:54.999Z,1638612354.999 [Micromodem](INFO): Nmea in: $SNTTA,0.226352,,,,100555.20*44

2021-12-04T10:05:54.000Z,1638612355.000 [Micromodem](INFO): Nmea in: $CAREV,100556,AUV,2.1.4000*2D

2021-12-04T10:05:55.085Z,1638612355.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 339.420013 m, bearing: 266.962479 deg, deltaT: 4.875582 s, deltaX: -2.819977 m, approachRate: -0.578388 m/s, LOS rate: -0.235810 deg/s, posRepo size: 4
2021-12-04T10:05:55.087Z,1638612355.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.420013 m,
      bearing: 266.962479 deg,
      approachRate: -0.578388 m/s,
      LOS rate: -0.235810 deg/s,
      cmd update: -0.707431 deg/s,
      cmd heading: 267.675953 deg,
      new cmd heading: 267.734659 deg.

2021-12-04T10:05:55.412Z,1638612355.412 [Micromodem](INFO): Nmea in: $CAREV,100556,COPROC,0.20.0.39330*7C

2021-12-04T10:05:57.872Z,1638612357.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:05:58.613Z,1638612358.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:05:59.015Z,1638612359.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:05:59.854Z,1638612359.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100600.06*5F

2021-12-04T10:05:59.856Z,1638612359.856 [Micromodem](INFO): Nmea in: $CAREV,100601,AUV,2.1.4000*2C

2021-12-04T10:05:59.957Z,1638612359.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.899994 m, bearing: 266.394590 deg, deltaT: 4.868276 s, deltaX: -2.520020 m, approachRate: -0.517641 m/s, LOS rate: -0.116651 deg/s, posRepo size: 4
2021-12-04T10:05:59.963Z,1638612359.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 336.899994 m,
      bearing: 266.394590 deg,
      approachRate: -0.517641 m/s,
      LOS rate: -0.116651 deg/s,
      cmd update: -0.349953 deg/s,
      cmd heading: 264.241011 deg,
      new cmd heading: 263.874238 deg.

2021-12-04T10:06:00.239Z,1638612360.239 [Micromodem](INFO): Nmea in: $CAREV,100601,COPROC,0.20.0.39330*7D

2021-12-04T10:06:02.663Z,1638612362.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:03.463Z,1638612363.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:03.867Z,1638612363.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:04.685Z,1638612364.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100604.91*55

2021-12-04T10:06:04.686Z,1638612364.686 [Micromodem](INFO): Nmea in: $CAREV,100605,AUV,2.1.4000*28

2021-12-04T10:06:04.704Z,1638612364.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 334.319977 m, bearing: 266.719488 deg, deltaT: 4.750714 s, deltaX: -2.580017 m, approachRate: -0.543080 m/s, LOS rate: 0.068389 deg/s, posRepo size: 4
2021-12-04T10:06:04.705Z,1638612364.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 334.319977 m,
      bearing: 266.719488 deg,
      approachRate: -0.543080 m/s,
      LOS rate: 0.068389 deg/s,
      cmd update: 0.205168 deg/s,
      cmd heading: 262.542796 deg,
      new cmd heading: 262.398529 deg.

2021-12-04T10:06:05.096Z,1638612365.096 [Micromodem](INFO): Nmea in: $CAREV,100605,COPROC,0.20.0.39330*79

2021-12-04T10:06:07.521Z,1638612367.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:08.315Z,1638612368.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:08.704Z,1638612368.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:09.522Z,1638612369.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100609.76*51

2021-12-04T10:06:09.523Z,1638612369.523 [Micromodem](INFO): Nmea in: $CAREV,100610,AUV,2.1.4000*2C

2021-12-04T10:06:09.572Z,1638612369.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.259979 m, bearing: 268.227567 deg, deltaT: 4.864421 s, deltaX: -3.059998 m, approachRate: -0.629057 m/s, LOS rate: 0.310022 deg/s, posRepo size: 4
2021-12-04T10:06:09.574Z,1638612369.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.259979 m,
      bearing: 268.227567 deg,
      approachRate: -0.629057 m/s,
      LOS rate: 0.310022 deg/s,
      cmd update: 0.930067 deg/s,
      cmd heading: 263.541240 deg,
      new cmd heading: 263.626250 deg.

2021-12-04T10:06:09.944Z,1638612369.944 [Micromodem](INFO): Nmea in: $CAREV,100610,COPROC,0.20.0.39330*7D

2021-12-04T10:06:12.353Z,1638612372.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:13.149Z,1638612373.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:13.551Z,1638612373.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:14.374Z,1638612374.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100614.59*50

2021-12-04T10:06:14.375Z,1638612374.375 [Micromodem](INFO): Nmea in: $CAREV,100615,AUV,2.1.4000*29

2021-12-04T10:06:14.398Z,1638612374.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.679993 m, bearing: 267.288224 deg, deltaT: 4.829624 s, deltaX: -2.579987 m, approachRate: -0.534200 m/s, LOS rate: -0.194496 deg/s, posRepo size: 4
2021-12-04T10:06:14.400Z,1638612374.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.679993 m,
      bearing: 267.288224 deg,
      approachRate: -0.534200 m/s,
      LOS rate: -0.194496 deg/s,
      cmd update: -0.583488 deg/s,
      cmd heading: 268.110940 deg,
      new cmd heading: 268.414886 deg.

2021-12-04T10:06:14.776Z,1638612374.776 [Micromodem](INFO): Nmea in: $CAREV,100615,COPROC,0.20.0.39330*78

2021-12-04T10:06:17.211Z,1638612377.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:17.997Z,1638612377.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:18.413Z,1638612378.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:19.228Z,1638612379.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100619.44*51

2021-12-04T10:06:19.230Z,1638612379.230 [Micromodem](INFO): Nmea in: $CAREV,100620,AUV,2.1.4000*2F

2021-12-04T10:06:19.283Z,1638612379.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.100006 m, bearing: 268.736962 deg, deltaT: 4.884960 s, deltaX: -2.579987 m, approachRate: -0.528149 m/s, LOS rate: 0.296571 deg/s, posRepo size: 4
2021-12-04T10:06:19.285Z,1638612379.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.100006 m,
      bearing: 268.736962 deg,
      approachRate: -0.528149 m/s,
      LOS rate: 0.296571 deg/s,
      cmd update: 0.889713 deg/s,
      cmd heading: 265.340708 deg,
      new cmd heading: 265.069960 deg.

2021-12-04T10:06:19.632Z,1638612379.632 [Micromodem](INFO): Nmea in: $CAREV,100620,COPROC,0.20.0.39330*7E

2021-12-04T10:06:22.083Z,1638612382.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:22.849Z,1638612382.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:23.251Z,1638612383.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:24.074Z,1638612384.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100624.29*54

2021-12-04T10:06:24.075Z,1638612384.075 [Micromodem](INFO): Nmea in: $CAREV,100625,AUV,2.1.4000*2A

2021-12-04T10:06:24.162Z,1638612384.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.339996 m, bearing: 268.542739 deg, deltaT: 4.874720 s, deltaX: -2.760010 m, approachRate: -0.566188 m/s, LOS rate: -0.039843 deg/s, posRepo size: 4
2021-12-04T10:06:24.169Z,1638612384.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.339996 m,
      bearing: 268.542739 deg,
      approachRate: -0.566188 m/s,
      LOS rate: -0.039843 deg/s,
      cmd update: -0.119529 deg/s,
      cmd heading: 269.661346 deg,
      new cmd heading: 270.094357 deg.

2021-12-04T10:06:24.476Z,1638612384.476 [Micromodem](INFO): Nmea in: $CAREV,100625,COPROC,0.20.0.39330*7B

2021-12-04T10:06:26.936Z,1638612386.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:27.693Z,1638612387.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:28.099Z,1638612388.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:28.928Z,1638612388.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100629.13*50

2021-12-04T10:06:28.932Z,1638612388.932 [Micromodem](INFO): Nmea in: $CAREV,100630,AUV,2.1.4000*2E

2021-12-04T10:06:28.992Z,1638612388.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 320.700012 m, bearing: 267.673310 deg, deltaT: 4.834331 s, deltaX: -2.639984 m, approachRate: -0.546091 m/s, LOS rate: -0.179845 deg/s, posRepo size: 4
2021-12-04T10:06:28.994Z,1638612388.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 320.700012 m,
      bearing: 267.673310 deg,
      approachRate: -0.546091 m/s,
      LOS rate: -0.179845 deg/s,
      cmd update: -0.539534 deg/s,
      cmd heading: 269.083330 deg,
      new cmd heading: 269.025856 deg.

2021-12-04T10:06:29.316Z,1638612389.316 [Micromodem](INFO): Nmea in: $CAREV,100630,COPROC,0.20.0.39330*7F

2021-12-04T10:06:31.813Z,1638612391.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:32.537Z,1638612392.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:32.964Z,1638612392.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:33.805Z,1638612393.805 [Micromodem](INFO): Nmea in: $SNTTA,0.211774,,,,100633.98*40

2021-12-04T10:06:33.807Z,1638612393.807 [Micromodem](INFO): Nmea in: $CAREV,100635,AUV,2.1.4000*2B

2021-12-04T10:06:33.864Z,1638612393.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 318.059998 m, bearing: 267.663229 deg, deltaT: 4.872463 s, deltaX: -2.640015 m, approachRate: -0.541823 m/s, LOS rate: -0.002069 deg/s, posRepo size: 4
2021-12-04T10:06:33.866Z,1638612393.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.059998 m,
      bearing: 267.663229 deg,
      approachRate: -0.541823 m/s,
      LOS rate: -0.002069 deg/s,
      cmd update: -0.006207 deg/s,
      cmd heading: 266.465237 deg,
      new cmd heading: 266.194905 deg.

2021-12-04T10:06:34.168Z,1638612394.168 [Micromodem](INFO): Nmea in: $CAREV,100635,COPROC,0.20.0.39330*7A

2021-12-04T10:06:36.593Z,1638612396.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:37.397Z,1638612397.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:37.827Z,1638612397.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:38.622Z,1638612398.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100638.84*5E

2021-12-04T10:06:38.623Z,1638612398.623 [Micromodem](INFO): Nmea in: $CAREV,100639,AUV,2.1.4000*27

2021-12-04T10:06:38.665Z,1638612398.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.119995 m, bearing: 267.059741 deg, deltaT: 4.796676 s, deltaX: -2.940002 m, approachRate: -0.612925 m/s, LOS rate: -0.125814 deg/s, posRepo size: 4
2021-12-04T10:06:38.671Z,1638612398.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.119995 m,
      bearing: 267.059741 deg,
      approachRate: -0.612925 m/s,
      LOS rate: -0.125814 deg/s,
      cmd update: -0.377441 deg/s,
      cmd heading: 266.434962 deg,
      new cmd heading: 266.432329 deg.

2021-12-04T10:06:39.024Z,1638612399.024 [Micromodem](INFO): Nmea in: $CAREV,100639,COPROC,0.20.0.39330*76

2021-12-04T10:06:41.441Z,1638612401.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:42.245Z,1638612402.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:42.639Z,1638612402.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:43.470Z,1638612403.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100643.69*51

2021-12-04T10:06:43.471Z,1638612403.471 [Micromodem](INFO): Nmea in: $CAREV,100644,AUV,2.1.4000*2D

2021-12-04T10:06:43.513Z,1638612403.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.419983 m, bearing: 267.039551 deg, deltaT: 4.827586 s, deltaX: -2.700012 m, approachRate: -0.559288 m/s, LOS rate: -0.004182 deg/s, posRepo size: 4
2021-12-04T10:06:43.519Z,1638612403.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.419983 m,
      bearing: 267.039551 deg,
      approachRate: -0.559288 m/s,
      LOS rate: -0.004182 deg/s,
      cmd update: -0.012547 deg/s,
      cmd heading: 264.614163 deg,
      new cmd heading: 264.445095 deg.

2021-12-04T10:06:43.864Z,1638612403.864 [Micromodem](INFO): Nmea in: $CAREV,100644,COPROC,0.20.0.39330*7C

2021-12-04T10:06:46.289Z,1638612406.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:47.109Z,1638612407.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:47.491Z,1638612407.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:48.312Z,1638612408.312 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100648.55*55

2021-12-04T10:06:48.313Z,1638612408.313 [Micromodem](INFO): Nmea in: $CAREV,100649,AUV,2.1.4000*20

2021-12-04T10:06:48.330Z,1638612408.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.779999 m, bearing: 267.157686 deg, deltaT: 4.841629 s, deltaX: -2.639984 m, approachRate: -0.545268 m/s, LOS rate: 0.024400 deg/s, posRepo size: 4
2021-12-04T10:06:48.332Z,1638612408.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.779999 m,
      bearing: 267.157686 deg,
      approachRate: -0.545268 m/s,
      LOS rate: 0.024400 deg/s,
      cmd update: 0.073200 deg/s,
      cmd heading: 264.552648 deg,
      new cmd heading: 264.548100 deg.

2021-12-04T10:06:48.712Z,1638612408.712 [Micromodem](INFO): Nmea in: $CAREV,100649,COPROC,0.20.0.39330*71

2021-12-04T10:06:51.143Z,1638612411.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:51.953Z,1638612411.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:52.343Z,1638612412.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:53.171Z,1638612413.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100653.40*5B

2021-12-04T10:06:53.172Z,1638612413.172 [Micromodem](INFO): Nmea in: $CAREV,100654,AUV,2.1.4000*2C

2021-12-04T10:06:53.227Z,1638612413.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.199982 m, bearing: 267.712844 deg, deltaT: 4.868439 s, deltaX: -2.580017 m, approachRate: -0.529948 m/s, LOS rate: 0.114032 deg/s, posRepo size: 4
2021-12-04T10:06:53.229Z,1638612413.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.199982 m,
      bearing: 267.712844 deg,
      approachRate: -0.529948 m/s,
      LOS rate: 0.114032 deg/s,
      cmd update: 0.342096 deg/s,
      cmd heading: 264.903082 deg,
      new cmd heading: 264.937311 deg.

2021-12-04T10:06:53.560Z,1638612413.560 [Micromodem](INFO): Nmea in: $CAREV,100654,COPROC,0.20.0.39330*7D

2021-12-04T10:06:56.037Z,1638612416.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:06:56.781Z,1638612416.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:06:57.196Z,1638612417.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:06:58.023Z,1638612418.023 [Micromodem](INFO): Nmea in: $SNTTA,0.206147,,,,100658.22*4C

2021-12-04T10:06:58.024Z,1638612418.024 [Micromodem](INFO): Nmea in: $CAREV,100659,AUV,2.1.4000*21

2021-12-04T10:06:58.101Z,1638612418.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.379974 m, bearing: 267.396688 deg, deltaT: 4.898818 s, deltaX: -2.820007 m, approachRate: -0.575651 m/s, LOS rate: -0.064537 deg/s, posRepo size: 4
2021-12-04T10:06:58.108Z,1638612418.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.379974 m,
      bearing: 267.396688 deg,
      approachRate: -0.575651 m/s,
      LOS rate: -0.064537 deg/s,
      cmd update: -0.193611 deg/s,
      cmd heading: 266.564921 deg,
      new cmd heading: 266.732067 deg.

2021-12-04T10:06:58.412Z,1638612418.412 [Micromodem](INFO): Nmea in: $CAREV,100659,COPROC,0.20.0.39330*70

2021-12-04T10:07:00.829Z,1638612420.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:01.629Z,1638612421.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:02.051Z,1638612422.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:02.860Z,1638612422.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100703.07*5C

2021-12-04T10:07:02.862Z,1638612422.862 [Micromodem](INFO): Nmea in: $CAREV,100704,AUV,2.1.4000*28

2021-12-04T10:07:02.950Z,1638612422.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.619995 m, bearing: 268.153063 deg, deltaT: 4.842806 s, deltaX: -2.759979 m, approachRate: -0.569913 m/s, LOS rate: 0.156185 deg/s, posRepo size: 4
2021-12-04T10:07:02.956Z,1638612422.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.619995 m,
      bearing: 268.153063 deg,
      approachRate: -0.569913 m/s,
      LOS rate: 0.156185 deg/s,
      cmd update: 0.468556 deg/s,
      cmd heading: 265.628247 deg,
      new cmd heading: 265.531552 deg.

2021-12-04T10:07:03.256Z,1638612423.256 [Micromodem](INFO): Nmea in: $CAREV,100704,COPROC,0.20.0.39330*79

2021-12-04T10:07:05.681Z,1638612425.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:06.477Z,1638612426.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:06.893Z,1638612426.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:07.706Z,1638612427.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100707.92*54

2021-12-04T10:07:07.708Z,1638612427.708 [Micromodem](INFO): Nmea in: $CAREV,100708,AUV,2.1.4000*24

2021-12-04T10:07:07.826Z,1638612427.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.619995 m, bearing: 266.584387 deg, deltaT: 4.881220 s, deltaX: -3.000000 m, approachRate: -0.614600 m/s, LOS rate: -0.321370 deg/s, posRepo size: 4
2021-12-04T10:07:07.832Z,1638612427.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.619995 m,
      bearing: 266.584387 deg,
      approachRate: -0.614600 m/s,
      LOS rate: -0.321370 deg/s,
      cmd update: -0.964109 deg/s,
      cmd heading: 267.911523 deg,
      new cmd heading: 268.146866 deg.

2021-12-04T10:07:08.112Z,1638612428.112 [Micromodem](INFO): Nmea in: $CAREV,100708,COPROC,0.20.0.39330*75

2021-12-04T10:07:10.536Z,1638612430.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:11.321Z,1638612431.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:11.737Z,1638612431.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:12.566Z,1638612432.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100712.76*5A

2021-12-04T10:07:12.568Z,1638612432.568 [Micromodem](INFO): Nmea in: $CAREV,100713,AUV,2.1.4000*2E

2021-12-04T10:07:12.585Z,1638612432.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.799988 m, bearing: 266.864507 deg, deltaT: 4.763626 s, deltaX: -2.820007 m, approachRate: -0.591988 m/s, LOS rate: 0.058804 deg/s, posRepo size: 4
2021-12-04T10:07:12.587Z,1638612432.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.799988 m,
      bearing: 266.864507 deg,
      approachRate: -0.591988 m/s,
      LOS rate: 0.058804 deg/s,
      cmd update: 0.176412 deg/s,
      cmd heading: 263.227202 deg,
      new cmd heading: 262.839052 deg.

2021-12-04T10:07:12.960Z,1638612432.960 [Micromodem](INFO): Nmea in: $CAREV,100713,COPROC,0.20.0.39330*7F

2021-12-04T10:07:15.464Z,1638612435.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:16.181Z,1638612436.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:16.589Z,1638612436.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:17.406Z,1638612437.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100717.62*5A

2021-12-04T10:07:17.407Z,1638612437.407 [Micromodem](INFO): Nmea in: $CAREV,100718,AUV,2.1.4000*25

2021-12-04T10:07:17.452Z,1638612437.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.279999 m, bearing: 268.037032 deg, deltaT: 4.867183 s, deltaX: -2.519989 m, approachRate: -0.517751 m/s, LOS rate: 0.240904 deg/s, posRepo size: 4
2021-12-04T10:07:17.454Z,1638612437.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.279999 m,
      bearing: 268.037032 deg,
      approachRate: -0.517751 m/s,
      LOS rate: 0.240904 deg/s,
      cmd update: 0.722713 deg/s,
      cmd heading: 264.080143 deg,
      new cmd heading: 264.156881 deg.

2021-12-04T10:07:17.840Z,1638612437.840 [Micromodem](INFO): Nmea in: $CAREV,100718,COPROC,0.20.0.39330*74

2021-12-04T10:07:20.251Z,1638612440.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:21.021Z,1638612441.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:21.439Z,1638612441.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:22.261Z,1638612442.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100722.46*5A

2021-12-04T10:07:22.262Z,1638612442.262 [Micromodem](INFO): Nmea in: $CAREV,100723,AUV,2.1.4000*2D

2021-12-04T10:07:22.289Z,1638612442.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.639984 m, bearing: 267.754180 deg, deltaT: 4.836790 s, deltaX: -2.640015 m, approachRate: -0.545820 m/s, LOS rate: -0.058479 deg/s, posRepo size: 4
2021-12-04T10:07:22.291Z,1638612442.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.639984 m,
      bearing: 267.754180 deg,
      approachRate: -0.545820 m/s,
      LOS rate: -0.058479 deg/s,
      cmd update: -0.175438 deg/s,
      cmd heading: 267.592674 deg,
      new cmd heading: 267.890351 deg.

2021-12-04T10:07:22.652Z,1638612442.652 [Micromodem](INFO): Nmea in: $CAREV,100723,COPROC,0.20.0.39330*7C

2021-12-04T10:07:25.090Z,1638612445.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:25.866Z,1638612445.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:26.290Z,1638612446.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:27.106Z,1638612447.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100727.31*5F

2021-12-04T10:07:27.111Z,1638612447.111 [Micromodem](INFO): Nmea in: $CAREV,100728,AUV,2.1.4000*26

2021-12-04T10:07:27.181Z,1638612447.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.999969 m, bearing: 268.047714 deg, deltaT: 4.880463 s, deltaX: -2.640015 m, approachRate: -0.540935 m/s, LOS rate: 0.060145 deg/s, posRepo size: 4
2021-12-04T10:07:27.188Z,1638612447.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.999969 m,
      bearing: 268.047714 deg,
      approachRate: -0.540935 m/s,
      LOS rate: 0.060145 deg/s,
      cmd update: 0.180434 deg/s,
      cmd heading: 266.743352 deg,
      new cmd heading: 266.662169 deg.

2021-12-04T10:07:27.500Z,1638612447.500 [Micromodem](INFO): Nmea in: $CAREV,100728,COPROC,0.20.0.39330*77

2021-12-04T10:07:29.985Z,1638612449.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:30.717Z,1638612450.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:31.137Z,1638612451.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:31.974Z,1638612451.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100732.16*5E

2021-12-04T10:07:31.976Z,1638612451.976 [Micromodem](INFO): Nmea in: $CAREV,100733,AUV,2.1.4000*2C

2021-12-04T10:07:32.053Z,1638612452.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.179993 m, bearing: 267.968129 deg, deltaT: 4.879314 s, deltaX: -2.819977 m, approachRate: -0.577945 m/s, LOS rate: -0.016311 deg/s, posRepo size: 4
2021-12-04T10:07:32.060Z,1638612452.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.179993 m,
      bearing: 267.968129 deg,
      approachRate: -0.577945 m/s,
      LOS rate: -0.016311 deg/s,
      cmd update: -0.048932 deg/s,
      cmd heading: 267.613770 deg,
      new cmd heading: 267.705790 deg.

2021-12-04T10:07:32.351Z,1638612452.351 [Micromodem](INFO): Nmea in: $CAREV,100733,COPROC,0.20.0.39330*7D

2021-12-04T10:07:34.772Z,1638612454.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:35.565Z,1638612455.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:35.991Z,1638612455.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:36.802Z,1638612456.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100737.01*5D

2021-12-04T10:07:36.804Z,1638612456.804 [Micromodem](INFO): Nmea in: $CAREV,100738,AUV,2.1.4000*27

2021-12-04T10:07:36.848Z,1638612456.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 282.299988 m, bearing: 268.165467 deg, deltaT: 4.799271 s, deltaX: -2.880005 m, approachRate: -0.600092 m/s, LOS rate: 0.041118 deg/s, posRepo size: 4
2021-12-04T10:07:36.850Z,1638612456.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 282.299988 m,
      bearing: 268.165467 deg,
      approachRate: -0.600092 m/s,
      LOS rate: 0.041118 deg/s,
      cmd update: 0.123355 deg/s,
      cmd heading: 267.376527 deg,
      new cmd heading: 267.354182 deg.

2021-12-04T10:07:37.196Z,1638612457.196 [Micromodem](INFO): Nmea in: $CAREV,100738,COPROC,0.20.0.39330*76

2021-12-04T10:07:39.626Z,1638612459.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:40.417Z,1638612460.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:40.827Z,1638612460.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:41.659Z,1638612461.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100741.86*53

2021-12-04T10:07:41.660Z,1638612461.660 [Micromodem](INFO): Nmea in: $CAREV,100742,AUV,2.1.4000*2A

2021-12-04T10:07:41.678Z,1638612461.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.299988 m, bearing: 267.298251 deg, deltaT: 4.829285 s, deltaX: -3.000000 m, approachRate: -0.621210 m/s, LOS rate: -0.179574 deg/s, posRepo size: 4
2021-12-04T10:07:41.680Z,1638612461.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.299988 m,
      bearing: 267.298251 deg,
      approachRate: -0.621210 m/s,
      LOS rate: -0.179574 deg/s,
      cmd update: -0.538723 deg/s,
      cmd heading: 267.976373 deg,
      new cmd heading: 268.028670 deg.

2021-12-04T10:07:42.048Z,1638612462.048 [Micromodem](INFO): Nmea in: $CAREV,100742,COPROC,0.20.0.39330*7B

2021-12-04T10:07:44.474Z,1638612464.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:45.265Z,1638612465.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:45.671Z,1638612465.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:46.501Z,1638612466.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100746.71*5C

2021-12-04T10:07:46.502Z,1638612466.502 [Micromodem](INFO): Nmea in: $CAREV,100747,AUV,2.1.4000*2F

2021-12-04T10:07:46.519Z,1638612466.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.720001 m, bearing: 267.554192 deg, deltaT: 4.841932 s, deltaX: -2.579987 m, approachRate: -0.532842 m/s, LOS rate: 0.052859 deg/s, posRepo size: 4
2021-12-04T10:07:46.521Z,1638612466.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.720001 m,
      bearing: 267.554192 deg,
      approachRate: -0.532842 m/s,
      LOS rate: 0.052859 deg/s,
      cmd update: 0.158578 deg/s,
      cmd heading: 265.351286 deg,
      new cmd heading: 265.139927 deg.

2021-12-04T10:07:46.900Z,1638612466.900 [Micromodem](INFO): Nmea in: $CAREV,100747,COPROC,0.20.0.39330*7E

2021-12-04T10:07:49.330Z,1638612469.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:50.121Z,1638612470.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:50.518Z,1638612470.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:51.340Z,1638612471.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100751.57*5E

2021-12-04T10:07:51.341Z,1638612471.341 [Micromodem](INFO): Nmea in: $CAREV,100752,AUV,2.1.4000*2B

2021-12-04T10:07:51.385Z,1638612471.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.839996 m, bearing: 268.410698 deg, deltaT: 4.865981 s, deltaX: -2.880005 m, approachRate: -0.591865 m/s, LOS rate: 0.176019 deg/s, posRepo size: 4
2021-12-04T10:07:51.387Z,1638612471.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.839996 m,
      bearing: 268.410698 deg,
      approachRate: -0.591865 m/s,
      LOS rate: 0.176019 deg/s,
      cmd update: 0.528057 deg/s,
      cmd heading: 266.119390 deg,
      new cmd heading: 266.185177 deg.

2021-12-04T10:07:51.759Z,1638612471.759 [Micromodem](INFO): Nmea in: $CAREV,100752,COPROC,0.20.0.39330*7A

2021-12-04T10:07:54.214Z,1638612474.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:54.983Z,1638612474.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:07:55.366Z,1638612475.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:07:56.179Z,1638612476.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100756.43*5C

2021-12-04T10:07:56.182Z,1638612476.182 [Micromodem](INFO): Nmea in: $CAREV,100757,AUV,2.1.4000*2E

2021-12-04T10:07:56.236Z,1638612476.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.320007 m, bearing: 268.298109 deg, deltaT: 4.850870 s, deltaX: -2.519989 m, approachRate: -0.519492 m/s, LOS rate: -0.023210 deg/s, posRepo size: 4
2021-12-04T10:07:56.238Z,1638612476.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.320007 m,
      bearing: 268.298109 deg,
      approachRate: -0.519492 m/s,
      LOS rate: -0.023210 deg/s,
      cmd update: -0.069630 deg/s,
      cmd heading: 268.690266 deg,
      new cmd heading: 268.899975 deg.

2021-12-04T10:07:56.601Z,1638612476.601 [Micromodem](INFO): Nmea in: $CAREV,100757,COPROC,0.20.0.39330*7F

2021-12-04T10:07:59.052Z,1638612479.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:07:59.842Z,1638612479.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:00.235Z,1638612480.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:01.028Z,1638612481.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100801.29*5D

2021-12-04T10:08:01.031Z,1638612481.031 [Micromodem](INFO): Nmea in: $CAREV,100802,AUV,2.1.4000*21

2021-12-04T10:08:01.108Z,1638612481.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.799988 m, bearing: 268.377558 deg, deltaT: 4.867194 s, deltaX: -2.520020 m, approachRate: -0.517756 m/s, LOS rate: 0.016323 deg/s, posRepo size: 4
2021-12-04T10:08:01.110Z,1638612481.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.799988 m,
      bearing: 268.377558 deg,
      approachRate: -0.517756 m/s,
      LOS rate: 0.016323 deg/s,
      cmd update: 0.048970 deg/s,
      cmd heading: 268.355204 deg,
      new cmd heading: 268.323724 deg.

2021-12-04T10:08:01.437Z,1638612481.437 [Micromodem](INFO): Nmea in: $CAREV,100802,COPROC,0.20.0.39330*70

2021-12-04T10:08:03.942Z,1638612483.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:04.661Z,1638612484.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:05.067Z,1638612485.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:05.899Z,1638612485.899 [Micromodem](INFO): Nmea in: $SNTTA,0.176921,,,,100806.10*44

2021-12-04T10:08:05.901Z,1638612485.901 [Micromodem](INFO): Nmea in: $CAREV,100807,AUV,2.1.4000*24

2021-12-04T10:08:06.015Z,1638612486.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.739990 m, bearing: 267.396114 deg, deltaT: 4.907160 s, deltaX: -3.059998 m, approachRate: -0.623578 m/s, LOS rate: -0.200002 deg/s, posRepo size: 4
2021-12-04T10:08:06.017Z,1638612486.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.739990 m,
      bearing: 267.396114 deg,
      approachRate: -0.623578 m/s,
      LOS rate: -0.200002 deg/s,
      cmd update: -0.600007 deg/s,
      cmd heading: 268.592080 deg,
      new cmd heading: 268.617659 deg.

2021-12-04T10:08:06.300Z,1638612486.300 [Micromodem](INFO): Nmea in: $CAREV,100807,COPROC,0.20.0.39330*75

2021-12-04T10:08:08.714Z,1638612488.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:09.501Z,1638612489.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:09.940Z,1638612489.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:10.760Z,1638612490.760 [Micromodem](INFO): Nmea in: $SNTTA,0.175163,,,,100810.95*43

2021-12-04T10:08:10.761Z,1638612490.761 [Micromodem](INFO): Nmea in: $CAREV,100812,AUV,2.1.4000*20

2021-12-04T10:08:10.780Z,1638612490.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.099976 m, bearing: 267.518320 deg, deltaT: 4.769127 s, deltaX: -2.640015 m, approachRate: -0.553563 m/s, LOS rate: 0.025624 deg/s, posRepo size: 4
2021-12-04T10:08:10.781Z,1638612490.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.099976 m,
      bearing: 267.518320 deg,
      approachRate: -0.553563 m/s,
      LOS rate: 0.025624 deg/s,
      cmd update: 0.076873 deg/s,
      cmd heading: 265.682999 deg,
      new cmd heading: 265.417308 deg.

2021-12-04T10:08:11.128Z,1638612491.128 [Micromodem](INFO): Nmea in: $CAREV,100812,COPROC,0.20.0.39330*71

2021-12-04T10:08:13.564Z,1638612493.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:14.353Z,1638612494.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:14.758Z,1638612494.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:15.589Z,1638612495.589 [Micromodem](INFO): Nmea in: $SNTTA,0.175843,,,,100815.80*49

2021-12-04T10:08:15.590Z,1638612495.590 [Micromodem](INFO): Nmea in: $CAREV,100816,AUV,2.1.4000*24

2021-12-04T10:08:15.607Z,1638612495.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.979980 m, bearing: 267.250085 deg, deltaT: 4.827819 s, deltaX: -3.119995 m, approachRate: -0.646254 m/s, LOS rate: -0.055560 deg/s, posRepo size: 4
2021-12-04T10:08:15.609Z,1638612495.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.979980 m,
      bearing: 267.250085 deg,
      approachRate: -0.646254 m/s,
      LOS rate: -0.055560 deg/s,
      cmd update: -0.166681 deg/s,
      cmd heading: 266.059390 deg,
      new cmd heading: 266.088167 deg.

2021-12-04T10:08:15.992Z,1638612495.992 [Micromodem](INFO): Nmea in: $CAREV,100816,COPROC,0.20.0.39330*75

2021-12-04T10:08:18.415Z,1638612498.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:19.201Z,1638612499.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:19.606Z,1638612499.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:20.437Z,1638612500.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100820.64*57

2021-12-04T10:08:20.438Z,1638612500.438 [Micromodem](INFO): Nmea in: $CAREV,100821,AUV,2.1.4000*20

2021-12-04T10:08:20.455Z,1638612500.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.040009 m, bearing: 266.931197 deg, deltaT: 4.847806 s, deltaX: -2.939972 m, approachRate: -0.606454 m/s, LOS rate: -0.065780 deg/s, posRepo size: 4
2021-12-04T10:08:20.457Z,1638612500.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.040009 m,
      bearing: 266.931197 deg,
      approachRate: -0.606454 m/s,
      LOS rate: -0.065780 deg/s,
      cmd update: -0.197339 deg/s,
      cmd heading: 265.256212 deg,
      new cmd heading: 265.188954 deg.

2021-12-04T10:08:20.820Z,1638612500.820 [Micromodem](INFO): Nmea in: $CAREV,100821,COPROC,0.20.0.39330*71

2021-12-04T10:08:23.272Z,1638612503.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:24.049Z,1638612504.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:24.458Z,1638612504.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:25.302Z,1638612505.302 [Micromodem](INFO): Nmea in: $SNTTA,0.169310,,,,100825.49*4F

2021-12-04T10:08:25.303Z,1638612505.303 [Micromodem](INFO): Nmea in: $CAREV,100826,AUV,2.1.4000*27

2021-12-04T10:08:25.331Z,1638612505.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.339996 m, bearing: 266.955977 deg, deltaT: 4.875255 s, deltaX: -2.700012 m, approachRate: -0.553820 m/s, LOS rate: 0.005083 deg/s, posRepo size: 4
2021-12-04T10:08:25.332Z,1638612505.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.339996 m,
      bearing: 266.955977 deg,
      approachRate: -0.553820 m/s,
      LOS rate: 0.005083 deg/s,
      cmd update: 0.015248 deg/s,
      cmd heading: 264.305184 deg,
      new cmd heading: 264.214456 deg.

2021-12-04T10:08:25.680Z,1638612505.680 [Micromodem](INFO): Nmea in: $CAREV,100826,COPROC,0.20.0.39330*76

2021-12-04T10:08:28.121Z,1638612508.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:28.897Z,1638612508.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:29.303Z,1638612509.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:30.135Z,1638612510.135 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100830.34*53

2021-12-04T10:08:30.136Z,1638612510.136 [Micromodem](INFO): Nmea in: $CAREV,100831,AUV,2.1.4000*21

2021-12-04T10:08:30.233Z,1638612510.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.399994 m, bearing: 266.785113 deg, deltaT: 4.894380 s, deltaX: -2.940002 m, approachRate: -0.600689 m/s, LOS rate: -0.034910 deg/s, posRepo size: 4
2021-12-04T10:08:30.241Z,1638612510.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.399994 m,
      bearing: 266.785113 deg,
      approachRate: -0.600689 m/s,
      LOS rate: -0.034910 deg/s,
      cmd update: -0.104731 deg/s,
      cmd heading: 264.379052 deg,
      new cmd heading: 264.386949 deg.

2021-12-04T10:08:30.520Z,1638612510.520 [Micromodem](INFO): Nmea in: $CAREV,100831,COPROC,0.20.0.39330*70

2021-12-04T10:08:32.977Z,1638612512.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:33.761Z,1638612513.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:34.159Z,1638612514.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:34.990Z,1638612514.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100835.21*52

2021-12-04T10:08:34.991Z,1638612514.991 [Micromodem](INFO): Nmea in: $CAREV,100836,AUV,2.1.4000*26

2021-12-04T10:08:35.058Z,1638612515.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.339981 m, bearing: 266.391967 deg, deltaT: 4.824888 s, deltaX: -3.060013 m, approachRate: -0.634214 m/s, LOS rate: -0.081483 deg/s, posRepo size: 4
2021-12-04T10:08:35.064Z,1638612515.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.339981 m,
      bearing: 266.391967 deg,
      approachRate: -0.634214 m/s,
      LOS rate: -0.081483 deg/s,
      cmd update: -0.244449 deg/s,
      cmd heading: 263.870508 deg,
      new cmd heading: 263.819503 deg.

2021-12-04T10:08:35.380Z,1638612515.380 [Micromodem](INFO): Nmea in: $CAREV,100836,COPROC,0.20.0.39330*77

2021-12-04T10:08:37.852Z,1638612517.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:38.605Z,1638612518.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:38.999Z,1638612518.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:39.850Z,1638612519.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100840.05*56

2021-12-04T10:08:39.851Z,1638612519.851 [Micromodem](INFO): Nmea in: $CAREV,100841,AUV,2.1.4000*26

2021-12-04T10:08:39.948Z,1638612519.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.519974 m, bearing: 266.929175 deg, deltaT: 4.874647 s, deltaX: -2.820007 m, approachRate: -0.578505 m/s, LOS rate: 0.110205 deg/s, posRepo size: 4
2021-12-04T10:08:39.949Z,1638612519.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.519974 m,
      bearing: 266.929175 deg,
      approachRate: -0.578505 m/s,
      LOS rate: 0.110205 deg/s,
      cmd update: 0.330613 deg/s,
      cmd heading: 262.685523 deg,
      new cmd heading: 262.556478 deg.

2021-12-04T10:08:40.232Z,1638612520.232 [Micromodem](INFO): Nmea in: $CAREV,100841,COPROC,0.20.0.39330*77

2021-12-04T10:08:42.648Z,1638612522.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:43.441Z,1638612523.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:43.863Z,1638612523.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:44.677Z,1638612524.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100844.88*57

2021-12-04T10:08:44.678Z,1638612524.678 [Micromodem](INFO): Nmea in: $CAREV,100845,AUV,2.1.4000*22

2021-12-04T10:08:44.696Z,1638612524.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.820007 m, bearing: 265.937541 deg, deltaT: 4.771224 s, deltaX: -2.699966 m, approachRate: -0.565885 m/s, LOS rate: -0.207836 deg/s, posRepo size: 4
2021-12-04T10:08:44.697Z,1638612524.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.820007 m,
      bearing: 265.937541 deg,
      approachRate: -0.565885 m/s,
      LOS rate: -0.207836 deg/s,
      cmd update: -0.623509 deg/s,
      cmd heading: 264.289733 deg,
      new cmd heading: 264.430204 deg.

2021-12-04T10:08:45.076Z,1638612525.076 [Micromodem](INFO): Nmea in: $CAREV,100845,COPROC,0.20.0.39330*73

2021-12-04T10:08:47.501Z,1638612527.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:48.288Z,1638612528.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:48.712Z,1638612528.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:49.528Z,1638612529.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100849.73*5E

2021-12-04T10:08:49.530Z,1638612529.530 [Micromodem](INFO): Nmea in: $CAREV,100850,AUV,2.1.4000*26

2021-12-04T10:08:49.564Z,1638612529.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.699997 m, bearing: 265.246052 deg, deltaT: 4.868392 s, deltaX: -3.120010 m, approachRate: -0.640871 m/s, LOS rate: -0.142036 deg/s, posRepo size: 4
2021-12-04T10:08:49.566Z,1638612529.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.699997 m,
      bearing: 265.246052 deg,
      approachRate: -0.640871 m/s,
      LOS rate: -0.142036 deg/s,
      cmd update: -0.426109 deg/s,
      cmd heading: 261.257767 deg,
      new cmd heading: 260.989342 deg.

2021-12-04T10:08:49.937Z,1638612529.937 [Micromodem](INFO): Nmea in: $CAREV,100850,COPROC,0.20.0.39330*77

2021-12-04T10:08:52.341Z,1638612532.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:53.141Z,1638612533.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:53.537Z,1638612533.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:54.369Z,1638612534.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100854.58*5B

2021-12-04T10:08:54.371Z,1638612534.371 [Micromodem](INFO): Nmea in: $CAREV,100855,AUV,2.1.4000*23

2021-12-04T10:08:54.438Z,1638612534.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.419998 m, bearing: 265.714084 deg, deltaT: 4.869460 s, deltaX: -2.279999 m, approachRate: -0.468224 m/s, LOS rate: 0.096116 deg/s, posRepo size: 4
2021-12-04T10:08:54.444Z,1638612534.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.419998 m,
      bearing: 265.714084 deg,
      approachRate: -0.468224 m/s,
      LOS rate: 0.096116 deg/s,
      cmd update: 0.288347 deg/s,
      cmd heading: 259.179714 deg,
      new cmd heading: 258.997423 deg.

2021-12-04T10:08:54.768Z,1638612534.768 [Micromodem](INFO): Nmea in: $CAREV,100855,COPROC,0.20.0.39330*72

2021-12-04T10:08:57.195Z,1638612537.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:08:57.993Z,1638612537.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:08:58.391Z,1638612538.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:08:59.211Z,1638612539.211 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100859.44*5B

2021-12-04T10:08:59.212Z,1638612539.212 [Micromodem](INFO): Nmea in: $CAREV,100900,AUV,2.1.4000*22

2021-12-04T10:08:59.281Z,1638612539.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.839981 m, bearing: 265.917159 deg, deltaT: 4.808284 s, deltaX: -2.580017 m, approachRate: -0.536578 m/s, LOS rate: 0.042234 deg/s, posRepo size: 4
2021-12-04T10:08:59.288Z,1638612539.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.839981 m,
      bearing: 265.917159 deg,
      approachRate: -0.536578 m/s,
      LOS rate: 0.042234 deg/s,
      cmd update: 0.126703 deg/s,
      cmd heading: 260.565120 deg,
      new cmd heading: 260.696908 deg.

2021-12-04T10:08:59.616Z,1638612539.616 [Micromodem](INFO): Nmea in: $CAREV,100900,COPROC,0.20.0.39330*73

2021-12-04T10:09:02.084Z,1638612542.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:02.833Z,1638612542.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:03.238Z,1638612543.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:04.069Z,1638612544.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100904.28*58

2021-12-04T10:09:04.071Z,1638612544.071 [Micromodem](INFO): Nmea in: $CAREV,100905,AUV,2.1.4000*27

2021-12-04T10:09:04.161Z,1638612544.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.439987 m, bearing: 266.075538 deg, deltaT: 4.906932 s, deltaX: -2.399994 m, approachRate: -0.489103 m/s, LOS rate: 0.032276 deg/s, posRepo size: 4
2021-12-04T10:09:04.167Z,1638612544.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.439987 m,
      bearing: 266.075538 deg,
      approachRate: -0.489103 m/s,
      LOS rate: 0.032276 deg/s,
      cmd update: 0.096829 deg/s,
      cmd heading: 261.178956 deg,
      new cmd heading: 261.241735 deg.

2021-12-04T10:09:04.460Z,1638612544.460 [Micromodem](INFO): Nmea in: $CAREV,100905,COPROC,0.20.0.39330*76

2021-12-04T10:09:06.889Z,1638612546.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:07.688Z,1638612547.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:08.083Z,1638612548.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:08.923Z,1638612548.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100909.13*5D

2021-12-04T10:09:08.927Z,1638612548.927 [Micromodem](INFO): Nmea in: $CAREV,100910,AUV,2.1.4000*23

2021-12-04T10:09:08.989Z,1638612548.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.619995 m, bearing: 264.819357 deg, deltaT: 4.840319 s, deltaX: -2.819992 m, approachRate: -0.582605 m/s, LOS rate: -0.259524 deg/s, posRepo size: 4
2021-12-04T10:09:08.991Z,1638612548.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.619995 m,
      bearing: 264.819357 deg,
      approachRate: -0.582605 m/s,
      LOS rate: -0.259524 deg/s,
      cmd update: -0.778573 deg/s,
      cmd heading: 261.647903 deg,
      new cmd heading: 261.695021 deg.

2021-12-04T10:09:09.304Z,1638612549.304 [Micromodem](INFO): Nmea in: $CAREV,100910,COPROC,0.20.0.39330*72

2021-12-04T10:09:11.764Z,1638612551.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:12.541Z,1638612552.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:12.953Z,1638612552.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:13.784Z,1638612553.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100913.99*54

2021-12-04T10:09:13.789Z,1638612553.789 [Micromodem](INFO): Nmea in: $CAREV,100915,AUV,2.1.4000*26

2021-12-04T10:09:13.853Z,1638612553.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.979996 m, bearing: 266.090018 deg, deltaT: 4.863835 s, deltaX: -2.639999 m, approachRate: -0.542781 m/s, LOS rate: 0.261247 deg/s, posRepo size: 4
2021-12-04T10:09:13.855Z,1638612553.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.979996 m,
      bearing: 266.090018 deg,
      approachRate: -0.542781 m/s,
      LOS rate: 0.261247 deg/s,
      cmd update: 0.783740 deg/s,
      cmd heading: 257.833962 deg,
      new cmd heading: 257.482216 deg.

2021-12-04T10:09:14.164Z,1638612554.164 [Micromodem](INFO): Nmea in: $CAREV,100915,COPROC,0.20.0.39330*77

2021-12-04T10:09:16.588Z,1638612556.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:17.385Z,1638612557.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:17.806Z,1638612557.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:18.603Z,1638612558.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100918.83*54

2021-12-04T10:09:18.604Z,1638612558.604 [Micromodem](INFO): Nmea in: $CAREV,100919,AUV,2.1.4000*2A

2021-12-04T10:09:18.654Z,1638612558.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.220001 m, bearing: 265.942814 deg, deltaT: 4.800696 s, deltaX: -2.759995 m, approachRate: -0.574915 m/s, LOS rate: -0.030663 deg/s, posRepo size: 4
2021-12-04T10:09:18.660Z,1638612558.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.220001 m,
      bearing: 265.942814 deg,
      approachRate: -0.574915 m/s,
      LOS rate: -0.030663 deg/s,
      cmd update: -0.091989 deg/s,
      cmd heading: 261.610612 deg,
      new cmd heading: 261.950942 deg.

2021-12-04T10:09:19.012Z,1638612559.012 [Micromodem](INFO): Nmea in: $CAREV,100919,COPROC,0.20.0.39330*7B

2021-12-04T10:09:21.448Z,1638612561.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:22.224Z,1638612562.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:22.636Z,1638612562.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:23.458Z,1638612563.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100923.67*56

2021-12-04T10:09:23.460Z,1638612563.460 [Micromodem](INFO): Nmea in: $CAREV,100924,AUV,2.1.4000*24

2021-12-04T10:09:23.506Z,1638612563.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.459991 m, bearing: 266.324075 deg, deltaT: 4.847627 s, deltaX: -2.760010 m, approachRate: -0.569353 m/s, LOS rate: 0.078649 deg/s, posRepo size: 4
2021-12-04T10:09:23.512Z,1638612563.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.459991 m,
      bearing: 266.324075 deg,
      approachRate: -0.569353 m/s,
      LOS rate: 0.078649 deg/s,
      cmd update: 0.235947 deg/s,
      cmd heading: 261.164144 deg,
      new cmd heading: 261.124372 deg.

2021-12-04T10:09:23.868Z,1638612563.868 [Micromodem](INFO): Nmea in: $CAREV,100924,COPROC,0.20.0.39330*75

2021-12-04T10:09:26.287Z,1638612566.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:27.069Z,1638612567.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:27.471Z,1638612567.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:28.299Z,1638612568.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100928.51*58

2021-12-04T10:09:28.300Z,1638612568.300 [Micromodem](INFO): Nmea in: $CAREV,100929,AUV,2.1.4000*29

2021-12-04T10:09:28.317Z,1638612568.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.059982 m, bearing: 266.683780 deg, deltaT: 4.816002 s, deltaX: -2.400009 m, approachRate: -0.498341 m/s, LOS rate: 0.074690 deg/s, posRepo size: 4
2021-12-04T10:09:28.319Z,1638612568.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.059982 m,
      bearing: 266.683780 deg,
      approachRate: -0.498341 m/s,
      LOS rate: 0.074690 deg/s,
      cmd update: 0.224069 deg/s,
      cmd heading: 262.323121 deg,
      new cmd heading: 262.401424 deg.

2021-12-04T10:09:28.697Z,1638612568.697 [Micromodem](INFO): Nmea in: $CAREV,100929,COPROC,0.20.0.39330*78

2021-12-04T10:09:31.131Z,1638612571.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:31.943Z,1638612571.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:32.325Z,1638612572.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:33.143Z,1638612573.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100933.39*5C

2021-12-04T10:09:33.144Z,1638612573.144 [Micromodem](INFO): Nmea in: $CAREV,100934,AUV,2.1.4000*25

2021-12-04T10:09:33.194Z,1638612573.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.179993 m, bearing: 266.507261 deg, deltaT: 4.876531 s, deltaX: -2.879990 m, approachRate: -0.590582 m/s, LOS rate: -0.036198 deg/s, posRepo size: 4
2021-12-04T10:09:33.196Z,1638612573.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.179993 m,
      bearing: 266.507261 deg,
      approachRate: -0.590582 m/s,
      LOS rate: -0.036198 deg/s,
      cmd update: -0.108593 deg/s,
      cmd heading: 263.389418 deg,
      new cmd heading: 263.490166 deg.

2021-12-04T10:09:33.548Z,1638612573.548 [Micromodem](INFO): Nmea in: $CAREV,100934,COPROC,0.20.0.39330*74

2021-12-04T10:09:36.042Z,1638612576.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:36.769Z,1638612576.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:37.184Z,1638612577.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:37.999Z,1638612577.999 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100938.22*5D

2021-12-04T10:09:37.000Z,1638612578.000 [Micromodem](INFO): Nmea in: $CAREV,100939,AUV,2.1.4000*28

2021-12-04T10:09:38.080Z,1638612578.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.419998 m, bearing: 266.602446 deg, deltaT: 4.886394 s, deltaX: -2.759995 m, approachRate: -0.564833 m/s, LOS rate: 0.019480 deg/s, posRepo size: 4
2021-12-04T10:09:38.082Z,1638612578.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.419998 m,
      bearing: 266.602446 deg,
      approachRate: -0.564833 m/s,
      LOS rate: 0.019480 deg/s,
      cmd update: 0.058439 deg/s,
      cmd heading: 262.861443 deg,
      new cmd heading: 262.809992 deg.

2021-12-04T10:09:38.408Z,1638612578.408 [Micromodem](INFO): Nmea in: $CAREV,100939,COPROC,0.20.0.39330*79

2021-12-04T10:09:40.827Z,1638612580.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:41.631Z,1638612581.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:42.023Z,1638612582.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:42.846Z,1638612582.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100943.07*56

2021-12-04T10:09:42.848Z,1638612582.848 [Micromodem](INFO): Nmea in: $CAREV,100944,AUV,2.1.4000*22

2021-12-04T10:09:42.865Z,1638612582.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.659973 m, bearing: 266.980155 deg, deltaT: 4.784834 s, deltaX: -2.760025 m, approachRate: -0.576828 m/s, LOS rate: 0.078939 deg/s, posRepo size: 4
2021-12-04T10:09:42.904Z,1638612582.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.659973 m,
      bearing: 266.980155 deg,
      approachRate: -0.576828 m/s,
      LOS rate: 0.078939 deg/s,
      cmd update: 0.236817 deg/s,
      cmd heading: 263.144467 deg,
      new cmd heading: 263.168766 deg.

2021-12-04T10:09:43.259Z,1638612583.259 [Micromodem](INFO): Nmea in: $CAREV,100944,COPROC,0.20.0.39330*73

2021-12-04T10:09:45.687Z,1638612585.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:46.475Z,1638612586.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:46.872Z,1638612586.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:47.701Z,1638612587.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100947.92*5E

2021-12-04T10:09:47.702Z,1638612587.702 [Micromodem](INFO): Nmea in: $CAREV,100948,AUV,2.1.4000*2E

2021-12-04T10:09:48.093Z,1638612588.093 [Micromodem](INFO): Nmea in: $CAREV,100948,COPROC,0.20.0.39330*7F

2021-12-04T10:09:48.508Z,1638612588.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:51.341Z,1638612591.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:54.181Z,1638612594.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:54.976Z,1638612594.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:55.359Z,1638612595.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:09:55.966Z,1638612595.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.159988 m, bearing: 268.142080 deg, deltaT: 13.096372 s, deltaX: -7.499985 m, approachRate: -0.572677 m/s, LOS rate: 0.088721 deg/s, posRepo size: 4
2021-12-04T10:09:55.972Z,1638612595.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.159988 m,
      bearing: 268.142080 deg,
      approachRate: -0.572677 m/s,
      LOS rate: 0.088721 deg/s,
      cmd update: 0.266163 deg/s,
      cmd heading: 266.213891 deg,
      new cmd heading: 266.345433 deg.

2021-12-04T10:09:56.180Z,1638612596.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100956.42*53

2021-12-04T10:09:56.181Z,1638612596.181 [Micromodem](INFO): Nmea in: $CAREV,100957,AUV,2.1.4000*20

2021-12-04T10:09:56.572Z,1638612596.572 [Micromodem](INFO): Nmea in: $CAREV,100957,COPROC,0.20.0.39330*71

2021-12-04T10:09:58.592Z,1638612598.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:09:59.393Z,1638612599.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:09:59.835Z,1638612599.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:00.626Z,1638612600.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101000.84*52

2021-12-04T10:10:00.627Z,1638612600.627 [Micromodem](INFO): Nmea in: $CAREV,101001,AUV,2.1.4000*2B

2021-12-04T10:10:00.645Z,1638612600.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.819977 m, bearing: 268.061429 deg, deltaT: 4.683706 s, deltaX: -2.340012 m, approachRate: -0.499607 m/s, LOS rate: -0.017219 deg/s, posRepo size: 4
2021-12-04T10:10:00.675Z,1638612600.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.819977 m,
      bearing: 268.061429 deg,
      approachRate: -0.499607 m/s,
      LOS rate: -0.017219 deg/s,
      cmd update: -0.051658 deg/s,
      cmd heading: 267.494987 deg,
      new cmd heading: 267.607175 deg.

2021-12-04T10:10:01.016Z,1638612601.016 [Micromodem](INFO): Nmea in: $CAREV,101001,COPROC,0.20.0.39330*7A

2021-12-04T10:10:03.452Z,1638612603.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:04.245Z,1638612604.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:04.647Z,1638612604.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:05.475Z,1638612605.475 [Micromodem](INFO): Nmea in: $SNTTA,0.134476,,,,101005.69*49

2021-12-04T10:10:05.476Z,1638612605.476 [Micromodem](INFO): Nmea in: $CAREV,101006,AUV,2.1.4000*2C

2021-12-04T10:10:05.509Z,1638612605.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.879990 m, bearing: 268.033780 deg, deltaT: 4.848055 s, deltaX: -2.939987 m, approachRate: -0.606426 m/s, LOS rate: -0.005703 deg/s, posRepo size: 4
2021-12-04T10:10:05.518Z,1638612605.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.879990 m,
      bearing: 268.033780 deg,
      approachRate: -0.606426 m/s,
      LOS rate: -0.005703 deg/s,
      cmd update: -0.017109 deg/s,
      cmd heading: 267.242946 deg,
      new cmd heading: 267.221940 deg.

2021-12-04T10:10:05.876Z,1638612605.876 [Micromodem](INFO): Nmea in: $CAREV,101006,COPROC,0.20.0.39330*7D

2021-12-04T10:10:08.292Z,1638612608.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:09.097Z,1638612609.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:09.495Z,1638612609.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:10.353Z,1638612610.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101010.54*5E

2021-12-04T10:10:10.354Z,1638612610.354 [Micromodem](INFO): Nmea in: $CAREV,101011,AUV,2.1.4000*2A

2021-12-04T10:10:10.374Z,1638612610.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.839996 m, bearing: 268.234096 deg, deltaT: 4.881065 s, deltaX: -2.039993 m, approachRate: -0.417940 m/s, LOS rate: 0.041039 deg/s, posRepo size: 4
2021-12-04T10:10:10.376Z,1638612610.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.839996 m,
      bearing: 268.234096 deg,
      approachRate: -0.417940 m/s,
      LOS rate: 0.041039 deg/s,
      cmd update: 0.123118 deg/s,
      cmd heading: 267.159176 deg,
      new cmd heading: 267.152752 deg.

2021-12-04T10:10:10.732Z,1638612610.732 [Micromodem](INFO): Nmea in: $CAREV,101011,COPROC,0.20.0.39330*7B

2021-12-04T10:10:13.147Z,1638612613.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:13.949Z,1638612613.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:14.339Z,1638612614.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:15.163Z,1638612615.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101015.39*50

2021-12-04T10:10:15.164Z,1638612615.164 [Micromodem](INFO): Nmea in: $CAREV,101016,AUV,2.1.4000*2D

2021-12-04T10:10:15.191Z,1638612615.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.019989 m, bearing: 267.285520 deg, deltaT: 4.817317 s, deltaX: -2.820007 m, approachRate: -0.585390 m/s, LOS rate: -0.196910 deg/s, posRepo size: 4
2021-12-04T10:10:15.193Z,1638612615.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.019989 m,
      bearing: 267.285520 deg,
      approachRate: -0.585390 m/s,
      LOS rate: -0.196910 deg/s,
      cmd update: -0.590729 deg/s,
      cmd heading: 267.746571 deg,
      new cmd heading: 267.798466 deg.

2021-12-04T10:10:15.568Z,1638612615.568 [Micromodem](INFO): Nmea in: $CAREV,101016,COPROC,0.20.0.39330*7C

2021-12-04T10:10:18.042Z,1638612618.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:18.785Z,1638612618.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:19.187Z,1638612619.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:20.018Z,1638612620.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101020.23*5D

2021-12-04T10:10:20.019Z,1638612620.019 [Micromodem](INFO): Nmea in: $CAREV,101021,AUV,2.1.4000*29

2021-12-04T10:10:20.100Z,1638612620.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.199997 m, bearing: 266.408441 deg, deltaT: 4.905072 s, deltaX: -2.819992 m, approachRate: -0.574914 m/s, LOS rate: -0.178810 deg/s, posRepo size: 4
2021-12-04T10:10:20.106Z,1638612620.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.199997 m,
      bearing: 266.408441 deg,
      approachRate: -0.574914 m/s,
      LOS rate: -0.178810 deg/s,
      cmd update: -0.536431 deg/s,
      cmd heading: 264.883952 deg,
      new cmd heading: 264.597512 deg.

2021-12-04T10:10:20.412Z,1638612620.412 [Micromodem](INFO): Nmea in: $CAREV,101021,COPROC,0.20.0.39330*78

2021-12-04T10:10:22.834Z,1638612622.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:23.641Z,1638612623.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:24.043Z,1638612624.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:24.874Z,1638612624.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101025.09*50

2021-12-04T10:10:24.875Z,1638612624.875 [Micromodem](INFO): Nmea in: $CAREV,101026,AUV,2.1.4000*2E

2021-12-04T10:10:24.943Z,1638612624.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.679993 m, bearing: 266.458520 deg, deltaT: 4.800459 s, deltaX: -2.520004 m, approachRate: -0.524951 m/s, LOS rate: 0.010432 deg/s, posRepo size: 4
2021-12-04T10:10:24.945Z,1638612624.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.679993 m,
      bearing: 266.458520 deg,
      approachRate: -0.524951 m/s,
      LOS rate: 0.010432 deg/s,
      cmd update: 0.031296 deg/s,
      cmd heading: 262.286861 deg,
      new cmd heading: 262.038720 deg.

2021-12-04T10:10:25.268Z,1638612625.268 [Micromodem](INFO): Nmea in: $CAREV,101026,COPROC,0.20.0.39330*7F

2021-12-04T10:10:27.697Z,1638612627.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:28.481Z,1638612628.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:28.897Z,1638612628.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:29.716Z,1638612629.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101029.92*5E

2021-12-04T10:10:29.763Z,1638612629.763 [Micromodem](INFO): Nmea in: $CAREV,101030,AUV,2.1.4000*29

2021-12-04T10:10:29.823Z,1638612629.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.099991 m, bearing: 266.697795 deg, deltaT: 4.922019 s, deltaX: -2.580002 m, approachRate: -0.524176 m/s, LOS rate: 0.048613 deg/s, posRepo size: 4
2021-12-04T10:10:29.825Z,1638612629.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.099991 m,
      bearing: 266.697795 deg,
      approachRate: -0.524176 m/s,
      LOS rate: 0.048613 deg/s,
      cmd update: 0.145840 deg/s,
      cmd heading: 262.439727 deg,
      new cmd heading: 262.454663 deg.

2021-12-04T10:10:30.116Z,1638612630.116 [Micromodem](INFO): Nmea in: $CAREV,101030,COPROC,0.20.0.39330*78

2021-12-04T10:10:32.532Z,1638612632.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:33.337Z,1638612633.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:33.774Z,1638612633.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:34.562Z,1638612634.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101034.78*56

2021-12-04T10:10:34.564Z,1638612634.564 [Micromodem](INFO): Nmea in: $CAREV,101035,AUV,2.1.4000*2C

2021-12-04T10:10:34.621Z,1638612634.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.520004 m, bearing: 266.936470 deg, deltaT: 4.798268 s, deltaX: -2.579987 m, approachRate: -0.537691 m/s, LOS rate: 0.049742 deg/s, posRepo size: 4
2021-12-04T10:10:34.628Z,1638612634.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 266.936470 deg,
      approachRate: -0.537691 m/s,
      LOS rate: 0.049742 deg/s,
      cmd update: 0.149225 deg/s,
      cmd heading: 263.145761 deg,
      new cmd heading: 263.209726 deg.

2021-12-04T10:10:34.980Z,1638612634.980 [Micromodem](INFO): Nmea in: $CAREV,101035,COPROC,0.20.0.39330*7D

2021-12-04T10:10:37.380Z,1638612637.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:38.181Z,1638612638.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:38.589Z,1638612638.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:39.050Z,1638612639.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.520004 m, bearing: 267.279400 deg, deltaT: 4.428519 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.077437 deg/s, posRepo size: 4
2021-12-04T10:10:39.056Z,1638612639.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 267.279400 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.077437 deg/s,
      cmd update: 0.232310 deg/s,
      cmd heading: 263.809298 deg,
      new cmd heading: 263.872055 deg.

2021-12-04T10:10:39.416Z,1638612639.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101039.62*50

2021-12-04T10:10:39.418Z,1638612639.418 [Micromodem](INFO): Nmea in: $CAREV,101040,AUV,2.1.4000*2E

2021-12-04T10:10:39.836Z,1638612639.836 [Micromodem](INFO): Nmea in: $CAREV,101040,COPROC,0.20.0.39330*7F

2021-12-04T10:10:41.917Z,1638612641.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:42.638Z,1638612642.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:43.027Z,1638612643.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:43.854Z,1638612643.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101044.08*56

2021-12-04T10:10:43.855Z,1638612643.855 [Micromodem](INFO): Nmea in: $CAREV,101045,AUV,2.1.4000*2B

2021-12-04T10:10:43.955Z,1638612643.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.540009 m, bearing: 267.538510 deg, deltaT: 4.908496 s, deltaX: -4.979996 m, approachRate: -1.014567 m/s, LOS rate: 0.052788 deg/s, posRepo size: 4
2021-12-04T10:10:43.957Z,1638612643.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.540009 m,
      bearing: 267.538510 deg,
      approachRate: -1.014567 m/s,
      LOS rate: 0.052788 deg/s,
      cmd update: 0.158364 deg/s,
      cmd heading: 264.930044 deg,
      new cmd heading: 265.046433 deg.

2021-12-04T10:10:44.253Z,1638612644.253 [Micromodem](INFO): Nmea in: $CAREV,101045,COPROC,0.20.0.39330*7A

2021-12-04T10:10:46.669Z,1638612646.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:47.476Z,1638612647.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:47.892Z,1638612647.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:48.698Z,1638612648.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101048.92*59

2021-12-04T10:10:48.699Z,1638612648.699 [Micromodem](INFO): Nmea in: $CAREV,101049,AUV,2.1.4000*27

2021-12-04T10:10:48.749Z,1638612648.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.840012 m, bearing: 267.116732 deg, deltaT: 4.763091 s, deltaX: -2.699997 m, approachRate: -0.566858 m/s, LOS rate: -0.088551 deg/s, posRepo size: 4
2021-12-04T10:10:48.755Z,1638612648.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.840012 m,
      bearing: 267.116732 deg,
      approachRate: -0.566858 m/s,
      LOS rate: -0.088551 deg/s,
      cmd update: -0.265654 deg/s,
      cmd heading: 265.695522 deg,
      new cmd heading: 265.768713 deg.

2021-12-04T10:10:49.100Z,1638612649.100 [Micromodem](INFO): Nmea in: $CAREV,101049,COPROC,0.20.0.39330*76

2021-12-04T10:10:51.517Z,1638612651.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:52.325Z,1638612652.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:52.723Z,1638612652.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:53.181Z,1638612653.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.840012 m, bearing: 267.695795 deg, deltaT: 4.464007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.129718 deg/s, posRepo size: 4
2021-12-04T10:10:53.183Z,1638612653.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.840012 m,
      bearing: 267.695795 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.129718 deg/s,
      cmd update: 0.389155 deg/s,
      cmd heading: 264.506651 deg,
      new cmd heading: 264.395378 deg.

2021-12-04T10:10:53.564Z,1638612653.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101053.77*58

2021-12-04T10:10:53.581Z,1638612653.581 [Micromodem](INFO): Nmea in: $CAREV,101054,AUV,2.1.4000*2B

2021-12-04T10:10:53.965Z,1638612653.965 [Micromodem](INFO): Nmea in: $CAREV,101054,COPROC,0.20.0.39330*7A

2021-12-04T10:10:56.041Z,1638612656.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:10:56.757Z,1638612656.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:10:57.176Z,1638612657.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:10:57.621Z,1638612657.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.500000 m, bearing: 267.582769 deg, deltaT: 4.436153 s, deltaX: -5.340012 m, approachRate: -1.203748 m/s, LOS rate: -0.025478 deg/s, posRepo size: 4
2021-12-04T10:10:57.628Z,1638612657.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.500000 m,
      bearing: 267.582769 deg,
      approachRate: -1.203748 m/s,
      LOS rate: -0.025478 deg/s,
      cmd update: -0.076435 deg/s,
      cmd heading: 266.239192 deg,
      new cmd heading: 266.397559 deg.

2021-12-04T10:10:58.016Z,1638612658.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101058.20*51

2021-12-04T10:10:58.017Z,1638612658.017 [Micromodem](INFO): Nmea in: $CAREV,101059,AUV,2.1.4000*26

2021-12-04T10:10:58.392Z,1638612658.392 [Micromodem](INFO): Nmea in: $CAREV,101059,COPROC,0.20.0.39330*77

2021-12-04T10:11:00.413Z,1638612660.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:01.209Z,1638612661.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:01.608Z,1638612661.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:02.083Z,1638612662.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.500000 m, bearing: 267.861769 deg, deltaT: 4.464766 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.062489 deg/s, posRepo size: 4
2021-12-04T10:11:02.085Z,1638612662.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.500000 m,
      bearing: 267.861769 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.062489 deg/s,
      cmd update: 0.187468 deg/s,
      cmd heading: 265.899868 deg,
      new cmd heading: 265.867088 deg.

2021-12-04T10:11:02.436Z,1638612662.436 [Micromodem](INFO): Nmea in: $SNTTA,0.111040,,,,101102.65*45

2021-12-04T10:11:02.437Z,1638612662.437 [Micromodem](INFO): Nmea in: $CAREV,101103,AUV,2.1.4000*28

2021-12-04T10:11:02.844Z,1638612662.844 [Micromodem](INFO): Nmea in: $CAREV,101103,COPROC,0.20.0.39330*79

2021-12-04T10:11:04.853Z,1638612664.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:05.648Z,1638612665.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:06.051Z,1638612666.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:06.479Z,1638612666.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.399994 m, bearing: 267.670688 deg, deltaT: 4.394984 s, deltaX: -5.100006 m, approachRate: -1.160415 m/s, LOS rate: -0.043477 deg/s, posRepo size: 4
2021-12-04T10:11:06.481Z,1638612666.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 267.670688 deg,
      approachRate: -1.160415 m/s,
      LOS rate: -0.043477 deg/s,
      cmd update: -0.130431 deg/s,
      cmd heading: 266.736489 deg,
      new cmd heading: 266.804220 deg.

2021-12-04T10:11:06.903Z,1638612666.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101107.09*51

2021-12-04T10:11:06.907Z,1638612666.907 [Micromodem](INFO): Nmea in: $CAREV,101108,AUV,2.1.4000*23

2021-12-04T10:11:07.268Z,1638612667.268 [Micromodem](INFO): Nmea in: $CAREV,101108,COPROC,0.20.0.39330*72

2021-12-04T10:11:09.308Z,1638612669.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:10.093Z,1638612670.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:10.495Z,1638612670.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:10.958Z,1638612670.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.940018 m, bearing: 266.007619 deg, deltaT: 4.480484 s, deltaX: -2.459976 m, approachRate: -0.549043 m/s, LOS rate: -0.371181 deg/s, posRepo size: 4
2021-12-04T10:11:10.960Z,1638612670.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.940018 m,
      bearing: 266.007619 deg,
      approachRate: -0.549043 m/s,
      LOS rate: -0.371181 deg/s,
      cmd update: -1.113542 deg/s,
      cmd heading: 266.159772 deg,
      new cmd heading: 266.105057 deg.

2021-12-04T10:11:11.328Z,1638612671.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101111.54*5E

2021-12-04T10:11:11.329Z,1638612671.329 [Micromodem](INFO): Nmea in: $CAREV,101112,AUV,2.1.4000*28

2021-12-04T10:11:11.720Z,1638612671.720 [Micromodem](INFO): Nmea in: $CAREV,101112,COPROC,0.20.0.39330*79

2021-12-04T10:11:13.769Z,1638612673.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:14.541Z,1638612674.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:14.958Z,1638612674.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:15.397Z,1638612675.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.600006 m, bearing: 268.136643 deg, deltaT: 4.435361 s, deltaX: -2.340012 m, approachRate: -0.527581 m/s, LOS rate: 0.480012 deg/s, posRepo size: 4
2021-12-04T10:11:15.403Z,1638612675.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 268.136643 deg,
      approachRate: -0.527581 m/s,
      LOS rate: 0.480012 deg/s,
      cmd update: 1.440035 deg/s,
      cmd heading: 261.193082 deg,
      new cmd heading: 260.749284 deg.

2021-12-04T10:11:15.828Z,1638612675.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101115.99*5B

2021-12-04T10:11:15.829Z,1638612675.829 [Micromodem](INFO): Nmea in: $CAREV,101117,AUV,2.1.4000*2D

2021-12-04T10:11:16.172Z,1638612676.172 [Micromodem](INFO): Nmea in: $CAREV,101117,COPROC,0.20.0.39330*7C

2021-12-04T10:11:18.199Z,1638612678.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:18.985Z,1638612678.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:19.389Z,1638612679.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:19.885Z,1638612679.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.319992 m, bearing: 266.449177 deg, deltaT: 4.492245 s, deltaX: -2.280014 m, approachRate: -0.507544 m/s, LOS rate: -0.375640 deg/s, posRepo size: 4
2021-12-04T10:11:19.887Z,1638612679.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.319992 m,
      bearing: 266.449177 deg,
      approachRate: -0.507544 m/s,
      LOS rate: -0.375640 deg/s,
      cmd update: -1.126920 deg/s,
      cmd heading: 267.563759 deg,
      new cmd heading: 268.230322 deg.

2021-12-04T10:11:20.216Z,1638612680.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101120.43*5A

2021-12-04T10:11:20.217Z,1638612680.217 [Micromodem](INFO): Nmea in: $CAREV,101121,AUV,2.1.4000*28

2021-12-04T10:11:20.616Z,1638612680.616 [Micromodem](INFO): Nmea in: $CAREV,101121,COPROC,0.20.0.39330*79

2021-12-04T10:11:22.233Z,1638612682.233 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T10:11:22.645Z,1638612682.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:23.425Z,1638612683.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:23.850Z,1638612683.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:24.282Z,1638612684.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.860016 m, bearing: 266.171570 deg, deltaT: 4.396593 s, deltaX: -2.459976 m, approachRate: -0.559519 m/s, LOS rate: -0.063141 deg/s, posRepo size: 4
2021-12-04T10:11:24.284Z,1638612684.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 266.171570 deg,
      approachRate: -0.559519 m/s,
      LOS rate: -0.063141 deg/s,
      cmd update: -0.189424 deg/s,
      cmd heading: 262.461564 deg,
      new cmd heading: 262.087499 deg.

2021-12-04T10:11:24.660Z,1638612684.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101124.87*56

2021-12-04T10:11:24.661Z,1638612684.661 [Micromodem](INFO): Nmea in: $CAREV,101125,AUV,2.1.4000*2C

2021-12-04T10:11:25.060Z,1638612685.060 [Micromodem](INFO): Nmea in: $CAREV,101125,COPROC,0.20.0.39330*7D

2021-12-04T10:11:27.099Z,1638612687.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:27.885Z,1638612687.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:28.290Z,1638612688.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:28.714Z,1638612688.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.860016 m, bearing: 266.372870 deg, deltaT: 4.414343 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.045601 deg/s, posRepo size: 4
2021-12-04T10:11:28.720Z,1638612688.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 266.372870 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.045601 deg/s,
      cmd update: 0.136804 deg/s,
      cmd heading: 261.632884 deg,
      new cmd heading: 261.559146 deg.

2021-12-04T10:11:29.096Z,1638612689.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101129.33*54

2021-12-04T10:11:29.097Z,1638612689.097 [Micromodem](INFO): Nmea in: $CAREV,101130,AUV,2.1.4000*28

2021-12-04T10:11:29.500Z,1638612689.500 [Micromodem](INFO): Nmea in: $CAREV,101130,COPROC,0.20.0.39330*79

2021-12-04T10:11:31.540Z,1638612691.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:32.319Z,1638612692.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:32.726Z,1638612692.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:33.172Z,1638612693.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.059998 m, bearing: 266.934120 deg, deltaT: 4.476008 s, deltaX: -4.800018 m, approachRate: -1.072388 m/s, LOS rate: 0.125391 deg/s, posRepo size: 4
2021-12-04T10:11:33.174Z,1638612693.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.059998 m,
      bearing: 266.934120 deg,
      approachRate: -1.072388 m/s,
      LOS rate: 0.125391 deg/s,
      cmd update: 0.376172 deg/s,
      cmd heading: 262.239443 deg,
      new cmd heading: 262.296041 deg.

2021-12-04T10:11:36.037Z,1638612696.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:36.753Z,1638612696.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:37.171Z,1638612697.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:37.603Z,1638612697.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.360001 m, bearing: 267.258718 deg, deltaT: 4.431077 s, deltaX: -2.699997 m, approachRate: -0.609332 m/s, LOS rate: 0.073255 deg/s, posRepo size: 4
2021-12-04T10:11:37.605Z,1638612697.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.360001 m,
      bearing: 267.258718 deg,
      approachRate: -0.609332 m/s,
      LOS rate: 0.073255 deg/s,
      cmd update: 0.219765 deg/s,
      cmd heading: 263.922726 deg,
      new cmd heading: 264.061822 deg.

2021-12-04T10:11:38.005Z,1638612698.005 [Micromodem](INFO): Nmea in: $SNTTA,0.118997,,,,101138.20*47

2021-12-04T10:11:38.007Z,1638612698.007 [Micromodem](INFO): Nmea in: $CAREV,101139,AUV,2.1.4000*21

2021-12-04T10:11:38.384Z,1638612698.384 [Micromodem](INFO): Nmea in: $CAREV,101139,COPROC,0.20.0.39330*70

2021-12-04T10:11:40.434Z,1638612700.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:41.201Z,1638612701.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:41.610Z,1638612701.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:42.119Z,1638612702.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.779999 m, bearing: 267.115339 deg, deltaT: 4.507207 s, deltaX: -2.580002 m, approachRate: -0.572417 m/s, LOS rate: -0.031811 deg/s, posRepo size: 4
2021-12-04T10:11:42.121Z,1638612702.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.779999 m,
      bearing: 267.115339 deg,
      approachRate: -0.572417 m/s,
      LOS rate: -0.031811 deg/s,
      cmd update: -0.095433 deg/s,
      cmd heading: 264.891049 deg,
      new cmd heading: 264.995490 deg.

2021-12-04T10:11:42.440Z,1638612702.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101142.65*5A

2021-12-04T10:11:42.441Z,1638612702.441 [Micromodem](INFO): Nmea in: $CAREV,101143,AUV,2.1.4000*2C

2021-12-04T10:11:42.828Z,1638612702.828 [Micromodem](INFO): Nmea in: $CAREV,101143,COPROC,0.20.0.39330*7D

2021-12-04T10:11:44.849Z,1638612704.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:45.649Z,1638612705.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:46.059Z,1638612706.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:46.475Z,1638612706.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.199997 m, bearing: 266.666513 deg, deltaT: 4.364573 s, deltaX: -2.580002 m, approachRate: -0.591124 m/s, LOS rate: -0.102834 deg/s, posRepo size: 4
2021-12-04T10:11:46.477Z,1638612706.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.199997 m,
      bearing: 266.666513 deg,
      approachRate: -0.591124 m/s,
      LOS rate: -0.102834 deg/s,
      cmd update: -0.308501 deg/s,
      cmd heading: 264.459441 deg,
      new cmd heading: 264.429594 deg.

2021-12-04T10:11:46.892Z,1638612706.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101147.09*55

2021-12-04T10:11:46.892Z,1638612706.892 [Micromodem](INFO): Nmea in: $CAREV,101148,AUV,2.1.4000*27

2021-12-04T10:11:47.272Z,1638612707.272 [Micromodem](INFO): Nmea in: $CAREV,101148,COPROC,0.20.0.39330*76

2021-12-04T10:11:49.327Z,1638612709.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:50.089Z,1638612710.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:50.495Z,1638612710.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:50.964Z,1638612710.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.039993 m, bearing: 267.979248 deg, deltaT: 4.484433 s, deltaX: -2.160004 m, approachRate: -0.481667 m/s, LOS rate: 0.292732 deg/s, posRepo size: 4
2021-12-04T10:11:50.965Z,1638612710.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.039993 m,
      bearing: 267.979248 deg,
      approachRate: -0.481667 m/s,
      LOS rate: 0.292732 deg/s,
      cmd update: 0.878195 deg/s,
      cmd heading: 263.108047 deg,
      new cmd heading: 262.979498 deg.

2021-12-04T10:11:51.328Z,1638612711.328 [Micromodem](INFO): Nmea in: $SNTTA,0.097339,,,,101151.53*44

2021-12-04T10:11:51.329Z,1638612711.329 [Micromodem](INFO): Nmea in: $CAREV,101152,AUV,2.1.4000*2C

2021-12-04T10:11:51.720Z,1638612711.720 [Micromodem](INFO): Nmea in: $CAREV,101152,COPROC,0.20.0.39330*7D

2021-12-04T10:11:53.804Z,1638612713.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:54.537Z,1638612714.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:54.959Z,1638612714.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:55.397Z,1638612715.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.580002 m, bearing: 267.625581 deg, deltaT: 4.437292 s, deltaX: -2.459991 m, approachRate: -0.554390 m/s, LOS rate: -0.079703 deg/s, posRepo size: 4
2021-12-04T10:11:55.399Z,1638612715.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.580002 m,
      bearing: 267.625581 deg,
      approachRate: -0.554390 m/s,
      LOS rate: -0.079703 deg/s,
      cmd update: -0.239110 deg/s,
      cmd heading: 267.042206 deg,
      new cmd heading: 267.370978 deg.

2021-12-04T10:11:55.792Z,1638612715.792 [Micromodem](INFO): Nmea in: $SNTTA,0.094241,,,,101155.98*4A

2021-12-04T10:11:55.799Z,1638612715.799 [Micromodem](INFO): Nmea in: $CAREV,101157,AUV,2.1.4000*29

2021-12-04T10:11:56.160Z,1638612716.160 [Micromodem](INFO): Nmea in: $CAREV,101157,COPROC,0.20.0.39330*78

2021-12-04T10:11:58.190Z,1638612718.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:11:58.985Z,1638612718.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:11:59.380Z,1638612719.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:11:59.870Z,1638612719.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 266.871883 deg, deltaT: 4.472704 s, deltaX: -2.580002 m, approachRate: -0.576833 m/s, LOS rate: -0.168511 deg/s, posRepo size: 4
2021-12-04T10:11:59.889Z,1638612719.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.000000 m,
      bearing: 266.871883 deg,
      approachRate: -0.576833 m/s,
      LOS rate: -0.168511 deg/s,
      cmd update: -0.505532 deg/s,
      cmd heading: 265.989138 deg,
      new cmd heading: 265.883218 deg.

2021-12-04T10:12:00.216Z,1638612720.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101200.43*5B

2021-12-04T10:12:00.217Z,1638612720.217 [Micromodem](INFO): Nmea in: $CAREV,101201,AUV,2.1.4000*29

2021-12-04T10:12:00.600Z,1638612720.600 [Micromodem](INFO): Nmea in: $CAREV,101201,COPROC,0.20.0.39330*78

2021-12-04T10:12:02.624Z,1638612722.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:03.413Z,1638612723.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:03.839Z,1638612723.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:04.275Z,1638612724.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.419998 m, bearing: 267.320108 deg, deltaT: 4.405641 s, deltaX: -2.580002 m, approachRate: -0.585613 m/s, LOS rate: 0.101739 deg/s, posRepo size: 4
2021-12-04T10:12:04.277Z,1638612724.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.419998 m,
      bearing: 267.320108 deg,
      approachRate: -0.585613 m/s,
      LOS rate: 0.101739 deg/s,
      cmd update: 0.305216 deg/s,
      cmd heading: 263.724093 deg,
      new cmd heading: 263.538138 deg.

2021-12-04T10:12:04.668Z,1638612724.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101204.86*56

2021-12-04T10:12:04.669Z,1638612724.669 [Micromodem](INFO): Nmea in: $CAREV,101205,AUV,2.1.4000*2D

2021-12-04T10:12:05.044Z,1638612725.044 [Micromodem](INFO): Nmea in: $CAREV,101205,COPROC,0.20.0.39330*7C

2021-12-04T10:12:07.084Z,1638612727.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:07.861Z,1638612727.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:08.267Z,1638612728.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:08.696Z,1638612728.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.319992 m, bearing: 266.697058 deg, deltaT: 4.420808 s, deltaX: -2.100006 m, approachRate: -0.475028 m/s, LOS rate: -0.140936 deg/s, posRepo size: 4
2021-12-04T10:12:08.698Z,1638612728.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.319992 m,
      bearing: 266.697058 deg,
      approachRate: -0.475028 m/s,
      LOS rate: -0.140936 deg/s,
      cmd update: -0.422807 deg/s,
      cmd heading: 265.067206 deg,
      new cmd heading: 265.185668 deg.

2021-12-04T10:12:09.108Z,1638612729.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101209.31*57

2021-12-04T10:12:09.109Z,1638612729.109 [Micromodem](INFO): Nmea in: $CAREV,101210,AUV,2.1.4000*29

2021-12-04T10:12:09.504Z,1638612729.504 [Micromodem](INFO): Nmea in: $CAREV,101210,COPROC,0.20.0.39330*78

2021-12-04T10:12:11.516Z,1638612731.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:12.301Z,1638612732.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:12.711Z,1638612732.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:13.141Z,1638612733.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.380005 m, bearing: 266.066030 deg, deltaT: 4.445456 s, deltaX: -2.939987 m, approachRate: -0.661347 m/s, LOS rate: -0.141949 deg/s, posRepo size: 4
2021-12-04T10:12:13.144Z,1638612733.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.380005 m,
      bearing: 266.066030 deg,
      approachRate: -0.661347 m/s,
      LOS rate: -0.141949 deg/s,
      cmd update: -0.425847 deg/s,
      cmd heading: 263.183216 deg,
      new cmd heading: 263.023418 deg.

2021-12-04T10:12:13.544Z,1638612733.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101213.75*5C

2021-12-04T10:12:13.545Z,1638612733.545 [Micromodem](INFO): Nmea in: $CAREV,101214,AUV,2.1.4000*2D

2021-12-04T10:12:13.942Z,1638612733.942 [Micromodem](INFO): Nmea in: $CAREV,101214,COPROC,0.20.0.39330*7C

2021-12-04T10:12:16.011Z,1638612736.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:16.757Z,1638612736.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:17.168Z,1638612737.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:17.608Z,1638612737.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.040001 m, bearing: 266.002045 deg, deltaT: 4.462291 s, deltaX: -2.340004 m, approachRate: -0.524395 m/s, LOS rate: -0.014339 deg/s, posRepo size: 4
2021-12-04T10:12:17.610Z,1638612737.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.040001 m,
      bearing: 266.002045 deg,
      approachRate: -0.524395 m/s,
      LOS rate: -0.014339 deg/s,
      cmd update: -0.043017 deg/s,
      cmd heading: 261.290919 deg,
      new cmd heading: 261.122124 deg.

2021-12-04T10:12:18.003Z,1638612738.003 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101218.20*57

2021-12-04T10:12:18.004Z,1638612738.004 [Micromodem](INFO): Nmea in: $CAREV,101219,AUV,2.1.4000*20

2021-12-04T10:12:18.376Z,1638612738.376 [Micromodem](INFO): Nmea in: $CAREV,101219,COPROC,0.20.0.39330*71

2021-12-04T10:12:20.416Z,1638612740.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:21.201Z,1638612741.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:21.610Z,1638612741.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:22.096Z,1638612742.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.580002 m, bearing: 266.659464 deg, deltaT: 4.487556 s, deltaX: -2.459999 m, approachRate: -0.548182 m/s, LOS rate: 0.146498 deg/s, posRepo size: 4
2021-12-04T10:12:22.098Z,1638612742.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.580002 m,
      bearing: 266.659464 deg,
      approachRate: -0.548182 m/s,
      LOS rate: 0.146498 deg/s,
      cmd update: 0.439495 deg/s,
      cmd heading: 261.100124 deg,
      new cmd heading: 261.080825 deg.

2021-12-04T10:12:22.444Z,1638612742.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101222.65*5F

2021-12-04T10:12:22.445Z,1638612742.445 [Micromodem](INFO): Nmea in: $CAREV,101223,AUV,2.1.4000*29

2021-12-04T10:12:22.828Z,1638612742.828 [Micromodem](INFO): Nmea in: $CAREV,101223,COPROC,0.20.0.39330*78

2021-12-04T10:12:24.853Z,1638612744.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:25.653Z,1638612745.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:26.050Z,1638612746.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:26.107Z,1638612746.107 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:12:26.474Z,1638612746.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.059998 m, bearing: 265.436915 deg, deltaT: 4.382990 s, deltaX: -2.520004 m, approachRate: -0.574951 m/s, LOS rate: -0.278930 deg/s, posRepo size: 4
2021-12-04T10:12:26.476Z,1638612746.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.059998 m,
      bearing: 265.436915 deg,
      approachRate: -0.574951 m/s,
      LOS rate: -0.278930 deg/s,
      cmd update: -0.836791 deg/s,
      cmd heading: 263.068167 deg,
      new cmd heading: 263.223679 deg.

2021-12-04T10:12:26.892Z,1638612746.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101227.10*58

2021-12-04T10:12:26.893Z,1638612746.893 [Micromodem](INFO): Nmea in: $CAREV,101228,AUV,2.1.4000*22

2021-12-04T10:12:27.276Z,1638612747.276 [Micromodem](INFO): Nmea in: $CAREV,101228,COPROC,0.20.0.39330*73

2021-12-04T10:12:29.322Z,1638612749.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:30.087Z,1638612750.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:30.495Z,1638612750.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:30.975Z,1638612750.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 267.236697 deg, deltaT: 4.500070 s, deltaX: -2.759987 m, approachRate: -0.613321 m/s, LOS rate: 0.399945 deg/s, posRepo size: 4
2021-12-04T10:12:30.976Z,1638612750.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.300011 m,
      bearing: 267.236697 deg,
      approachRate: -0.613321 m/s,
      LOS rate: 0.399945 deg/s,
      cmd update: 1.199836 deg/s,
      cmd heading: 259.381084 deg,
      new cmd heading: 259.006425 deg.

2021-12-04T10:12:31.324Z,1638612751.324 [Micromodem](INFO): Nmea in: $SNTTA,0.086943,,,,101231.54*41

2021-12-04T10:12:31.325Z,1638612751.325 [Micromodem](INFO): Nmea in: $CAREV,101232,AUV,2.1.4000*29

2021-12-04T10:12:31.721Z,1638612751.721 [Micromodem](INFO): Nmea in: $CAREV,101232,COPROC,0.20.0.39330*78

2021-12-04T10:12:33.773Z,1638612753.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:34.530Z,1638612754.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:34.950Z,1638612754.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:35.370Z,1638612755.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.960007 m, bearing: 265.970189 deg, deltaT: 4.394937 s, deltaX: -2.340004 m, approachRate: -0.532432 m/s, LOS rate: -0.288174 deg/s, posRepo size: 4
2021-12-04T10:12:35.408Z,1638612755.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 265.970189 deg,
      approachRate: -0.532432 m/s,
      LOS rate: -0.288174 deg/s,
      cmd update: -0.864523 deg/s,
      cmd heading: 264.779484 deg,
      new cmd heading: 265.191902 deg.

2021-12-04T10:12:35.788Z,1638612755.788 [Micromodem](INFO): Nmea in: $SNTTA,0.086478,,,,101235.98*40

2021-12-04T10:12:35.801Z,1638612755.801 [Micromodem](INFO): Nmea in: $CAREV,101237,AUV,2.1.4000*2C

2021-12-04T10:12:36.152Z,1638612756.152 [Micromodem](INFO): Nmea in: $CAREV,101237,COPROC,0.20.0.39330*7D

2021-12-04T10:12:38.186Z,1638612758.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:38.985Z,1638612758.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:39.387Z,1638612759.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:39.884Z,1638612759.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.799995 m, bearing: 266.998652 deg, deltaT: 4.492064 s, deltaX: -2.160011 m, approachRate: -0.480851 m/s, LOS rate: 0.228951 deg/s, posRepo size: 4
2021-12-04T10:12:39.891Z,1638612759.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.799995 m,
      bearing: 266.998652 deg,
      approachRate: -0.480851 m/s,
      LOS rate: 0.228951 deg/s,
      cmd update: 0.686853 deg/s,
      cmd heading: 260.972164 deg,
      new cmd heading: 260.585033 deg.

2021-12-04T10:12:40.208Z,1638612760.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101240.43*5F

2021-12-04T10:12:40.209Z,1638612760.209 [Micromodem](INFO): Nmea in: $CAREV,101241,AUV,2.1.4000*2D

2021-12-04T10:12:40.604Z,1638612760.604 [Micromodem](INFO): Nmea in: $CAREV,101241,COPROC,0.20.0.39330*7C

2021-12-04T10:12:42.616Z,1638612762.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:43.417Z,1638612763.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:43.850Z,1638612763.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:44.281Z,1638612764.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.760002 m, bearing: 266.895079 deg, deltaT: 4.419619 s, deltaX: -2.039993 m, approachRate: -0.461577 m/s, LOS rate: -0.023435 deg/s, posRepo size: 4
2021-12-04T10:12:44.291Z,1638612764.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.760002 m,
      bearing: 266.895079 deg,
      approachRate: -0.461577 m/s,
      LOS rate: -0.023435 deg/s,
      cmd update: -0.070304 deg/s,
      cmd heading: 264.077495 deg,
      new cmd heading: 264.304446 deg.

2021-12-04T10:12:44.660Z,1638612764.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101244.86*52

2021-12-04T10:12:44.661Z,1638612764.661 [Micromodem](INFO): Nmea in: $CAREV,101245,AUV,2.1.4000*29

2021-12-04T10:12:45.051Z,1638612765.051 [Micromodem](INFO): Nmea in: $CAREV,101245,COPROC,0.20.0.39330*78

2021-12-04T10:12:47.094Z,1638612767.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:47.861Z,1638612767.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:48.263Z,1638612768.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:48.706Z,1638612768.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 267.094684 deg, deltaT: 4.405182 s, deltaX: -2.339996 m, approachRate: -0.531192 m/s, LOS rate: 0.045312 deg/s, posRepo size: 4
2021-12-04T10:12:48.708Z,1638612768.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.420006 m,
      bearing: 267.094684 deg,
      approachRate: -0.531192 m/s,
      LOS rate: 0.045312 deg/s,
      cmd update: 0.135935 deg/s,
      cmd heading: 263.771847 deg,
      new cmd heading: 263.743186 deg.

2021-12-04T10:12:49.096Z,1638612769.096 [Micromodem](INFO): Nmea in: $SNTTA,0.089220,,,,101249.31*4C

2021-12-04T10:12:49.097Z,1638612769.097 [Micromodem](INFO): Nmea in: $CAREV,101250,AUV,2.1.4000*2D

2021-12-04T10:12:49.488Z,1638612769.488 [Micromodem](INFO): Nmea in: $CAREV,101250,COPROC,0.20.0.39330*7C

2021-12-04T10:12:51.509Z,1638612771.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:52.305Z,1638612772.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:52.703Z,1638612772.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:53.157Z,1638612773.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.140007 m, bearing: 266.151189 deg, deltaT: 4.470675 s, deltaX: -2.279999 m, approachRate: -0.509990 m/s, LOS rate: -0.211041 deg/s, posRepo size: 4
2021-12-04T10:12:53.159Z,1638612773.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.140007 m,
      bearing: 266.151189 deg,
      approachRate: -0.509990 m/s,
      LOS rate: -0.211041 deg/s,
      cmd update: -0.633123 deg/s,
      cmd heading: 264.375380 deg,
      new cmd heading: 264.432264 deg.

2021-12-04T10:12:53.548Z,1638612773.548 [Micromodem](INFO): Nmea in: $SNTTA,0.080677,,,,101253.75*48

2021-12-04T10:12:53.549Z,1638612773.549 [Micromodem](INFO): Nmea in: $CAREV,101254,AUV,2.1.4000*29

2021-12-04T10:12:53.952Z,1638612773.952 [Micromodem](INFO): Nmea in: $CAREV,101254,COPROC,0.20.0.39330*78

2021-12-04T10:12:56.013Z,1638612776.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:12:56.749Z,1638612776.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:12:57.154Z,1638612777.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:12:57.588Z,1638612777.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 265.801511 deg, deltaT: 4.431056 s, deltaX: -2.580009 m, approachRate: -0.582256 m/s, LOS rate: -0.078915 deg/s, posRepo size: 4
2021-12-04T10:12:57.590Z,1638612777.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.559998 m,
      bearing: 265.801511 deg,
      approachRate: -0.582256 m/s,
      LOS rate: -0.078915 deg/s,
      cmd update: -0.236746 deg/s,
      cmd heading: 261.556323 deg,
      new cmd heading: 261.305199 deg.

2021-12-04T10:12:58.008Z,1638612778.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101258.19*59

2021-12-04T10:12:58.009Z,1638612778.009 [Micromodem](INFO): Nmea in: $CAREV,101259,AUV,2.1.4000*24

2021-12-04T10:12:58.380Z,1638612778.380 [Micromodem](INFO): Nmea in: $CAREV,101259,COPROC,0.20.0.39330*75

2021-12-04T10:13:00.404Z,1638612780.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:01.193Z,1638612781.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:01.599Z,1638612781.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:02.073Z,1638612782.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 266.406529 deg, deltaT: 4.469107 s, deltaX: -2.279999 m, approachRate: -0.510169 m/s, LOS rate: 0.135378 deg/s, posRepo size: 4
2021-12-04T10:13:02.080Z,1638612782.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.279999 m,
      bearing: 266.406529 deg,
      approachRate: -0.510169 m/s,
      LOS rate: 0.135378 deg/s,
      cmd update: 0.406134 deg/s,
      cmd heading: 260.505251 deg,
      new cmd heading: 260.400538 deg.

2021-12-04T10:13:02.440Z,1638612782.440 [Micromodem](INFO): Nmea in: $SNTTA,0.078177,,,,101302.64*4D

2021-12-04T10:13:02.441Z,1638612782.441 [Micromodem](INFO): Nmea in: $CAREV,101303,AUV,2.1.4000*2A

2021-12-04T10:13:02.816Z,1638612782.816 [Micromodem](INFO): Nmea in: $CAREV,101303,COPROC,0.20.0.39330*7B

2021-12-04T10:13:04.841Z,1638612784.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:05.633Z,1638612785.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:06.051Z,1638612786.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:06.460Z,1638612786.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 265.102618 deg, deltaT: 4.402426 s, deltaX: -2.459999 m, approachRate: -0.558783 m/s, LOS rate: -0.296180 deg/s, posRepo size: 4
2021-12-04T10:13:06.462Z,1638612786.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.820000 m,
      bearing: 265.102618 deg,
      approachRate: -0.558783 m/s,
      LOS rate: -0.296180 deg/s,
      cmd update: -0.888540 deg/s,
      cmd heading: 262.326794 deg,
      new cmd heading: 262.466282 deg.

2021-12-04T10:13:06.888Z,1638612786.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101307.08*52

2021-12-04T10:13:06.889Z,1638612786.889 [Micromodem](INFO): Nmea in: $CAREV,101308,AUV,2.1.4000*21

2021-12-04T10:13:07.256Z,1638612787.256 [Micromodem](INFO): Nmea in: $CAREV,101308,COPROC,0.20.0.39330*70

2021-12-04T10:13:09.298Z,1638612789.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:10.077Z,1638612790.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:10.501Z,1638612790.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:10.969Z,1638612790.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 266.037207 deg, deltaT: 4.502063 s, deltaX: -2.579994 m, approachRate: -0.573069 m/s, LOS rate: 0.207591 deg/s, posRepo size: 4
2021-12-04T10:13:10.983Z,1638612790.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 266.037207 deg,
      approachRate: -0.573069 m/s,
      LOS rate: 0.207591 deg/s,
      cmd update: 0.622773 deg/s,
      cmd heading: 258.400109 deg,
      new cmd heading: 258.014043 deg.

2021-12-04T10:13:11.316Z,1638612791.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101311.53*5B

2021-12-04T10:13:11.317Z,1638612791.317 [Micromodem](INFO): Nmea in: $CAREV,101312,AUV,2.1.4000*2A

2021-12-04T10:13:11.708Z,1638612791.708 [Micromodem](INFO): Nmea in: $CAREV,101312,COPROC,0.20.0.39330*7B

2021-12-04T10:13:13.758Z,1638612793.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:14.525Z,1638612794.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:14.950Z,1638612794.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:15.379Z,1638612795.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.839996 m, bearing: 266.263887 deg, deltaT: 4.416550 s, deltaX: -2.400009 m, approachRate: -0.543413 m/s, LOS rate: 0.051325 deg/s, posRepo size: 4
2021-12-04T10:13:15.380Z,1638612795.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.839996 m,
      bearing: 266.263887 deg,
      approachRate: -0.543413 m/s,
      LOS rate: 0.051325 deg/s,
      cmd update: 0.153976 deg/s,
      cmd heading: 261.182558 deg,
      new cmd heading: 261.416431 deg.

2021-12-04T10:13:15.789Z,1638612795.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101315.97*57

2021-12-04T10:13:15.792Z,1638612795.792 [Micromodem](INFO): Nmea in: $CAREV,101317,AUV,2.1.4000*2F

2021-12-04T10:13:16.163Z,1638612796.163 [Micromodem](INFO): Nmea in: $CAREV,101317,COPROC,0.20.0.39330*7E

2021-12-04T10:13:18.203Z,1638612798.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:18.993Z,1638612798.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:19.379Z,1638612799.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:19.857Z,1638612799.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 266.143949 deg, deltaT: 4.479474 s, deltaX: -2.339989 m, approachRate: -0.522380 m/s, LOS rate: -0.026775 deg/s, posRepo size: 4
2021-12-04T10:13:19.860Z,1638612799.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.500008 m,
      bearing: 266.143949 deg,
      approachRate: -0.522380 m/s,
      LOS rate: -0.026775 deg/s,
      cmd update: -0.080325 deg/s,
      cmd heading: 261.862303 deg,
      new cmd heading: 261.930059 deg.

2021-12-04T10:13:20.205Z,1638612800.205 [Micromodem](INFO): Nmea in: $SNTTA,0.072047,,,,101320.44*47

2021-12-04T10:13:20.206Z,1638612800.206 [Micromodem](INFO): Nmea in: $CAREV,101321,AUV,2.1.4000*2A

2021-12-04T10:13:20.601Z,1638612800.601 [Micromodem](INFO): Nmea in: $CAREV,101321,COPROC,0.20.0.39330*7B

2021-12-04T10:13:22.616Z,1638612802.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:23.413Z,1638612803.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:23.837Z,1638612803.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:24.263Z,1638612804.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 265.707664 deg, deltaT: 4.405129 s, deltaX: -2.520004 m, approachRate: -0.572061 m/s, LOS rate: -0.099040 deg/s, posRepo size: 4
2021-12-04T10:13:24.265Z,1638612804.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 265.707664 deg,
      approachRate: -0.572061 m/s,
      LOS rate: -0.099040 deg/s,
      cmd update: -0.297121 deg/s,
      cmd heading: 261.498796 deg,
      new cmd heading: 261.473101 deg.

2021-12-04T10:13:24.649Z,1638612804.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101324.86*55

2021-12-04T10:13:24.650Z,1638612804.650 [Micromodem](INFO): Nmea in: $CAREV,101325,AUV,2.1.4000*2E

2021-12-04T10:13:25.044Z,1638612805.044 [Micromodem](INFO): Nmea in: $CAREV,101325,COPROC,0.20.0.39330*7F

2021-12-04T10:13:27.090Z,1638612807.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:27.857Z,1638612807.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:28.263Z,1638612808.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:28.679Z,1638612808.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.459999 m, bearing: 266.710172 deg, deltaT: 4.416776 s, deltaX: -2.520004 m, approachRate: -0.570553 m/s, LOS rate: 0.226977 deg/s, posRepo size: 4
2021-12-04T10:13:28.681Z,1638612808.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.459999 m,
      bearing: 266.710172 deg,
      approachRate: -0.570553 m/s,
      LOS rate: 0.226977 deg/s,
      cmd update: 0.680932 deg/s,
      cmd heading: 260.202270 deg,
      new cmd heading: 260.091546 deg.

2021-12-04T10:13:29.096Z,1638612809.096 [Micromodem](INFO): Nmea in: $SNTTA,0.074750,,,,101329.30*4A

2021-12-04T10:13:29.097Z,1638612809.097 [Micromodem](INFO): Nmea in: $CAREV,101330,AUV,2.1.4000*2A

2021-12-04T10:13:29.488Z,1638612809.488 [Micromodem](INFO): Nmea in: $CAREV,101330,COPROC,0.20.0.39330*7B

2021-12-04T10:13:31.504Z,1638612811.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:32.300Z,1638612812.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:32.716Z,1638612812.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:33.152Z,1638612813.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.360001 m, bearing: 266.824618 deg, deltaT: 4.472561 s, deltaX: -2.099998 m, approachRate: -0.469529 m/s, LOS rate: 0.025589 deg/s, posRepo size: 4
2021-12-04T10:13:33.154Z,1638612813.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.360001 m,
      bearing: 266.824618 deg,
      approachRate: -0.469529 m/s,
      LOS rate: 0.025589 deg/s,
      cmd update: 0.076766 deg/s,
      cmd heading: 263.228728 deg,
      new cmd heading: 263.501518 deg.

2021-12-04T10:13:33.547Z,1638612813.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101333.75*5F

2021-12-04T10:13:33.548Z,1638612813.548 [Micromodem](INFO): Nmea in: $CAREV,101334,AUV,2.1.4000*2E

2021-12-04T10:13:33.944Z,1638612813.944 [Micromodem](INFO): Nmea in: $CAREV,101334,COPROC,0.20.0.39330*7F

2021-12-04T10:13:36.009Z,1638612816.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:36.741Z,1638612816.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:37.151Z,1638612817.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:37.167Z,1638612817.167 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:13:37.585Z,1638612817.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.020004 m, bearing: 267.448925 deg, deltaT: 4.433178 s, deltaX: -2.339996 m, approachRate: -0.527837 m/s, LOS rate: 0.140826 deg/s, posRepo size: 4
2021-12-04T10:13:37.587Z,1638612817.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.020004 m,
      bearing: 267.448925 deg,
      approachRate: -0.527837 m/s,
      LOS rate: 0.140826 deg/s,
      cmd update: 0.422478 deg/s,
      cmd heading: 263.569213 deg,
      new cmd heading: 263.599818 deg.

2021-12-04T10:13:37.992Z,1638612817.992 [Micromodem](INFO): Nmea in: $SNTTA,0.070792,,,,101338.19*4B

2021-12-04T10:13:37.993Z,1638612817.993 [Micromodem](INFO): Nmea in: $CAREV,101339,AUV,2.1.4000*23

2021-12-04T10:13:38.368Z,1638612818.368 [Micromodem](INFO): Nmea in: $CAREV,101339,COPROC,0.20.0.39330*72

2021-12-04T10:13:40.389Z,1638612820.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:41.197Z,1638612821.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:41.607Z,1638612821.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:42.063Z,1638612822.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.260002 m, bearing: 267.353658 deg, deltaT: 4.478243 s, deltaX: -2.760002 m, approachRate: -0.616314 m/s, LOS rate: -0.021273 deg/s, posRepo size: 4
2021-12-04T10:13:42.065Z,1638612822.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.260002 m,
      bearing: 267.353658 deg,
      approachRate: -0.616314 m/s,
      LOS rate: -0.021273 deg/s,
      cmd update: -0.063820 deg/s,
      cmd heading: 265.450342 deg,
      new cmd heading: 265.629493 deg.

2021-12-04T10:13:42.436Z,1638612822.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101342.64*59

2021-12-04T10:13:42.437Z,1638612822.437 [Micromodem](INFO): Nmea in: $CAREV,101343,AUV,2.1.4000*2E

2021-12-04T10:13:42.828Z,1638612822.828 [Micromodem](INFO): Nmea in: $CAREV,101343,COPROC,0.20.0.39330*7F

2021-12-04T10:13:44.848Z,1638612824.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:45.649Z,1638612825.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:46.051Z,1638612826.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:46.467Z,1638612826.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.560005 m, bearing: 266.499665 deg, deltaT: 4.404116 s, deltaX: -2.699997 m, approachRate: -0.613062 m/s, LOS rate: -0.193908 deg/s, posRepo size: 4
2021-12-04T10:13:46.469Z,1638612826.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.560005 m,
      bearing: 266.499665 deg,
      approachRate: -0.613062 m/s,
      LOS rate: -0.193908 deg/s,
      cmd update: -0.581723 deg/s,
      cmd heading: 265.163040 deg,
      new cmd heading: 265.142207 deg.

2021-12-04T10:13:46.888Z,1638612826.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101347.09*57

2021-12-04T10:13:46.889Z,1638612826.889 [Micromodem](INFO): Nmea in: $CAREV,101348,AUV,2.1.4000*25

2021-12-04T10:13:47.272Z,1638612827.272 [Micromodem](INFO): Nmea in: $CAREV,101348,COPROC,0.20.0.39330*74

2021-12-04T10:13:49.312Z,1638612829.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:50.080Z,1638612830.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:50.531Z,1638612830.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:50.966Z,1638612830.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 267.087389 deg, deltaT: 4.498328 s, deltaX: -2.280006 m, approachRate: -0.506856 m/s, LOS rate: 0.130654 deg/s, posRepo size: 4
2021-12-04T10:13:50.968Z,1638612830.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.279999 m,
      bearing: 267.087389 deg,
      approachRate: -0.506856 m/s,
      LOS rate: 0.130654 deg/s,
      cmd update: 0.391962 deg/s,
      cmd heading: 262.590734 deg,
      new cmd heading: 262.356203 deg.

2021-12-04T10:13:51.340Z,1638612831.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101351.53*5F

2021-12-04T10:13:51.341Z,1638612831.341 [Micromodem](INFO): Nmea in: $CAREV,101352,AUV,2.1.4000*2E

2021-12-04T10:13:51.750Z,1638612831.750 [Micromodem](INFO): Nmea in: $CAREV,101352,COPROC,0.20.0.39330*7F

2021-12-04T10:13:53.793Z,1638612833.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:54.529Z,1638612834.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:54.943Z,1638612834.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:55.359Z,1638612835.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.339996 m, bearing: 265.782250 deg, deltaT: 4.393141 s, deltaX: -2.940002 m, approachRate: -0.669226 m/s, LOS rate: -0.297086 deg/s, posRepo size: 4
2021-12-04T10:13:55.361Z,1638612835.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.339996 m,
      bearing: 265.782250 deg,
      approachRate: -0.669226 m/s,
      LOS rate: -0.297086 deg/s,
      cmd update: -0.891257 deg/s,
      cmd heading: 264.323581 deg,
      new cmd heading: 264.470610 deg.

2021-12-04T10:13:55.789Z,1638612835.789 [Micromodem](INFO): Nmea in: $SNTTA,0.060930,,,,101355.98*4E

2021-12-04T10:13:55.793Z,1638612835.793 [Micromodem](INFO): Nmea in: $CAREV,101357,AUV,2.1.4000*2B

2021-12-04T10:13:56.156Z,1638612836.156 [Micromodem](INFO): Nmea in: $CAREV,101357,COPROC,0.20.0.39330*7A

2021-12-04T10:13:58.186Z,1638612838.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:13:58.981Z,1638612838.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:13:59.379Z,1638612839.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:13:59.857Z,1638612839.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.820007 m, bearing: 266.386366 deg, deltaT: 4.498324 s, deltaX: -2.519989 m, approachRate: -0.560206 m/s, LOS rate: 0.134298 deg/s, posRepo size: 4
2021-12-04T10:13:59.886Z,1638612839.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.820007 m,
      bearing: 266.386366 deg,
      approachRate: -0.560206 m/s,
      LOS rate: 0.134298 deg/s,
      cmd update: 0.402894 deg/s,
      cmd heading: 260.367415 deg,
      new cmd heading: 259.979913 deg.

2021-12-04T10:14:00.216Z,1638612840.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101400.43*5D

2021-12-04T10:14:00.217Z,1638612840.217 [Micromodem](INFO): Nmea in: $CAREV,101401,AUV,2.1.4000*2F

2021-12-04T10:14:00.596Z,1638612840.596 [Micromodem](INFO): Nmea in: $CAREV,101401,COPROC,0.20.0.39330*7E

2021-12-04T10:14:02.616Z,1638612842.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:03.417Z,1638612843.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:03.839Z,1638612843.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:04.264Z,1638612844.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 264.908723 deg, deltaT: 4.407080 s, deltaX: -2.279999 m, approachRate: -0.517349 m/s, LOS rate: -0.335288 deg/s, posRepo size: 4
2021-12-04T10:14:04.266Z,1638612844.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.540009 m,
      bearing: 264.908723 deg,
      approachRate: -0.517349 m/s,
      LOS rate: -0.335288 deg/s,
      cmd update: -1.005865 deg/s,
      cmd heading: 262.185587 deg,
      new cmd heading: 262.318175 deg.

2021-12-04T10:14:04.656Z,1638612844.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101404.86*50

2021-12-04T10:14:04.657Z,1638612844.657 [Micromodem](INFO): Nmea in: $CAREV,101405,AUV,2.1.4000*2B

2021-12-04T10:14:05.040Z,1638612845.040 [Micromodem](INFO): Nmea in: $CAREV,101405,COPROC,0.20.0.39330*7A

2021-12-04T10:14:07.083Z,1638612847.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:07.873Z,1638612847.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:08.263Z,1638612848.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:08.693Z,1638612848.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 266.025131 deg, deltaT: 4.429066 s, deltaX: -2.340004 m, approachRate: -0.528329 m/s, LOS rate: 0.252064 deg/s, posRepo size: 4
2021-12-04T10:14:08.712Z,1638612848.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.200005 m,
      bearing: 266.025131 deg,
      approachRate: -0.528329 m/s,
      LOS rate: 0.252064 deg/s,
      cmd update: 0.756192 deg/s,
      cmd heading: 257.792839 deg,
      new cmd heading: 257.399509 deg.

2021-12-04T10:14:09.096Z,1638612849.096 [Micromodem](INFO): Nmea in: $SNTTA,0.069035,,,,101409.32*45

2021-12-04T10:14:09.097Z,1638612849.097 [Micromodem](INFO): Nmea in: $CAREV,101410,AUV,2.1.4000*2F

2021-12-04T10:14:09.492Z,1638612849.492 [Micromodem](INFO): Nmea in: $CAREV,101410,COPROC,0.20.0.39330*7E

2021-12-04T10:14:11.509Z,1638612851.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:12.297Z,1638612852.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:12.715Z,1638612852.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:13.141Z,1638612853.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 265.807794 deg, deltaT: 4.447494 s, deltaX: -2.219997 m, approachRate: -0.499157 m/s, LOS rate: -0.048867 deg/s, posRepo size: 4
2021-12-04T10:14:13.143Z,1638612853.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 265.807794 deg,
      approachRate: -0.499157 m/s,
      LOS rate: -0.048867 deg/s,
      cmd update: -0.146602 deg/s,
      cmd heading: 261.162384 deg,
      new cmd heading: 261.451815 deg.

2021-12-04T10:14:13.547Z,1638612853.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101413.74*5B

2021-12-04T10:14:13.548Z,1638612853.548 [Micromodem](INFO): Nmea in: $CAREV,101414,AUV,2.1.4000*2B

2021-12-04T10:14:13.944Z,1638612853.944 [Micromodem](INFO): Nmea in: $CAREV,101414,COPROC,0.20.0.39330*7A

2021-12-04T10:14:16.011Z,1638612856.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:16.751Z,1638612856.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:17.151Z,1638612857.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:17.614Z,1638612857.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.520004 m, bearing: 266.827350 deg, deltaT: 4.468686 s, deltaX: -2.460003 m, approachRate: -0.550498 m/s, LOS rate: 0.228156 deg/s, posRepo size: 4
2021-12-04T10:14:17.620Z,1638612857.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.520004 m,
      bearing: 266.827350 deg,
      approachRate: -0.550498 m/s,
      LOS rate: 0.228156 deg/s,
      cmd update: 0.684467 deg/s,
      cmd heading: 260.510921 deg,
      new cmd heading: 260.450592 deg.

2021-12-04T10:14:17.996Z,1638612857.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101418.20*51

2021-12-04T10:14:17.997Z,1638612857.997 [Micromodem](INFO): Nmea in: $CAREV,101419,AUV,2.1.4000*26

2021-12-04T10:14:18.401Z,1638612858.401 [Micromodem](INFO): Nmea in: $CAREV,101419,COPROC,0.20.0.39330*77

2021-12-04T10:14:20.404Z,1638612860.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:21.201Z,1638612861.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:21.627Z,1638612861.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:22.071Z,1638612862.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 267.649159 deg, deltaT: 4.461626 s, deltaX: -2.220005 m, approachRate: -0.497578 m/s, LOS rate: 0.184195 deg/s, posRepo size: 4
2021-12-04T10:14:22.073Z,1638612862.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 267.649159 deg,
      approachRate: -0.497578 m/s,
      LOS rate: 0.184195 deg/s,
      cmd update: 0.552584 deg/s,
      cmd heading: 263.578675 deg,
      new cmd heading: 263.843518 deg.

2021-12-04T10:14:22.496Z,1638612862.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101422.65*59

2021-12-04T10:14:22.497Z,1638612862.497 [Micromodem](INFO): Nmea in: $CAREV,101423,AUV,2.1.4000*2F

2021-12-04T10:14:22.844Z,1638612862.844 [Micromodem](INFO): Nmea in: $CAREV,101423,COPROC,0.20.0.39330*7E

2021-12-04T10:14:24.861Z,1638612864.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:25.649Z,1638612865.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:26.047Z,1638612866.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:26.480Z,1638612866.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 267.301229 deg, deltaT: 4.408846 s, deltaX: -2.339993 m, approachRate: -0.530749 m/s, LOS rate: -0.078916 deg/s, posRepo size: 4
2021-12-04T10:14:26.482Z,1638612866.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.960007 m,
      bearing: 267.301229 deg,
      approachRate: -0.530749 m/s,
      LOS rate: -0.078916 deg/s,
      cmd update: -0.236749 deg/s,
      cmd heading: 266.025644 deg,
      new cmd heading: 266.228899 deg.

2021-12-04T10:14:26.885Z,1638612866.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101427.09*56

2021-12-04T10:14:26.886Z,1638612866.886 [Micromodem](INFO): Nmea in: $CAREV,101428,AUV,2.1.4000*24

2021-12-04T10:14:27.280Z,1638612867.280 [Micromodem](INFO): Nmea in: $CAREV,101428,COPROC,0.20.0.39330*75

2021-12-04T10:14:29.295Z,1638612869.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:30.093Z,1638612870.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:30.515Z,1638612870.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:30.961Z,1638612870.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 267.188476 deg, deltaT: 4.476501 s, deltaX: -2.400009 m, approachRate: -0.536135 m/s, LOS rate: -0.025188 deg/s, posRepo size: 4
2021-12-04T10:14:30.967Z,1638612870.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.559998 m,
      bearing: 267.188476 deg,
      approachRate: -0.536135 m/s,
      LOS rate: -0.025188 deg/s,
      cmd update: -0.075563 deg/s,
      cmd heading: 264.975851 deg,
      new cmd heading: 264.877825 deg.

2021-12-04T10:14:31.336Z,1638612871.336 [Micromodem](INFO): Nmea in: $SNTTA,0.054351,,,,101431.54*41

2021-12-04T10:14:31.337Z,1638612871.337 [Micromodem](INFO): Nmea in: $CAREV,101432,AUV,2.1.4000*2F

2021-12-04T10:14:31.716Z,1638612871.716 [Micromodem](INFO): Nmea in: $CAREV,101432,COPROC,0.20.0.39330*7E

2021-12-04T10:14:33.796Z,1638612873.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:34.533Z,1638612874.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:34.951Z,1638612874.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:35.373Z,1638612875.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.219994 m, bearing: 266.938983 deg, deltaT: 4.400416 s, deltaX: -2.340004 m, approachRate: -0.531769 m/s, LOS rate: -0.056698 deg/s, posRepo size: 4
2021-12-04T10:14:35.380Z,1638612875.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.219994 m,
      bearing: 266.938983 deg,
      approachRate: -0.531769 m/s,
      LOS rate: -0.056698 deg/s,
      cmd update: -0.170093 deg/s,
      cmd heading: 264.640346 deg,
      new cmd heading: 264.611112 deg.

2021-12-04T10:14:35.808Z,1638612875.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101435.98*5D

2021-12-04T10:14:35.809Z,1638612875.809 [Micromodem](INFO): Nmea in: $CAREV,101437,AUV,2.1.4000*2A

2021-12-04T10:14:36.164Z,1638612876.164 [Micromodem](INFO): Nmea in: $CAREV,101437,COPROC,0.20.0.39330*7B

2021-12-04T10:14:38.211Z,1638612878.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:38.985Z,1638612878.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:39.384Z,1638612879.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:39.858Z,1638612879.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 267.808275 deg, deltaT: 4.500657 s, deltaX: -2.459999 m, approachRate: -0.546587 m/s, LOS rate: 0.193148 deg/s, posRepo size: 4
2021-12-04T10:14:39.876Z,1638612879.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.759995 m,
      bearing: 267.808275 deg,
      approachRate: -0.546587 m/s,
      LOS rate: 0.193148 deg/s,
      cmd update: 0.579443 deg/s,
      cmd heading: 263.885125 deg,
      new cmd heading: 263.811806 deg.

2021-12-04T10:14:40.216Z,1638612880.216 [Micromodem](INFO): Nmea in: $SNTTA,0.051257,,,,101440.43*43

2021-12-04T10:14:40.217Z,1638612880.217 [Micromodem](INFO): Nmea in: $CAREV,101441,AUV,2.1.4000*2B

2021-12-04T10:14:40.604Z,1638612880.604 [Micromodem](INFO): Nmea in: $CAREV,101441,COPROC,0.20.0.39330*7A

2021-12-04T10:14:42.637Z,1638612882.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:43.429Z,1638612883.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:43.835Z,1638612883.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:44.273Z,1638612884.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 267.459744 deg, deltaT: 4.399324 s, deltaX: -2.339996 m, approachRate: -0.531899 m/s, LOS rate: -0.079224 deg/s, posRepo size: 4
2021-12-04T10:14:44.279Z,1638612884.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 267.459744 deg,
      approachRate: -0.531899 m/s,
      LOS rate: -0.079224 deg/s,
      cmd update: -0.237671 deg/s,
      cmd heading: 266.471799 deg,
      new cmd heading: 266.693331 deg.

2021-12-04T10:14:44.660Z,1638612884.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101444.88*5A

2021-12-04T10:14:44.661Z,1638612884.661 [Micromodem](INFO): Nmea in: $CAREV,101445,AUV,2.1.4000*2F

2021-12-04T10:14:45.052Z,1638612885.052 [Micromodem](INFO): Nmea in: $CAREV,101445,COPROC,0.20.0.39330*7E

2021-12-04T10:14:47.094Z,1638612887.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:47.865Z,1638612887.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:48.279Z,1638612888.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:48.717Z,1638612888.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 266.338118 deg, deltaT: 4.456277 s, deltaX: -2.459999 m, approachRate: -0.552030 m/s, LOS rate: -0.251696 deg/s, posRepo size: 4
2021-12-04T10:14:48.723Z,1638612888.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 266.338118 deg,
      approachRate: -0.552030 m/s,
      LOS rate: -0.251696 deg/s,
      cmd update: -0.755087 deg/s,
      cmd heading: 265.421352 deg,
      new cmd heading: 265.324659 deg.

2021-12-04T10:14:49.104Z,1638612889.104 [Micromodem](INFO): Nmea in: $SNTTA,0.063725,,,,101449.31*4E

2021-12-04T10:14:49.105Z,1638612889.105 [Micromodem](INFO): Nmea in: $CAREV,101450,AUV,2.1.4000*2B

2021-12-04T10:14:49.488Z,1638612889.488 [Micromodem](INFO): Nmea in: $CAREV,101450,COPROC,0.20.0.39330*7A

2021-12-04T10:14:51.517Z,1638612891.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:52.301Z,1638612892.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:52.715Z,1638612892.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:53.153Z,1638612893.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 266.152364 deg, deltaT: 4.439780 s, deltaX: -2.459999 m, approachRate: -0.554081 m/s, LOS rate: -0.041839 deg/s, posRepo size: 4
2021-12-04T10:14:53.155Z,1638612893.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.500000 m,
      bearing: 266.152364 deg,
      approachRate: -0.554081 m/s,
      LOS rate: -0.041839 deg/s,
      cmd update: -0.125516 deg/s,
      cmd heading: 262.071226 deg,
      new cmd heading: 261.764754 deg.

2021-12-04T10:14:53.556Z,1638612893.556 [Micromodem](INFO): Nmea in: $SNTTA,0.059123,,,,101453.75*4C

2021-12-04T10:14:53.557Z,1638612893.557 [Micromodem](INFO): Nmea in: $CAREV,101454,AUV,2.1.4000*2F

2021-12-04T10:14:53.952Z,1638612893.952 [Micromodem](INFO): Nmea in: $CAREV,101454,COPROC,0.20.0.39330*7E

2021-12-04T10:14:56.021Z,1638612896.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:14:56.753Z,1638612896.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:14:57.159Z,1638612897.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:14:57.593Z,1638612897.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 265.507403 deg, deltaT: 4.439594 s, deltaX: -2.520000 m, approachRate: -0.567620 m/s, LOS rate: -0.145275 deg/s, posRepo size: 4
2021-12-04T10:14:57.593Z,1638612897.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 37.98 m.
2021-12-04T10:14:57.596Z,1638612897.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 265.507403 deg,
      approachRate: -0.567620 m/s,
      LOS rate: -0.145275 deg/s,
      cmd update: -0.435824 deg/s,
      cmd heading: 261.510001 deg,
      new cmd heading: 261.463046 deg.

2021-12-04T10:14:58.032Z,1638612898.032 [Micromodem](INFO): Nmea in: $SNTTA,0.025083,,,,101458.20*47

2021-12-04T10:14:58.033Z,1638612898.033 [Micromodem](INFO): Nmea in: $CAREV,101459,AUV,2.1.4000*22

2021-12-04T10:14:58.099Z,1638612898.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T10:14:58.099Z,1638612898.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:14:58.099Z,1638612898.099 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T10:14:58.101Z,1638612898.101 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 37.980000 m (mode 1 count ).
2021-12-04T10:14:58.101Z,1638612898.101 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T10:14:58.101Z,1638612898.101 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T10:14:58.408Z,1638612898.408 [Micromodem](INFO): Nmea in: $CAREV,101459,COPROC,0.20.0.39330*73

2021-12-04T10:14:58.439Z,1638612898.439 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T10:14:58.439Z,1638612898.439 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:14:58.440Z,1638612898.440 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T10:14:58.440Z,1638612898.440 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:15:00.401Z,1638612900.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:01.201Z,1638612901.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:01.611Z,1638612901.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:02.059Z,1638612902.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:02.064Z,1638612902.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.579998 m, bearing: 265.100242 deg, deltaT: 4.471604 s, deltaX: -2.400002 m, approachRate: -0.536721 m/s, LOS rate: -0.091055 deg/s, posRepo size: 4
2021-12-04T10:15:02.065Z,1638612902.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 35.58 m.
2021-12-04T10:15:02.067Z,1638612902.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.579998 m,
      bearing: 265.100242 deg,
      approachRate: -0.536721 m/s,
      LOS rate: -0.091055 deg/s,
      cmd update: -0.273165 deg/s,
      cmd heading: 259.581528 deg,
      new cmd heading: 259.398113 deg.

2021-12-04T10:15:02.444Z,1638612902.444 [Micromodem](INFO): Nmea in: $SNTTA,0.051712,,,,101502.65*44

2021-12-04T10:15:02.445Z,1638612902.445 [Micromodem](INFO): Nmea in: $CAREV,101503,AUV,2.1.4000*2C

2021-12-04T10:15:02.824Z,1638612902.824 [Micromodem](INFO): Nmea in: $CAREV,101503,COPROC,0.20.0.39330*7D

2021-12-04T10:15:04.873Z,1638612904.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:05.657Z,1638612905.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:06.043Z,1638612906.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:06.467Z,1638612906.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:06.472Z,1638612906.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 263.814035 deg, deltaT: 4.407504 s, deltaX: -2.759998 m, approachRate: -0.626204 m/s, LOS rate: -0.291822 deg/s, posRepo size: 4
2021-12-04T10:15:06.472Z,1638612906.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 32.82 m.
2021-12-04T10:15:06.473Z,1638612906.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.82 m.
2021-12-04T10:15:06.473Z,1638612906.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T10:15:06.475Z,1638612906.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 258.359672 deg,
      new cmd heading: 258.262670 deg.

2021-12-04T10:15:06.876Z,1638612906.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101507.10*5D

2021-12-04T10:15:06.877Z,1638612906.877 [Micromodem](INFO): Nmea in: $CAREV,101508,AUV,2.1.4000*27

2021-12-04T10:15:06.939Z,1638612906.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 258.048789 deg,
      new cmd heading: 257.668428 deg.

2021-12-04T10:15:07.280Z,1638612907.280 [Micromodem](INFO): Nmea in: $CAREV,101508,COPROC,0.20.0.39330*76

2021-12-04T10:15:07.305Z,1638612907.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 257.668428 deg,
      new cmd heading: 257.319140 deg.

2021-12-04T10:15:07.687Z,1638612907.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 257.319140 deg,
      new cmd heading: 256.984958 deg.

2021-12-04T10:15:08.136Z,1638612908.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 256.984958 deg,
      new cmd heading: 256.592103 deg.

2021-12-04T10:15:08.504Z,1638612908.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 256.592103 deg,
      new cmd heading: 256.270123 deg.

2021-12-04T10:15:08.945Z,1638612908.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 256.270123 deg,
      new cmd heading: 255.883153 deg.

2021-12-04T10:15:09.297Z,1638612909.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:09.301Z,1638612909.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 255.883153 deg,
      new cmd heading: 255.572092 deg.

2021-12-04T10:15:09.734Z,1638612909.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 255.572092 deg,
      new cmd heading: 255.197087 deg.

2021-12-04T10:15:10.093Z,1638612910.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:10.212Z,1638612910.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 255.197087 deg,
      new cmd heading: 254.774609 deg.

2021-12-04T10:15:10.498Z,1638612910.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:10.559Z,1638612910.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 263.814035 deg,
      approachRate: -0.626204 m/s,
      LOS rate: -0.291822 deg/s,
      cmd update: -0.875466 deg/s,
      cmd heading: 254.774609 deg,
      new cmd heading: 254.470342 deg.

2021-12-04T10:15:10.949Z,1638612910.949 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:10.963Z,1638612910.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 263.523042 deg, deltaT: 4.482329 s, deltaX: -2.340000 m, approachRate: -0.522050 m/s, LOS rate: -0.064920 deg/s, posRepo size: 4
2021-12-04T10:15:10.965Z,1638612910.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.470342 deg,
      new cmd heading: 254.120889 deg.

2021-12-04T10:15:11.332Z,1638612911.332 [Micromodem](INFO): Nmea in: $SNTTA,0.041996,,,,101511.54*47

2021-12-04T10:15:11.333Z,1638612911.333 [Micromodem](INFO): Nmea in: $CAREV,101512,AUV,2.1.4000*2C

2021-12-04T10:15:11.378Z,1638612911.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.392601 deg,
      new cmd heading: 254.310893 deg.

2021-12-04T10:15:11.708Z,1638612911.708 [Micromodem](INFO): Nmea in: $CAREV,101512,COPROC,0.20.0.39330*7D

2021-12-04T10:15:11.795Z,1638612911.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.310893 deg,
      new cmd heading: 254.231964 deg.

2021-12-04T10:15:12.185Z,1638612912.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.231964 deg,
      new cmd heading: 254.153698 deg.

2021-12-04T10:15:12.544Z,1638612912.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.153698 deg,
      new cmd heading: 254.083710 deg.

2021-12-04T10:15:12.967Z,1638612912.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.083710 deg,
      new cmd heading: 254.001444 deg.

2021-12-04T10:15:13.355Z,1638612913.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 254.001444 deg,
      new cmd heading: 253.925874 deg.

2021-12-04T10:15:13.797Z,1638612913.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:13.804Z,1638612913.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 253.925874 deg,
      new cmd heading: 253.839165 deg.

2021-12-04T10:15:14.193Z,1638612914.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 253.839165 deg,
      new cmd heading: 253.762547 deg.

2021-12-04T10:15:14.544Z,1638612914.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:14.637Z,1638612914.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 253.762547 deg,
      new cmd heading: 253.677403 deg.

2021-12-04T10:15:14.959Z,1638612914.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:15.027Z,1638612915.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.480000 m,
      bearing: 263.523042 deg,
      approachRate: -0.522050 m/s,
      LOS rate: -0.064920 deg/s,
      cmd update: -0.194760 deg/s,
      cmd heading: 253.677403 deg,
      new cmd heading: 253.600148 deg.

2021-12-04T10:15:15.377Z,1638612915.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:15.392Z,1638612915.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 263.189619 deg, deltaT: 4.427862 s, deltaX: -2.160000 m, approachRate: -0.487820 m/s, LOS rate: -0.075301 deg/s, posRepo size: 4
2021-12-04T10:15:15.403Z,1638612915.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.600148 deg,
      new cmd heading: 253.529211 deg.

2021-12-04T10:15:15.792Z,1638612915.792 [Micromodem](INFO): Nmea in: $SNTTA,0.044680,,,,101515.99*4F

2021-12-04T10:15:15.795Z,1638612915.795 [Micromodem](INFO): Nmea in: $CAREV,101517,AUV,2.1.4000*29

2021-12-04T10:15:15.853Z,1638612915.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.517868 deg,
      new cmd heading: 253.413649 deg.

2021-12-04T10:15:16.164Z,1638612916.164 [Micromodem](INFO): Nmea in: $CAREV,101517,COPROC,0.20.0.39330*78

2021-12-04T10:15:16.212Z,1638612916.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.413649 deg,
      new cmd heading: 253.332597 deg.

2021-12-04T10:15:16.579Z,1638612916.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.332597 deg,
      new cmd heading: 253.249629 deg.

2021-12-04T10:15:17.031Z,1638612917.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.249629 deg,
      new cmd heading: 253.147425 deg.

2021-12-04T10:15:17.389Z,1638612917.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.147425 deg,
      new cmd heading: 253.066502 deg.

2021-12-04T10:15:17.859Z,1638612917.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 253.066502 deg,
      new cmd heading: 252.964145 deg.

2021-12-04T10:15:18.199Z,1638612918.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:18.202Z,1638612918.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 252.964145 deg,
      new cmd heading: 252.883035 deg.

2021-12-04T10:15:18.620Z,1638612918.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 252.883035 deg,
      new cmd heading: 252.789427 deg.

2021-12-04T10:15:18.984Z,1638612918.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:19.096Z,1638612919.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 252.789427 deg,
      new cmd heading: 252.684776 deg.

2021-12-04T10:15:19.375Z,1638612919.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:19.420Z,1638612919.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 263.189619 deg,
      approachRate: -0.487820 m/s,
      LOS rate: -0.075301 deg/s,
      cmd update: -0.225903 deg/s,
      cmd heading: 252.684776 deg,
      new cmd heading: 252.608220 deg.

2021-12-04T10:15:19.850Z,1638612919.850 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:19.875Z,1638612919.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 264.205705 deg, deltaT: 4.472556 s, deltaX: -2.459999 m, approachRate: -0.550021 m/s, LOS rate: 0.227182 deg/s, posRepo size: 4
2021-12-04T10:15:19.877Z,1638612919.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 252.608220 deg,
      new cmd heading: 252.505989 deg.

2021-12-04T10:15:20.212Z,1638612920.212 [Micromodem](INFO): Nmea in: $SNTTA,0.047620,,,,101520.43*47

2021-12-04T10:15:20.214Z,1638612920.214 [Micromodem](INFO): Nmea in: $CAREV,101521,AUV,2.1.4000*2C

2021-12-04T10:15:20.293Z,1638612920.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 252.916650 deg,
      new cmd heading: 253.204584 deg.

2021-12-04T10:15:20.620Z,1638612920.620 [Micromodem](INFO): Nmea in: $CAREV,101521,COPROC,0.20.0.39330*7D

2021-12-04T10:15:20.639Z,1638612920.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 253.204584 deg,
      new cmd heading: 253.440154 deg.

2021-12-04T10:15:21.054Z,1638612921.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 253.440154 deg,
      new cmd heading: 253.723243 deg.

2021-12-04T10:15:21.435Z,1638612921.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 253.723243 deg,
      new cmd heading: 253.982465 deg.

2021-12-04T10:15:21.941Z,1638612921.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 253.982465 deg,
      new cmd heading: 254.327557 deg.

2021-12-04T10:15:22.236Z,1638612922.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 254.327557 deg,
      new cmd heading: 254.528348 deg.

2021-12-04T10:15:22.640Z,1638612922.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:22.643Z,1638612922.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 254.528348 deg,
      new cmd heading: 254.806070 deg.

2021-12-04T10:15:23.066Z,1638612923.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 254.806070 deg,
      new cmd heading: 255.094305 deg.

2021-12-04T10:15:23.420Z,1638612923.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:23.518Z,1638612923.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 255.094305 deg,
      new cmd heading: 255.396902 deg.

2021-12-04T10:15:23.847Z,1638612923.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:23.944Z,1638612923.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 264.205705 deg,
      approachRate: -0.550021 m/s,
      LOS rate: 0.227182 deg/s,
      cmd update: 0.681547 deg/s,
      cmd heading: 255.396902 deg,
      new cmd heading: 255.688657 deg.

2021-12-04T10:15:24.252Z,1638612924.252 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:24.273Z,1638612924.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 266.591354 deg, deltaT: 4.402605 s, deltaX: -1.859999 m, approachRate: -0.422477 m/s, LOS rate: 0.541872 deg/s, posRepo size: 4
2021-12-04T10:15:24.279Z,1638612924.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 255.688657 deg,
      new cmd heading: 255.917219 deg.

2021-12-04T10:15:24.656Z,1638612924.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101524.87*52

2021-12-04T10:15:24.657Z,1638612924.657 [Micromodem](INFO): Nmea in: $CAREV,101525,AUV,2.1.4000*28

2021-12-04T10:15:24.679Z,1638612924.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 256.233819 deg,
      new cmd heading: 256.893089 deg.

2021-12-04T10:15:25.040Z,1638612925.040 [Micromodem](INFO): Nmea in: $CAREV,101525,COPROC,0.20.0.39330*79

2021-12-04T10:15:25.065Z,1638612925.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 256.893089 deg,
      new cmd heading: 257.520746 deg.

2021-12-04T10:15:25.467Z,1638612925.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 257.520746 deg,
      new cmd heading: 258.174049 deg.

2021-12-04T10:15:25.946Z,1638612925.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 258.174049 deg,
      new cmd heading: 258.950919 deg.

2021-12-04T10:15:26.295Z,1638612926.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 258.950919 deg,
      new cmd heading: 259.519970 deg.

2021-12-04T10:15:26.680Z,1638612926.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 259.519970 deg,
      new cmd heading: 260.145195 deg.

2021-12-04T10:15:27.095Z,1638612927.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:27.098Z,1638612927.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 260.145195 deg,
      new cmd heading: 260.825760 deg.

2021-12-04T10:15:27.478Z,1638612927.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 260.825760 deg,
      new cmd heading: 261.443495 deg.

2021-12-04T10:15:27.865Z,1638612927.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:27.991Z,1638612927.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 261.443495 deg,
      new cmd heading: 262.277099 deg.

2021-12-04T10:15:28.279Z,1638612928.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:28.316Z,1638612928.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.000002 m,
      bearing: 266.591354 deg,
      approachRate: -0.422477 m/s,
      LOS rate: 0.541872 deg/s,
      cmd update: 1.625616 deg/s,
      cmd heading: 262.277099 deg,
      new cmd heading: 262.798098 deg.

2021-12-04T10:15:28.678Z,1638612928.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:28.683Z,1638612928.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 268.430778 deg, deltaT: 4.426206 s, deltaX: -2.280001 m, approachRate: -0.515114 m/s, LOS rate: 0.415576 deg/s, posRepo size: 4
2021-12-04T10:15:28.685Z,1638612928.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 262.798098 deg,
      new cmd heading: 263.402773 deg.

2021-12-04T10:15:29.107Z,1638612929.107 [Micromodem](INFO): Nmea in: $SNTTA,0.033751,,,,101529.31*4F

2021-12-04T10:15:29.110Z,1638612929.110 [Micromodem](INFO): Nmea in: $CAREV,101530,AUV,2.1.4000*2C

2021-12-04T10:15:29.138Z,1638612929.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 263.261839 deg,
      new cmd heading: 263.828578 deg.

2021-12-04T10:15:29.488Z,1638612929.488 [Micromodem](INFO): Nmea in: $CAREV,101530,COPROC,0.20.0.39330*7D

2021-12-04T10:15:29.503Z,1638612929.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 263.828578 deg,
      new cmd heading: 264.283826 deg.

2021-12-04T10:15:29.975Z,1638612929.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 264.283826 deg,
      new cmd heading: 264.871744 deg.

2021-12-04T10:15:30.316Z,1638612930.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 264.871744 deg,
      new cmd heading: 265.297145 deg.

2021-12-04T10:15:30.724Z,1638612930.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 265.297145 deg,
      new cmd heading: 265.805382 deg.

2021-12-04T10:15:31.144Z,1638612931.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 265.805382 deg,
      new cmd heading: 266.329966 deg.

2021-12-04T10:15:31.518Z,1638612931.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:31.521Z,1638612931.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 266.329966 deg,
      new cmd heading: 266.799390 deg.

2021-12-04T10:15:31.984Z,1638612931.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 266.799390 deg,
      new cmd heading: 267.377422 deg.

2021-12-04T10:15:32.313Z,1638612932.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:32.412Z,1638612932.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 267.377422 deg,
      new cmd heading: 267.895271 deg.

2021-12-04T10:15:32.719Z,1638612932.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:32.752Z,1638612932.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.720001 m,
      bearing: 268.430778 deg,
      approachRate: -0.515114 m/s,
      LOS rate: 0.415576 deg/s,
      cmd update: 1.246728 deg/s,
      cmd heading: 267.895271 deg,
      new cmd heading: 268.333764 deg.

2021-12-04T10:15:33.152Z,1638612933.152 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:33.157Z,1638612933.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 269.228025 deg, deltaT: 4.473987 s, deltaX: -2.760000 m, approachRate: -0.616899 m/s, LOS rate: 0.178196 deg/s, posRepo size: 4
2021-12-04T10:15:33.159Z,1638612933.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 268.333764 deg,
      new cmd heading: 268.840024 deg.

2021-12-04T10:15:33.544Z,1638612933.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101533.76*5A

2021-12-04T10:15:33.545Z,1638612933.545 [Micromodem](INFO): Nmea in: $CAREV,101534,AUV,2.1.4000*28

2021-12-04T10:15:33.567Z,1638612933.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 268.550845 deg,
      new cmd heading: 268.769870 deg.

2021-12-04T10:15:33.947Z,1638612933.947 [Micromodem](INFO): Nmea in: $CAREV,101534,COPROC,0.20.0.39330*79

2021-12-04T10:15:33.991Z,1638612933.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 268.769870 deg,
      new cmd heading: 268.996232 deg.

2021-12-04T10:15:34.367Z,1638612934.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 268.996232 deg,
      new cmd heading: 269.197267 deg.

2021-12-04T10:15:34.772Z,1638612934.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 269.197267 deg,
      new cmd heading: 269.413311 deg.

2021-12-04T10:15:35.176Z,1638612935.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 269.413311 deg,
      new cmd heading: 269.629556 deg.

2021-12-04T10:15:35.584Z,1638612935.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 269.629556 deg,
      new cmd heading: 269.847880 deg.

2021-12-04T10:15:36.051Z,1638612936.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:36.054Z,1638612936.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 269.847880 deg,
      new cmd heading: 270.099356 deg.

2021-12-04T10:15:36.379Z,1638612936.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 270.099356 deg,
      new cmd heading: 270.272683 deg.

2021-12-04T10:15:36.753Z,1638612936.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:36.850Z,1638612936.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 270.272683 deg,
      new cmd heading: 270.520970 deg.

2021-12-04T10:15:37.164Z,1638612937.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:37.227Z,1638612937.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 269.228025 deg,
      approachRate: -0.616899 m/s,
      LOS rate: 0.178196 deg/s,
      cmd update: 0.534588 deg/s,
      cmd heading: 270.520970 deg,
      new cmd heading: 270.715541 deg.

2021-12-04T10:15:37.571Z,1638612937.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:37.576Z,1638612937.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 268.901979 deg, deltaT: 4.418329 s, deltaX: -2.460005 m, approachRate: -0.556773 m/s, LOS rate: -0.073794 deg/s, posRepo size: 4
2021-12-04T10:15:37.577Z,1638612937.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.715541 deg,
      new cmd heading: 270.912685 deg.

2021-12-04T10:15:37.000Z,1638612938.000 [Micromodem](INFO): Nmea in: $SNTTA,0.040243,,,,101538.20*4D

2021-12-04T10:15:38.001Z,1638612938.001 [Micromodem](INFO): Nmea in: $CAREV,101539,AUV,2.1.4000*25

2021-12-04T10:15:38.070Z,1638612938.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.633901 deg,
      new cmd heading: 270.524402 deg.

2021-12-04T10:15:38.384Z,1638612938.384 [Micromodem](INFO): Nmea in: $CAREV,101539,COPROC,0.20.0.39330*74

2021-12-04T10:15:38.418Z,1638612938.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.524402 deg,
      new cmd heading: 270.447368 deg.

2021-12-04T10:15:38.803Z,1638612938.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.447368 deg,
      new cmd heading: 270.362112 deg.

2021-12-04T10:15:39.215Z,1638612939.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.362112 deg,
      new cmd heading: 270.270981 deg.

2021-12-04T10:15:39.617Z,1638612939.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.270981 deg,
      new cmd heading: 270.181926 deg.

2021-12-04T10:15:40.039Z,1638612940.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.181926 deg,
      new cmd heading: 270.088590 deg.

2021-12-04T10:15:40.396Z,1638612940.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:40.400Z,1638612940.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.088590 deg,
      new cmd heading: 270.008744 deg.

2021-12-04T10:15:40.820Z,1638612940.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 270.008744 deg,
      new cmd heading: 269.915783 deg.

2021-12-04T10:15:41.193Z,1638612941.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:41.309Z,1638612941.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 269.915783 deg,
      new cmd heading: 269.807412 deg.

2021-12-04T10:15:41.603Z,1638612941.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:41.652Z,1638612941.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 268.901979 deg,
      approachRate: -0.556773 m/s,
      LOS rate: -0.073794 deg/s,
      cmd update: -0.221382 deg/s,
      cmd heading: 269.807412 deg,
      new cmd heading: 269.731706 deg.

2021-12-04T10:15:42.046Z,1638612942.046 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:42.071Z,1638612942.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 266.243561 deg, deltaT: 4.474973 s, deltaX: -2.399995 m, approachRate: -0.536315 m/s, LOS rate: -0.594064 deg/s, posRepo size: 4
2021-12-04T10:15:42.073Z,1638612942.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 269.731706 deg,
      new cmd heading: 269.639598 deg.

2021-12-04T10:15:42.440Z,1638612942.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101542.64*5F

2021-12-04T10:15:42.441Z,1638612942.441 [Micromodem](INFO): Nmea in: $CAREV,101543,AUV,2.1.4000*28

2021-12-04T10:15:42.463Z,1638612942.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 268.990204 deg,
      new cmd heading: 268.284715 deg.

2021-12-04T10:15:42.816Z,1638612942.816 [Micromodem](INFO): Nmea in: $CAREV,101543,COPROC,0.20.0.39330*79

2021-12-04T10:15:42.851Z,1638612942.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 268.284715 deg,
      new cmd heading: 267.621622 deg.

2021-12-04T10:15:43.264Z,1638612943.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 267.621622 deg,
      new cmd heading: 266.863917 deg.

2021-12-04T10:15:43.648Z,1638612943.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 266.863917 deg,
      new cmd heading: 266.173581 deg.

2021-12-04T10:15:44.094Z,1638612944.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 266.173581 deg,
      new cmd heading: 265.412777 deg.

2021-12-04T10:15:44.470Z,1638612944.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 265.412777 deg,
      new cmd heading: 264.707296 deg.

2021-12-04T10:15:44.840Z,1638612944.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:44.844Z,1638612944.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 264.707296 deg,
      new cmd heading: 264.041999 deg.

2021-12-04T10:15:45.273Z,1638612945.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 264.041999 deg,
      new cmd heading: 263.275555 deg.

2021-12-04T10:15:45.641Z,1638612945.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:45.769Z,1638612945.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 263.275555 deg,
      new cmd heading: 262.431059 deg.

2021-12-04T10:15:46.053Z,1638612946.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:46.123Z,1638612946.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 266.243561 deg,
      approachRate: -0.536315 m/s,
      LOS rate: -0.594064 deg/s,
      cmd update: -1.782191 deg/s,
      cmd heading: 262.431059 deg,
      new cmd heading: 261.761648 deg.

2021-12-04T10:15:46.455Z,1638612946.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:46.479Z,1638612946.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 265.034289 deg, deltaT: 4.408862 s, deltaX: -2.700001 m, approachRate: -0.612403 m/s, LOS rate: -0.274282 deg/s, posRepo size: 4
2021-12-04T10:15:46.481Z,1638612946.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 261.761648 deg,
      new cmd heading: 261.161959 deg.

2021-12-04T10:15:46.876Z,1638612946.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101547.09*51

2021-12-04T10:15:46.877Z,1638612946.877 [Micromodem](INFO): Nmea in: $CAREV,101548,AUV,2.1.4000*23

2021-12-04T10:15:46.900Z,1638612946.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 261.484769 deg,
      new cmd heading: 261.122638 deg.

2021-12-04T10:15:47.260Z,1638612947.260 [Micromodem](INFO): Nmea in: $CAREV,101548,COPROC,0.20.0.39330*72

2021-12-04T10:15:47.297Z,1638612947.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 261.122638 deg,
      new cmd heading: 260.795207 deg.

2021-12-04T10:15:47.706Z,1638612947.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 260.795207 deg,
      new cmd heading: 260.459107 deg.

2021-12-04T10:15:48.146Z,1638612948.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 260.459107 deg,
      new cmd heading: 260.100001 deg.

2021-12-04T10:15:48.499Z,1638612948.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 260.100001 deg,
      new cmd heading: 259.806663 deg.

2021-12-04T10:15:48.925Z,1638612948.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 259.806663 deg,
      new cmd heading: 259.461711 deg.

2021-12-04T10:15:49.299Z,1638612949.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:49.302Z,1638612949.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 259.461711 deg,
      new cmd heading: 259.145820 deg.

2021-12-04T10:15:49.719Z,1638612949.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 259.145820 deg,
      new cmd heading: 258.802926 deg.

2021-12-04T10:15:50.073Z,1638612950.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:50.221Z,1638612950.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 258.802926 deg,
      new cmd heading: 258.394796 deg.

2021-12-04T10:15:50.484Z,1638612950.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:50.539Z,1638612950.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 265.034289 deg,
      approachRate: -0.612403 m/s,
      LOS rate: -0.274282 deg/s,
      cmd update: -0.822846 deg/s,
      cmd heading: 258.394796 deg,
      new cmd heading: 258.147852 deg.

2021-12-04T10:15:50.952Z,1638612950.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:50.961Z,1638612950.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 265.327550 deg, deltaT: 4.497104 s, deltaX: -2.100002 m, approachRate: -0.466968 m/s, LOS rate: 0.065211 deg/s, posRepo size: 4
2021-12-04T10:15:50.967Z,1638612950.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.147852 deg,
      new cmd heading: 257.780413 deg.

2021-12-04T10:15:51.348Z,1638612951.348 [Micromodem](INFO): Nmea in: $SNTTA,0.028586,,,,101551.52*47

2021-12-04T10:15:51.349Z,1638612951.349 [Micromodem](INFO): Nmea in: $CAREV,101552,AUV,2.1.4000*28

2021-12-04T10:15:51.387Z,1638612951.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.235212 deg,
      new cmd heading: 258.318447 deg.

2021-12-04T10:15:51.704Z,1638612951.704 [Micromodem](INFO): Nmea in: $CAREV,101552,COPROC,0.20.0.39330*79

2021-12-04T10:15:51.788Z,1638612951.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.318447 deg,
      new cmd heading: 258.394435 deg.

2021-12-04T10:15:52.165Z,1638612952.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.394435 deg,
      new cmd heading: 258.470700 deg.

2021-12-04T10:15:52.535Z,1638612952.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.470700 deg,
      new cmd heading: 258.543086 deg.

2021-12-04T10:15:52.963Z,1638612952.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.543086 deg,
      new cmd heading: 258.626839 deg.

2021-12-04T10:15:53.347Z,1638612953.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.626839 deg,
      new cmd heading: 258.701898 deg.

2021-12-04T10:15:53.787Z,1638612953.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:53.797Z,1638612953.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.701898 deg,
      new cmd heading: 258.789899 deg.

2021-12-04T10:15:54.193Z,1638612954.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.789899 deg,
      new cmd heading: 258.867528 deg.

2021-12-04T10:15:54.525Z,1638612954.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:54.616Z,1638612954.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.867528 deg,
      new cmd heading: 258.948022 deg.

2021-12-04T10:15:54.939Z,1638612954.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:54.991Z,1638612954.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 265.327550 deg,
      approachRate: -0.466968 m/s,
      LOS rate: 0.065211 deg/s,
      cmd update: 0.195633 deg/s,
      cmd heading: 258.948022 deg,
      new cmd heading: 259.023602 deg.

2021-12-04T10:15:55.350Z,1638612955.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:55.355Z,1638612955.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 264.188985 deg, deltaT: 4.397880 s, deltaX: -2.160000 m, approachRate: -0.491146 m/s, LOS rate: -0.258890 deg/s, posRepo size: 4
2021-12-04T10:15:55.357Z,1638612955.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 259.023602 deg,
      new cmd heading: 259.094794 deg.

2021-12-04T10:15:55.794Z,1638612955.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101555.97*55

2021-12-04T10:15:55.795Z,1638612955.795 [Micromodem](INFO): Nmea in: $CAREV,101557,AUV,2.1.4000*2D

2021-12-04T10:15:55.849Z,1638612955.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 258.740969 deg,
      new cmd heading: 258.357462 deg.

2021-12-04T10:15:56.160Z,1638612956.160 [Micromodem](INFO): Nmea in: $CAREV,101557,COPROC,0.20.0.39330*7C

2021-12-04T10:15:56.185Z,1638612956.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 258.357462 deg,
      new cmd heading: 258.096603 deg.

2021-12-04T10:15:56.587Z,1638612956.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 258.096603 deg,
      new cmd heading: 257.783973 deg.

2021-12-04T10:15:57.008Z,1638612957.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 257.783973 deg,
      new cmd heading: 257.457265 deg.

2021-12-04T10:15:57.379Z,1638612957.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 257.457265 deg,
      new cmd heading: 257.169117 deg.

2021-12-04T10:15:57.847Z,1638612957.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 257.169117 deg,
      new cmd heading: 256.805433 deg.

2021-12-04T10:15:58.174Z,1638612958.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:15:58.343Z,1638612958.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 256.805433 deg,
      new cmd heading: 256.424678 deg.

2021-12-04T10:15:58.597Z,1638612958.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 256.424678 deg,
      new cmd heading: 256.222732 deg.

2021-12-04T10:15:58.977Z,1638612958.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:15:59.097Z,1638612959.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 256.222732 deg,
      new cmd heading: 255.834365 deg.

2021-12-04T10:15:59.397Z,1638612959.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:15:59.431Z,1638612959.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 264.188985 deg,
      approachRate: -0.491146 m/s,
      LOS rate: -0.258890 deg/s,
      cmd update: -0.776669 deg/s,
      cmd heading: 255.834365 deg,
      new cmd heading: 255.575597 deg.

2021-12-04T10:15:59.847Z,1638612959.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:15:59.852Z,1638612959.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 262.782567 deg, deltaT: 4.497445 s, deltaX: -1.919998 m, approachRate: -0.426909 m/s, LOS rate: -0.312715 deg/s, posRepo size: 4
2021-12-04T10:15:59.854Z,1638612959.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 255.575597 deg,
      new cmd heading: 255.248513 deg.

2021-12-04T10:16:00.208Z,1638612960.208 [Micromodem](INFO): Nmea in: $SNTTA,0.023249,,,,101600.42*4E

2021-12-04T10:16:00.209Z,1638612960.209 [Micromodem](INFO): Nmea in: $CAREV,101601,AUV,2.1.4000*2D

2021-12-04T10:16:00.234Z,1638612960.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 255.180509 deg,
      new cmd heading: 254.822210 deg.

2021-12-04T10:16:00.600Z,1638612960.600 [Micromodem](INFO): Nmea in: $CAREV,101601,COPROC,0.20.0.39330*7C

2021-12-04T10:16:00.623Z,1638612960.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 254.822210 deg,
      new cmd heading: 254.464577 deg.

2021-12-04T10:16:01.035Z,1638612961.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 254.464577 deg,
      new cmd heading: 254.070451 deg.

2021-12-04T10:16:01.427Z,1638612961.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 254.070451 deg,
      new cmd heading: 253.703288 deg.

2021-12-04T10:16:01.938Z,1638612961.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 253.703288 deg,
      new cmd heading: 253.223355 deg.

2021-12-04T10:16:02.231Z,1638612962.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 253.223355 deg,
      new cmd heading: 252.948293 deg.

2021-12-04T10:16:02.639Z,1638612962.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:02.641Z,1638612962.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 252.948293 deg,
      new cmd heading: 252.563297 deg.

2021-12-04T10:16:03.059Z,1638612963.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 252.563297 deg,
      new cmd heading: 252.190574 deg.

2021-12-04T10:16:03.419Z,1638612963.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:03.520Z,1638612963.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 252.190574 deg,
      new cmd heading: 251.745195 deg.

2021-12-04T10:16:03.831Z,1638612963.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:03.934Z,1638612963.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 262.782567 deg,
      approachRate: -0.426909 m/s,
      LOS rate: -0.312715 deg/s,
      cmd update: -0.938145 deg/s,
      cmd heading: 251.745195 deg,
      new cmd heading: 251.359275 deg.

2021-12-04T10:16:04.266Z,1638612964.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:04.287Z,1638612964.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.419998 m, bearing: 261.139961 deg, deltaT: 4.419552 s, deltaX: -1.800003 m, approachRate: -0.407282 m/s, LOS rate: -0.371668 deg/s, posRepo size: 4
2021-12-04T10:16:04.289Z,1638612964.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 251.359275 deg,
      new cmd heading: 251.034337 deg.

2021-12-04T10:16:04.660Z,1638612964.660 [Micromodem](INFO): Nmea in: $SNTTA,0.006609,,,,101604.87*44

2021-12-04T10:16:04.661Z,1638612964.661 [Micromodem](INFO): Nmea in: $CAREV,101605,AUV,2.1.4000*29

2021-12-04T10:16:04.680Z,1638612964.680 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T10:16:04.680Z,1638612964.680 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T10:16:04.681Z,1638612964.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T10:16:04.681Z,1638612964.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:16:04.681Z,1638612964.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T10:16:04.681Z,1638612964.681 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.419998 m 
2021-12-04T10:16:04.682Z,1638612964.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T10:16:04.682Z,1638612964.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T10:16:04.682Z,1638612964.682 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T10:16:04.685Z,1638612964.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 250.973079 deg,
      new cmd heading: 250.512187 deg.

2021-12-04T10:16:05.044Z,1638612965.044 [Micromodem](INFO): Nmea in: $CAREV,101605,COPROC,0.20.0.39330*78

2021-12-04T10:16:05.085Z,1638612965.085 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T101605: (41.552319, -70.708603)
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T10:16:05.086Z,1638612965.086 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T10:16:05.087Z,1638612965.087 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T10:16:05.089Z,1638612965.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 250.512187 deg,
      new cmd heading: 250.061097 deg.

2021-12-04T10:16:05.468Z,1638612965.468 [UniversalFixResidualReporter](INFO): Fix residual: 3.9 %DT, over the last 1521.2 m. Residual distance 59.9 m at bearing 152.3 degrees. Fix at (41.5510, -70.6911) with 1466.9 m made good.
2021-12-04T10:16:05.475Z,1638612965.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 250.061097 deg,
      new cmd heading: 249.631637 deg.

2021-12-04T10:16:05.949Z,1638612965.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 249.631637 deg,
      new cmd heading: 249.102686 deg.

2021-12-04T10:16:06.285Z,1638612966.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 249.102686 deg,
      new cmd heading: 248.727880 deg.

2021-12-04T10:16:06.691Z,1638612966.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 248.727880 deg,
      new cmd heading: 248.275492 deg.

2021-12-04T10:16:07.077Z,1638612967.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:07.080Z,1638612967.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 248.275492 deg,
      new cmd heading: 247.841703 deg.

2021-12-04T10:16:07.495Z,1638612967.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 247.841703 deg,
      new cmd heading: 247.378439 deg.

2021-12-04T10:16:07.854Z,1638612967.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:07.982Z,1638612967.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 247.378439 deg,
      new cmd heading: 246.835759 deg.

2021-12-04T10:16:08.277Z,1638612968.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:08.314Z,1638612968.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 261.139961 deg,
      approachRate: -0.407282 m/s,
      LOS rate: -0.371668 deg/s,
      cmd update: -1.115004 deg/s,
      cmd heading: 246.835759 deg,
      new cmd heading: 246.465477 deg.

2021-12-04T10:16:08.674Z,1638612968.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:08.679Z,1638612968.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.759999 m, bearing: 260.402738 deg, deltaT: 4.407919 s, deltaX: -0.660000 m, approachRate: -0.149730 m/s, LOS rate: -0.167250 deg/s, posRepo size: 4
2021-12-04T10:16:08.681Z,1638612968.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 246.465477 deg,
      new cmd heading: 246.058217 deg.

2021-12-04T10:16:09.108Z,1638612969.108 [Micromodem](INFO): Nmea in: $SNTTA,0.006180,,,,101609.30*43

2021-12-04T10:16:09.110Z,1638612969.110 [Micromodem](INFO): Nmea in: $CAREV,101610,AUV,2.1.4000*2D

2021-12-04T10:16:09.138Z,1638612969.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 246.282211 deg,
      new cmd heading: 246.052024 deg.

2021-12-04T10:16:09.484Z,1638612969.484 [Micromodem](INFO): Nmea in: $CAREV,101610,COPROC,0.20.0.39330*7C

2021-12-04T10:16:09.499Z,1638612969.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 246.052024 deg,
      new cmd heading: 245.871171 deg.

2021-12-04T10:16:09.971Z,1638612969.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 245.871171 deg,
      new cmd heading: 245.634133 deg.

2021-12-04T10:16:10.325Z,1638612970.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 245.634133 deg,
      new cmd heading: 245.456559 deg.

2021-12-04T10:16:10.748Z,1638612970.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 245.456559 deg,
      new cmd heading: 245.247163 deg.

2021-12-04T10:16:11.131Z,1638612971.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 245.247163 deg,
      new cmd heading: 245.052181 deg.

2021-12-04T10:16:11.553Z,1638612971.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:11.559Z,1638612971.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 245.052181 deg,
      new cmd heading: 244.838190 deg.

2021-12-04T10:16:11.969Z,1638612971.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 244.838190 deg,
      new cmd heading: 244.631702 deg.

2021-12-04T10:16:12.301Z,1638612972.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:12.411Z,1638612972.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 244.631702 deg,
      new cmd heading: 244.412151 deg.

2021-12-04T10:16:12.702Z,1638612972.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:12.736Z,1638612972.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.759999 m,
      bearing: 260.402738 deg,
      approachRate: -0.149730 m/s,
      LOS rate: -0.167250 deg/s,
      cmd update: -0.501749 deg/s,
      cmd heading: 244.412151 deg,
      new cmd heading: 244.247000 deg.

2021-12-04T10:16:13.158Z,1638612973.158 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:13.181Z,1638612973.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.819999 m, bearing: 246.060679 deg, deltaT: 4.484122 s, deltaX: 0.060001 m, approachRate: 0.013381 m/s, LOS rate: -3.198410 deg/s, posRepo size: 4
2021-12-04T10:16:13.188Z,1638612973.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 244.247000 deg,
      new cmd heading: 244.023587 deg.

2021-12-04T10:16:13.548Z,1638612973.548 [Micromodem](INFO): Nmea in: $SNTTA,0.008169,,,,101613.75*40

2021-12-04T10:16:13.549Z,1638612973.549 [Micromodem](INFO): Nmea in: $CAREV,101614,AUV,2.1.4000*29

2021-12-04T10:16:13.571Z,1638612973.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 239.974533 deg,
      new cmd heading: 236.231252 deg.

2021-12-04T10:16:13.940Z,1638612973.940 [Micromodem](INFO): Nmea in: $CAREV,101614,COPROC,0.20.0.39330*78

2021-12-04T10:16:14.025Z,1638612974.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 236.231252 deg,
      new cmd heading: 231.877580 deg.

2021-12-04T10:16:14.381Z,1638612974.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 231.877580 deg,
      new cmd heading: 228.459730 deg.

2021-12-04T10:16:14.752Z,1638612974.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 228.459730 deg,
      new cmd heading: 224.905005 deg.

2021-12-04T10:16:15.173Z,1638612975.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 224.905005 deg,
      new cmd heading: 220.853698 deg.

2021-12-04T10:16:15.614Z,1638612975.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 220.853698 deg,
      new cmd heading: 216.630588 deg.

2021-12-04T10:16:16.003Z,1638612976.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:16.011Z,1638612976.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 216.630588 deg,
      new cmd heading: 212.861995 deg.

2021-12-04T10:16:16.377Z,1638612976.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 212.861995 deg,
      new cmd heading: 209.301052 deg.

2021-12-04T10:16:16.742Z,1638612976.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:16.830Z,1638612976.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 209.301052 deg,
      new cmd heading: 205.140531 deg.

2021-12-04T10:16:17.155Z,1638612977.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:17.216Z,1638612977.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 246.060679 deg,
      approachRate: 0.013381 m/s,
      LOS rate: -3.198410 deg/s,
      cmd update: -9.595229 deg/s,
      cmd heading: 205.140531 deg,
      new cmd heading: 201.272531 deg.

2021-12-04T10:16:17.571Z,1638612977.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:17.576Z,1638612977.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.000000 m, bearing: 228.953187 deg, deltaT: 4.412164 s, deltaX: 0.180001 m, approachRate: 0.040797 m/s, LOS rate: -3.877347 deg/s, posRepo size: 4
2021-12-04T10:16:17.576Z,1638612977.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.00 m.
2021-12-04T10:16:17.578Z,1638612977.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 201.272531 deg,
      new cmd heading: 197.805535 deg.

2021-12-04T10:16:17.000Z,1638612978.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101618.19*59

2021-12-04T10:16:18.001Z,1638612978.001 [Micromodem](INFO): Nmea in: $CAREV,101619,AUV,2.1.4000*24

2021-12-04T10:16:18.103Z,1638612978.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 197.069584 deg,
      new cmd heading: 190.982315 deg.

2021-12-04T10:16:18.376Z,1638612978.376 [Micromodem](INFO): Nmea in: $CAREV,101619,COPROC,0.20.0.39330*75

2021-12-04T10:16:18.395Z,1638612978.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 190.982315 deg,
      new cmd heading: 187.542500 deg.

2021-12-04T10:16:18.799Z,1638612978.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 187.542500 deg,
      new cmd heading: 182.844237 deg.

2021-12-04T10:16:19.218Z,1638612979.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 182.844237 deg,
      new cmd heading: 178.189442 deg.

2021-12-04T10:16:19.607Z,1638612979.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 178.189442 deg,
      new cmd heading: 173.445791 deg.

2021-12-04T10:16:20.067Z,1638612980.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 173.445791 deg,
      new cmd heading: 168.143860 deg.

2021-12-04T10:16:20.388Z,1638612980.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:20.391Z,1638612980.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 168.143860 deg,
      new cmd heading: 164.319582 deg.

2021-12-04T10:16:20.814Z,1638612980.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 164.319582 deg,
      new cmd heading: 159.400322 deg.

2021-12-04T10:16:21.189Z,1638612981.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:21.324Z,1638612981.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 159.400322 deg,
      new cmd heading: 153.526431 deg.

2021-12-04T10:16:21.595Z,1638612981.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:21.639Z,1638612981.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.953187 deg,
      approachRate: 0.040797 m/s,
      LOS rate: -3.877347 deg/s,
      cmd update: -11.632042 deg/s,
      cmd heading: 153.526431 deg,
      new cmd heading: 149.809098 deg.

2021-12-04T10:16:22.053Z,1638612982.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:22.058Z,1638612982.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.000000 m, bearing: 228.906441 deg, deltaT: 4.482273 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.010429 deg/s, posRepo size: 4
2021-12-04T10:16:22.060Z,1638612982.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.809098 deg,
      new cmd heading: 144.928352 deg.

2021-12-04T10:16:22.432Z,1638612982.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101622.64*5A

2021-12-04T10:16:22.433Z,1638612982.433 [Micromodem](INFO): Nmea in: $CAREV,101623,AUV,2.1.4000*2D

2021-12-04T10:16:22.473Z,1638612982.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.795970 deg,
      new cmd heading: 149.782995 deg.

2021-12-04T10:16:22.817Z,1638612982.817 [Micromodem](INFO): Nmea in: $CAREV,101623,COPROC,0.20.0.39330*7C

2021-12-04T10:16:22.832Z,1638612982.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.782995 deg,
      new cmd heading: 149.771779 deg.

2021-12-04T10:16:23.248Z,1638612983.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting latch delay timer at range: 3.00 m.
2021-12-04T10:16:23.248Z,1638612983.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Cable is present.
2021-12-04T10:16:23.250Z,1638612983.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.771779 deg,
      new cmd heading: 149.758700 deg.

2021-12-04T10:16:23.647Z,1638612983.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.758700 deg,
      new cmd heading: 149.746259 deg.

2021-12-04T10:16:24.070Z,1638612984.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.746259 deg,
      new cmd heading: 149.733029 deg.

2021-12-04T10:16:24.455Z,1638612984.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.733029 deg,
      new cmd heading: 149.720977 deg.

2021-12-04T10:16:24.836Z,1638612984.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:24.839Z,1638612984.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.720977 deg,
      new cmd heading: 149.708957 deg.

2021-12-04T10:16:25.277Z,1638612985.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.708957 deg,
      new cmd heading: 149.695273 deg.

2021-12-04T10:16:25.648Z,1638612985.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:25.780Z,1638612985.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.695273 deg,
      new cmd heading: 149.679929 deg.

2021-12-04T10:16:26.039Z,1638612986.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:26.104Z,1638612986.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 228.906441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.010429 deg/s,
      cmd update: -0.031287 deg/s,
      cmd heading: 149.679929 deg,
      new cmd heading: 149.669393 deg.

2021-12-04T10:16:26.468Z,1638612986.468 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:26.473Z,1638612986.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.940000 m, bearing: 236.586251 deg, deltaT: 4.414660 s, deltaX: -0.060000 m, approachRate: -0.013591 m/s, LOS rate: 1.739615 deg/s, posRepo size: 4
2021-12-04T10:16:26.475Z,1638612986.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 149.669393 deg,
      new cmd heading: 149.657849 deg.

2021-12-04T10:16:26.872Z,1638612986.872 [Micromodem](INFO): Nmea in: $SNTTA,0.047896,,,,101627.10*46

2021-12-04T10:16:26.875Z,1638612986.875 [Micromodem](INFO): Nmea in: $CAREV,101628,AUV,2.1.4000*26

2021-12-04T10:16:26.900Z,1638612986.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 151.595053 deg,
      new cmd heading: 153.796357 deg.

2021-12-04T10:16:27.272Z,1638612987.272 [Micromodem](INFO): Nmea in: $CAREV,101628,COPROC,0.20.0.39330*77

2021-12-04T10:16:27.296Z,1638612987.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 153.796357 deg,
      new cmd heading: 155.890033 deg.

2021-12-04T10:16:27.701Z,1638612987.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 155.890033 deg,
      new cmd heading: 158.005852 deg.

2021-12-04T10:16:28.111Z,1638612988.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 158.005852 deg,
      new cmd heading: 160.141827 deg.

2021-12-04T10:16:28.487Z,1638612988.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 160.141827 deg,
      new cmd heading: 162.105052 deg.

2021-12-04T10:16:28.899Z,1638612988.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 162.105052 deg,
      new cmd heading: 164.255144 deg.

2021-12-04T10:16:29.287Z,1638612989.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:29.290Z,1638612989.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 164.255144 deg,
      new cmd heading: 166.298124 deg.

2021-12-04T10:16:29.705Z,1638612989.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 166.298124 deg,
      new cmd heading: 168.464107 deg.

2021-12-04T10:16:30.073Z,1638612990.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:30.198Z,1638612990.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 168.464107 deg,
      new cmd heading: 171.034466 deg.

2021-12-04T10:16:30.491Z,1638612990.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:30.517Z,1638612990.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.940000 m,
      bearing: 236.586251 deg,
      approachRate: -0.013591 m/s,
      LOS rate: 1.739615 deg/s,
      cmd update: 5.218846 deg/s,
      cmd heading: 171.034466 deg,
      new cmd heading: 172.703824 deg.

2021-12-04T10:16:30.940Z,1638612990.940 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:16:30.949Z,1638612990.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.819999 m, bearing: 227.408088 deg, deltaT: 4.472186 s, deltaX: -0.120001 m, approachRate: -0.026833 m/s, LOS rate: -2.052277 deg/s, posRepo size: 4
2021-12-04T10:16:30.955Z,1638612990.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 172.703824 deg,
      new cmd heading: 174.955229 deg.

2021-12-04T10:16:31.316Z,1638612991.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101631.52*5D

2021-12-04T10:16:31.317Z,1638612991.317 [Micromodem](INFO): Nmea in: $CAREV,101632,AUV,2.1.4000*2D

2021-12-04T10:16:31.361Z,1638612991.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 170.047774 deg,
      new cmd heading: 167.509042 deg.

2021-12-04T10:16:31.704Z,1638612991.704 [Micromodem](INFO): Nmea in: $CAREV,101632,COPROC,0.20.0.39330*7C

2021-12-04T10:16:31.723Z,1638612991.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 167.509042 deg,
      new cmd heading: 165.281599 deg.

2021-12-04T10:16:32.157Z,1638612992.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 165.281599 deg,
      new cmd heading: 162.607559 deg.

2021-12-04T10:16:32.523Z,1638612992.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 162.607559 deg,
      new cmd heading: 160.358229 deg.

2021-12-04T10:16:32.969Z,1638612992.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 160.358229 deg,
      new cmd heading: 157.608662 deg.

2021-12-04T10:16:33.347Z,1638612993.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 227.408088 deg,
      approachRate: -0.026833 m/s,
      LOS rate: -2.052277 deg/s,
      cmd update: -6.156830 deg/s,
      cmd heading: 157.608662 deg,
      new cmd heading: 155.285986 deg.

2021-12-04T10:16:33.808Z,1638612993.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:33.810Z,1638612993.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 2.82 m. Cable present.
2021-12-04T10:16:33.810Z,1638612993.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T10:16:33.810Z,1638612993.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T10:16:33.815Z,1638612993.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-12-04T10:16:34.148Z,1638612994.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-12-04T10:16:34.148Z,1638612994.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-12-04T10:16:34.148Z,1638612994.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-12-04T10:16:34.517Z,1638612994.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:34.610Z,1638612994.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-12-04T10:16:34.616Z,1638612994.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:16:34.616Z,1638612994.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T10:16:34.616Z,1638612994.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:16:34.617Z,1638612994.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T10:16:34.617Z,1638612994.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T10:16:34.617Z,1638612994.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T10:16:34.617Z,1638612994.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:16:34.929Z,1638612994.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:34.972Z,1638612994.972 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T10:16:34.972Z,1638612994.972 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T10:16:34.972Z,1638612994.972 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T10:16:34.972Z,1638612994.972 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T10:16:34.973Z,1638612994.973 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T10:16:34.973Z,1638612994.973 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T10:16:34.973Z,1638612994.973 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-12-04T10:16:34.973Z,1638612994.973 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T10:16:34.973Z,1638612994.973 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-12-04T10:16:34.974Z,1638612994.974 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T10:16:34.974Z,1638612994.974 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T10:16:34.974Z,1638612994.974 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T10:16:34.978Z,1638612994.978 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T10:16:34.979Z,1638612994.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T10:16:34.979Z,1638612994.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:16:34.979Z,1638612994.979 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T10:16:34.979Z,1638612994.979 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T10:16:35.326Z,1638612995.326 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-12-04T10:16:35.326Z,1638612995.326 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T10:16:35.742Z,1638612995.742 [Micromodem](INFO): Nmea in: $SNTTA,0.030677,,,,101635.97*4B

2021-12-04T10:16:35.761Z,1638612995.761 [Micromodem](INFO): Nmea in: $CAREV,101637,AUV,2.1.4000*28

2021-12-04T10:16:36.124Z,1638612996.124 [Micromodem](INFO): Nmea in: $CAREV,101637,COPROC,0.20.0.39330*79

2021-12-04T10:16:38.172Z,1638612998.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:38.550Z,1638612998.550 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T10:16:38.550Z,1638612998.550 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T10:16:38.550Z,1638612998.550 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T10:16:38.550Z,1638612998.550 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T10:16:38.941Z,1638612998.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:39.044Z,1638612999.044 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-12-04T10:16:39.044Z,1638612999.044 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T10:16:39.046Z,1638612999.046 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T10:16:39.046Z,1638612999.046 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T10:16:39.046Z,1638612999.046 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T10:16:39.046Z,1638612999.046 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T10:16:39.046Z,1638612999.046 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T10:16:39.051Z,1638612999.051 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:16:39.052Z,1638612999.052 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T10:16:39.052Z,1638612999.052 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T10:16:39.052Z,1638612999.052 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T10:16:39.052Z,1638612999.052 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T10:16:39.052Z,1638612999.052 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T10:16:39.356Z,1638612999.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:39.387Z,1638612999.387 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T10:16:39.388Z,1638612999.388 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T10:16:39.388Z,1638612999.388 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T10:16:39.388Z,1638612999.388 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T10:16:39.841Z,1638612999.841 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T10:16:39.842Z,1638612999.842 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T10:16:40.164Z,1638613000.164 [Micromodem](INFO): Nmea in: $SNTTA,0.026872,,,,101640.39*41

2021-12-04T10:16:40.165Z,1638613000.165 [Micromodem](INFO): Nmea in: $CAREV,101641,AUV,2.1.4000*29

2021-12-04T10:16:40.186Z,1638613000.186 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-12-04T10:16:40.187Z,1638613000.187 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T10:16:40.187Z,1638613000.187 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T10:16:40.187Z,1638613000.187 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T10:16:40.187Z,1638613000.187 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T10:16:40.564Z,1638613000.564 [Micromodem](INFO): Nmea in: $CAREV,101641,COPROC,0.20.0.39330*78

2021-12-04T10:16:40.577Z,1638613000.577 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-12-04T10:16:40.577Z,1638613000.577 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T10:16:40.577Z,1638613000.577 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-12-04T10:16:40.577Z,1638613000.577 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-12-04T10:16:40.577Z,1638613000.577 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T10:16:40.578Z,1638613000.578 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-12-04T10:16:40.578Z,1638613000.578 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-12-04T10:16:41.379Z,1638613001.379 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.50 m/s, pitch 20.00 deg, mass-position -3.15 mm (1 active estimators).
2021-12-04T10:16:42.620Z,1638613002.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:43.409Z,1638613003.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:43.845Z,1638613003.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:44.644Z,1638613004.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101644.86*56

2021-12-04T10:16:44.645Z,1638613004.645 [Micromodem](INFO): Nmea in: $CAREV,101645,AUV,2.1.4000*2D

2021-12-04T10:16:45.043Z,1638613005.043 [Micromodem](INFO): Nmea in: $CAREV,101645,COPROC,0.20.0.39330*7C

2021-12-04T10:16:47.089Z,1638613007.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:47.865Z,1638613007.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:48.263Z,1638613008.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:49.092Z,1638613009.092 [Micromodem](INFO): Nmea in: $SNTTA,0.016630,,,,101649.31*4B

2021-12-04T10:16:49.093Z,1638613009.093 [Micromodem](INFO): Nmea in: $CAREV,101650,AUV,2.1.4000*29

2021-12-04T10:16:49.500Z,1638613009.500 [Micromodem](INFO): Nmea in: $CAREV,101650,COPROC,0.20.0.39330*78

2021-12-04T10:16:51.513Z,1638613011.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:52.309Z,1638613012.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:52.681Z,1638613012.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:53.516Z,1638613013.516 [Micromodem](INFO): Nmea in: $SNTTA,0.005985,,,,101653.76*40

2021-12-04T10:16:53.517Z,1638613013.517 [Micromodem](INFO): Nmea in: $CAREV,101654,AUV,2.1.4000*2D

2021-12-04T10:16:53.927Z,1638613013.927 [Micromodem](INFO): Nmea in: $CAREV,101654,COPROC,0.20.0.39330*7C

2021-12-04T10:16:55.940Z,1638613015.940 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:56.023Z,1638613016.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:16:56.317Z,1638613016.317 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:56.719Z,1638613016.719 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:56.753Z,1638613016.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:16:57.126Z,1638613017.126 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:57.172Z,1638613017.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:16:57.524Z,1638613017.524 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:57.952Z,1638613017.952 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:58.000Z,1638613018.000 [Micromodem](INFO): Nmea in: $SNTTA,,0.016916,,,101658.20*40

2021-12-04T10:16:58.001Z,1638613018.001 [Micromodem](INFO): Nmea in: $CAREV,101659,AUV,2.1.4000*20

2021-12-04T10:16:58.332Z,1638613018.332 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:58.380Z,1638613018.380 [Micromodem](INFO): Nmea in: $CAREV,101659,COPROC,0.20.0.39330*71

2021-12-04T10:16:58.742Z,1638613018.742 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:59.140Z,1638613019.140 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:59.552Z,1638613019.552 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:16:59.948Z,1638613019.948 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:00.359Z,1638613020.359 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:00.412Z,1638613020.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:00.756Z,1638613020.756 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:01.166Z,1638613021.166 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:01.202Z,1638613021.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:01.564Z,1638613021.564 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:01.600Z,1638613021.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:01.979Z,1638613021.979 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:02.387Z,1638613022.387 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:02.436Z,1638613022.436 [Micromodem](INFO): Nmea in: $SNTTA,0.007998,,,,101702.65*49

2021-12-04T10:17:02.437Z,1638613022.437 [Micromodem](INFO): Nmea in: $CAREV,101703,AUV,2.1.4000*2E

2021-12-04T10:17:02.797Z,1638613022.797 [Micromodem](INFO): Nmea in: $CAREV,101703,COPROC,0.20.0.39330*7F

2021-12-04T10:17:04.796Z,1638613024.796 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:04.841Z,1638613024.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:05.200Z,1638613025.200 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:05.604Z,1638613025.604 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:05.656Z,1638613025.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:06.019Z,1638613026.019 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:06.057Z,1638613026.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:06.412Z,1638613026.412 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:06.827Z,1638613026.827 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:06.881Z,1638613026.881 [Micromodem](INFO): Nmea in: $SNTTA,0.005951,,,,101707.11*48

2021-12-04T10:17:06.883Z,1638613026.883 [Micromodem](INFO): Nmea in: $CAREV,101708,AUV,2.1.4000*25

2021-12-04T10:17:07.220Z,1638613027.220 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:07.268Z,1638613027.268 [Micromodem](INFO): Nmea in: $CAREV,101708,COPROC,0.20.0.39330*74

2021-12-04T10:17:07.624Z,1638613027.624 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:08.029Z,1638613028.029 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:08.432Z,1638613028.432 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:08.836Z,1638613028.836 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:09.240Z,1638613029.240 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:09.319Z,1638613029.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:09.647Z,1638613029.647 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:10.049Z,1638613030.049 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:10.089Z,1638613030.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:10.452Z,1638613030.452 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:10.496Z,1638613030.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:10.856Z,1638613030.856 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:11.287Z,1638613031.287 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:11.333Z,1638613031.333 [Micromodem](INFO): Nmea in: $SNTTA,0.001344,,,,101711.54*44

2021-12-04T10:17:11.335Z,1638613031.335 [Micromodem](INFO): Nmea in: $CAREV,101712,AUV,2.1.4000*2E

2021-12-04T10:17:11.664Z,1638613031.664 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:11.716Z,1638613031.716 [Micromodem](INFO): Nmea in: $CAREV,101712,COPROC,0.20.0.39330*7F

2021-12-04T10:17:12.079Z,1638613032.079 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:12.472Z,1638613032.472 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:13.703Z,1638613033.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:14.601Z,1638613034.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:14.907Z,1638613034.907 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:14.951Z,1638613034.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:15.311Z,1638613035.311 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:15.704Z,1638613035.704 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:15.780Z,1638613035.780 [Micromodem](INFO): Nmea in: $SNTTA,0.055874,,,,101716.05*4E

2021-12-04T10:17:16.108Z,1638613036.108 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:16.168Z,1638613036.168 [Micromodem](INFO): Nmea in: $CAREV,101717,AUV,2.1.4000*2B

2021-12-04T10:17:16.169Z,1638613036.169 [Micromodem](INFO): Nmea in: $CAREV,101717,COPROC,0.20.0.39330*7A

2021-12-04T10:17:16.516Z,1638613036.516 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:16.941Z,1638613036.941 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:17.335Z,1638613037.335 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:17.734Z,1638613037.734 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:18.130Z,1638613038.130 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:18.206Z,1638613038.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:18.538Z,1638613038.538 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:18.948Z,1638613038.948 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:18.989Z,1638613038.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:19.344Z,1638613039.344 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:19.394Z,1638613039.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:19.782Z,1638613039.782 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:20.154Z,1638613040.154 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:20.204Z,1638613040.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101720.44*5B

2021-12-04T10:17:20.205Z,1638613040.205 [Micromodem](INFO): Nmea in: $CAREV,101721,AUV,2.1.4000*2E

2021-12-04T10:17:20.552Z,1638613040.552 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:20.604Z,1638613040.604 [Micromodem](INFO): Nmea in: $CAREV,101721,COPROC,0.20.0.39330*7F

2021-12-04T10:17:20.959Z,1638613040.959 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:21.360Z,1638613041.360 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:21.794Z,1638613041.794 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:22.168Z,1638613042.168 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:22.576Z,1638613042.576 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:22.621Z,1638613042.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:23.416Z,1638613043.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:23.803Z,1638613043.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:24.724Z,1638613044.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101724.87*50

2021-12-04T10:17:24.725Z,1638613044.725 [Micromodem](INFO): Nmea in: $CAREV,101725,AUV,2.1.4000*2A

2021-12-04T10:17:24.996Z,1638613044.996 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:25.040Z,1638613045.040 [Micromodem](INFO): Nmea in: $CAREV,101725,COPROC,0.20.0.39330*7B

2021-12-04T10:17:25.401Z,1638613045.401 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:25.824Z,1638613045.824 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:26.208Z,1638613046.208 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:26.612Z,1638613046.612 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:27.017Z,1638613047.017 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:27.085Z,1638613047.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:27.423Z,1638613047.423 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:27.824Z,1638613047.824 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:27.865Z,1638613047.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:28.228Z,1638613048.228 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:28.277Z,1638613048.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:28.635Z,1638613048.635 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:29.057Z,1638613049.057 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:29.104Z,1638613049.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101729.31*50

2021-12-04T10:17:29.105Z,1638613049.105 [Micromodem](INFO): Nmea in: $CAREV,101730,AUV,2.1.4000*2E

2021-12-04T10:17:29.440Z,1638613049.440 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:29.492Z,1638613049.492 [Micromodem](INFO): Nmea in: $CAREV,101730,COPROC,0.20.0.39330*7F

2021-12-04T10:17:29.855Z,1638613049.855 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:30.249Z,1638613050.249 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:30.672Z,1638613050.672 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:31.056Z,1638613051.056 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:31.460Z,1638613051.460 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:31.521Z,1638613051.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:31.865Z,1638613051.865 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:32.268Z,1638613052.268 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:32.297Z,1638613052.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:32.672Z,1638613052.672 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:32.707Z,1638613052.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:33.544Z,1638613053.544 [Micromodem](INFO): Nmea in: $SNTTA,,0.038971,,,101733.75*41

2021-12-04T10:17:33.545Z,1638613053.545 [Micromodem](INFO): Nmea in: $CAREV,101734,AUV,2.1.4000*2A

2021-12-04T10:17:33.908Z,1638613053.908 [Micromodem](INFO): Nmea in: $CAREV,101734,COPROC,0.20.0.39330*7B

2021-12-04T10:17:35.099Z,1638613055.099 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:35.500Z,1638613055.500 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:35.933Z,1638613055.933 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:36.018Z,1638613056.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:36.308Z,1638613056.308 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:36.716Z,1638613056.716 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:36.749Z,1638613056.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:37.129Z,1638613057.129 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:37.163Z,1638613057.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:37.520Z,1638613057.520 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:37.947Z,1638613057.947 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:37.992Z,1638613057.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101738.20*50

2021-12-04T10:17:37.993Z,1638613057.993 [Micromodem](INFO): Nmea in: $CAREV,101739,AUV,2.1.4000*27

2021-12-04T10:17:38.330Z,1638613058.330 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:38.372Z,1638613058.372 [Micromodem](INFO): Nmea in: $CAREV,101739,COPROC,0.20.0.39330*76

2021-12-04T10:17:38.732Z,1638613058.732 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:39.136Z,1638613059.136 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:39.540Z,1638613059.540 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:39.947Z,1638613059.947 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:40.348Z,1638613060.348 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:40.401Z,1638613060.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:40.752Z,1638613060.752 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:41.157Z,1638613061.157 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:41.202Z,1638613061.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:41.562Z,1638613061.562 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:41.595Z,1638613061.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:41.964Z,1638613061.964 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:42.378Z,1638613062.378 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:42.428Z,1638613062.428 [Micromodem](INFO): Nmea in: $SNTTA,0.005926,,,,101742.65*4A

2021-12-04T10:17:42.429Z,1638613062.429 [Micromodem](INFO): Nmea in: $CAREV,101743,AUV,2.1.4000*2A

2021-12-04T10:17:42.773Z,1638613062.773 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:42.828Z,1638613062.828 [Micromodem](INFO): Nmea in: $CAREV,101743,COPROC,0.20.0.39330*7B

2021-12-04T10:17:44.936Z,1638613064.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:45.196Z,1638613065.196 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:45.600Z,1638613065.600 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:45.637Z,1638613065.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:46.006Z,1638613066.006 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:46.043Z,1638613066.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:46.408Z,1638613066.408 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:46.826Z,1638613066.826 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:46.875Z,1638613066.875 [Micromodem](INFO): Nmea in: $SNTTA,0.014856,,,,101747.09*43

2021-12-04T10:17:46.877Z,1638613066.877 [Micromodem](INFO): Nmea in: $CAREV,101748,AUV,2.1.4000*21

2021-12-04T10:17:47.216Z,1638613067.216 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:47.268Z,1638613067.268 [Micromodem](INFO): Nmea in: $CAREV,101748,COPROC,0.20.0.39330*70

2021-12-04T10:17:47.625Z,1638613067.625 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:48.024Z,1638613068.024 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:48.435Z,1638613068.435 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:48.832Z,1638613068.832 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:49.242Z,1638613069.242 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:49.303Z,1638613069.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:49.640Z,1638613069.640 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:50.053Z,1638613070.053 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:50.089Z,1638613070.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:50.448Z,1638613070.448 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:50.491Z,1638613070.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:50.858Z,1638613070.858 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:51.278Z,1638613071.278 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:51.328Z,1638613071.328 [Micromodem](INFO): Nmea in: $SNTTA,0.023969,,,,101751.54*45

2021-12-04T10:17:51.329Z,1638613071.329 [Micromodem](INFO): Nmea in: $CAREV,101752,AUV,2.1.4000*2A

2021-12-04T10:17:51.667Z,1638613071.667 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:51.720Z,1638613071.720 [Micromodem](INFO): Nmea in: $CAREV,101752,COPROC,0.20.0.39330*7B

2021-12-04T10:17:52.064Z,1638613072.064 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:52.480Z,1638613072.480 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:52.883Z,1638613072.883 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:53.771Z,1638613073.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:54.491Z,1638613074.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:55.035Z,1638613075.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:55.296Z,1638613075.296 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:55.716Z,1638613075.716 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:55.784Z,1638613075.784 [Micromodem](INFO): Nmea in: $SNTTA,0.021680,,,,101755.94*47

2021-12-04T10:17:55.789Z,1638613075.789 [Micromodem](INFO): Nmea in: $CAREV,101756,AUV,2.1.4000*2E

2021-12-04T10:17:56.104Z,1638613076.104 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:56.152Z,1638613076.152 [Micromodem](INFO): Nmea in: $CAREV,101756,COPROC,0.20.0.39330*7F

2021-12-04T10:17:56.508Z,1638613076.508 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:56.938Z,1638613076.938 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:57.317Z,1638613077.317 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:57.733Z,1638613077.733 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:58.124Z,1638613078.124 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:58.217Z,1638613078.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:17:58.528Z,1638613078.528 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:58.938Z,1638613078.938 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:58.988Z,1638613078.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:17:59.336Z,1638613079.336 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:17:59.371Z,1638613079.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:17:59.784Z,1638613079.784 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:00.150Z,1638613080.150 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:00.208Z,1638613080.208 [Micromodem](INFO): Nmea in: $SNTTA,0.049963,,,,101800.44*49

2021-12-04T10:18:00.209Z,1638613080.209 [Micromodem](INFO): Nmea in: $CAREV,101801,AUV,2.1.4000*23

2021-12-04T10:18:00.552Z,1638613080.552 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:00.611Z,1638613080.611 [Micromodem](INFO): Nmea in: $CAREV,101801,COPROC,0.20.0.39330*72

2021-12-04T10:18:00.952Z,1638613080.952 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:01.356Z,1638613081.356 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:01.795Z,1638613081.795 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:02.164Z,1638613082.164 [DDM](DEBUG): LCB error: Software Overcurrent.
2021-12-04T10:18:02.617Z,1638613082.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:03.379Z,1638613083.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:03.835Z,1638613083.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:04.619Z,1638613084.619 [Micromodem](INFO): Nmea in: $SNTTA,0.010891,,,,101804.83*46

2021-12-04T10:18:04.620Z,1638613084.620 [Micromodem](INFO): Nmea in: $CAREV,101805,AUV,2.1.4000*27

2021-12-04T10:18:05.108Z,1638613085.108 [Micromodem](INFO): Nmea in: $CAREV,101805,COPROC,0.20.0.39330*76

2021-12-04T10:18:07.086Z,1638613087.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:07.857Z,1638613087.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:08.259Z,1638613088.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:09.100Z,1638613089.100 [Micromodem](INFO): Nmea in: $SNTTA,0.150714,,,,101809.31*45

2021-12-04T10:18:09.101Z,1638613089.101 [Micromodem](INFO): Nmea in: $CAREV,101810,AUV,2.1.4000*23

2021-12-04T10:18:09.484Z,1638613089.484 [Micromodem](INFO): Nmea in: $CAREV,101810,COPROC,0.20.0.39330*72

2021-12-04T10:18:11.513Z,1638613091.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:12.301Z,1638613092.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:12.711Z,1638613092.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:13.508Z,1638613093.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101813.75*56

2021-12-04T10:18:13.509Z,1638613093.509 [Micromodem](INFO): Nmea in: $CAREV,101814,AUV,2.1.4000*27

2021-12-04T10:18:13.932Z,1638613093.932 [Micromodem](INFO): Nmea in: $CAREV,101814,COPROC,0.20.0.39330*76

2021-12-04T10:18:16.011Z,1638613096.011 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:18:16.023Z,1638613096.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:16.749Z,1638613096.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:17.155Z,1638613097.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:17.000Z,1638613098.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101818.20*5D

2021-12-04T10:18:18.001Z,1638613098.001 [Micromodem](INFO): Nmea in: $CAREV,101819,AUV,2.1.4000*2A

2021-12-04T10:18:18.368Z,1638613098.368 [Micromodem](INFO): Nmea in: $CAREV,101819,COPROC,0.20.0.39330*7B

2021-12-04T10:18:20.397Z,1638613100.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:21.185Z,1638613101.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:21.601Z,1638613101.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:22.420Z,1638613102.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101822.63*53

2021-12-04T10:18:22.423Z,1638613102.423 [Micromodem](INFO): Nmea in: $CAREV,101823,AUV,2.1.4000*23

2021-12-04T10:18:22.816Z,1638613102.816 [Micromodem](INFO): Nmea in: $CAREV,101823,COPROC,0.20.0.39330*72

2021-12-04T10:18:24.804Z,1638613104.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:25.629Z,1638613105.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:26.036Z,1638613106.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:26.064Z,1638613106.064 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:18:26.875Z,1638613106.875 [Micromodem](INFO): Nmea in: $SNTTA,0.031682,,,,101827.08*4B

2021-12-04T10:18:26.876Z,1638613106.876 [Micromodem](INFO): Nmea in: $CAREV,101828,AUV,2.1.4000*28

2021-12-04T10:18:27.264Z,1638613107.264 [Micromodem](INFO): Nmea in: $CAREV,101828,COPROC,0.20.0.39330*79

2021-12-04T10:18:29.306Z,1638613109.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:30.076Z,1638613110.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:30.475Z,1638613110.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:31.320Z,1638613111.320 [Micromodem](INFO): Nmea in: $SNTTA,0.014148,,,,101831.53*44

2021-12-04T10:18:31.321Z,1638613111.321 [Micromodem](INFO): Nmea in: $CAREV,101832,AUV,2.1.4000*23

2021-12-04T10:18:31.704Z,1638613111.704 [Micromodem](INFO): Nmea in: $CAREV,101832,COPROC,0.20.0.39330*72

2021-12-04T10:18:33.697Z,1638613113.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:34.493Z,1638613114.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:34.933Z,1638613114.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:35.852Z,1638613115.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101835.94*5D

2021-12-04T10:18:35.853Z,1638613115.853 [Micromodem](INFO): Nmea in: $CAREV,101836,AUV,2.1.4000*27

2021-12-04T10:18:36.152Z,1638613116.152 [Micromodem](INFO): Nmea in: $CAREV,101836,COPROC,0.20.0.39330*76

2021-12-04T10:18:38.186Z,1638613118.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:38.977Z,1638613118.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:39.382Z,1638613119.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:40.196Z,1638613120.196 [Micromodem](INFO): Nmea in: $SNTTA,0.023580,,,,101840.43*47

2021-12-04T10:18:40.197Z,1638613120.197 [Micromodem](INFO): Nmea in: $CAREV,101841,AUV,2.1.4000*27

2021-12-04T10:18:40.592Z,1638613120.592 [Micromodem](INFO): Nmea in: $CAREV,101841,COPROC,0.20.0.39330*76

2021-12-04T10:18:42.625Z,1638613122.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:43.402Z,1638613123.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:43.805Z,1638613123.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:44.616Z,1638613124.616 [Micromodem](INFO): Nmea in: $SNTTA,0.003496,,,,101844.85*4D

2021-12-04T10:18:44.617Z,1638613124.617 [Micromodem](INFO): Nmea in: $CAREV,101845,AUV,2.1.4000*23

2021-12-04T10:18:45.008Z,1638613125.008 [Micromodem](INFO): Nmea in: $CAREV,101845,COPROC,0.20.0.39330*72

2021-12-04T10:18:47.076Z,1638613127.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:47.859Z,1638613127.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:48.256Z,1638613128.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:49.092Z,1638613129.092 [Micromodem](INFO): Nmea in: $SNTTA,0.033990,,,,101849.31*47

2021-12-04T10:18:49.093Z,1638613129.093 [Micromodem](INFO): Nmea in: $CAREV,101850,AUV,2.1.4000*27

2021-12-04T10:18:49.492Z,1638613129.492 [Micromodem](INFO): Nmea in: $CAREV,101850,COPROC,0.20.0.39330*76

2021-12-04T10:18:51.502Z,1638613131.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:52.289Z,1638613132.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:52.713Z,1638613132.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:53.113Z,1638613133.113 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T10:18:53.532Z,1638613133.532 [Micromodem](INFO): Nmea in: $SNTTA,0.006350,,,,101853.74*4D

2021-12-04T10:18:53.534Z,1638613133.534 [Micromodem](INFO): Nmea in: $CAREV,101854,AUV,2.1.4000*23

2021-12-04T10:18:53.903Z,1638613133.903 [Micromodem](INFO): Nmea in: $CAREV,101854,COPROC,0.20.0.39330*72

2021-12-04T10:18:55.974Z,1638613135.974 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:18:56.019Z,1638613136.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:18:56.745Z,1638613136.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:18:57.156Z,1638613137.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:18:57.000Z,1638613138.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101858.20*59

2021-12-04T10:18:58.001Z,1638613138.001 [Micromodem](INFO): Nmea in: $CAREV,101859,AUV,2.1.4000*2E

2021-12-04T10:18:58.368Z,1638613138.368 [Micromodem](INFO): Nmea in: $CAREV,101859,COPROC,0.20.0.39330*7F

2021-12-04T10:19:00.392Z,1638613140.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:01.182Z,1638613141.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:01.595Z,1638613141.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:02.432Z,1638613142.432 [Micromodem](INFO): Nmea in: $SNTTA,0.098735,,,,101902.63*4E

2021-12-04T10:19:02.433Z,1638613142.433 [Micromodem](INFO): Nmea in: $CAREV,101903,AUV,2.1.4000*20

2021-12-04T10:19:02.812Z,1638613142.812 [Micromodem](INFO): Nmea in: $CAREV,101903,COPROC,0.20.0.39330*71

2021-12-04T10:19:04.805Z,1638613144.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:05.701Z,1638613145.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:06.034Z,1638613146.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:06.061Z,1638613146.061 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T10:19:07.256Z,1638613147.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101907.15*54

2021-12-04T10:19:07.257Z,1638613147.257 [Micromodem](INFO): Nmea in: $CAREV,101908,AUV,2.1.4000*2B

2021-12-04T10:19:07.660Z,1638613147.660 [Micromodem](INFO): Nmea in: $CAREV,101908,COPROC,0.20.0.39330*7A

2021-12-04T10:19:09.287Z,1638613149.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:10.069Z,1638613150.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:10.476Z,1638613150.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:13.727Z,1638613153.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:14.522Z,1638613154.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:14.911Z,1638613154.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:15.754Z,1638613155.754 [DDM](FAULT): failed to activate IR emitter.
2021-12-04T10:19:15.754Z,1638613155.754 [DDM] Hardware Fault, FailCount= 1
2021-12-04T10:19:15.754Z,1638613155.754 [DDM](ERROR): Hardware Fault
2021-12-04T10:19:15.804Z,1638613155.804 [Micromodem](INFO): Nmea in: $SNTTA,0.006247,,,,101915.97*44

2021-12-04T10:19:15.805Z,1638613155.805 [Micromodem](INFO): Nmea in: $CAREV,101917,AUV,2.1.4000*25

2021-12-04T10:19:15.849Z,1638613155.849 [CBIT](ERROR): Hardware Fault in component: DDM
2021-12-04T10:19:16.096Z,1638613156.096 [DDM](INFO): Powering down
2021-12-04T10:19:16.188Z,1638613156.188 [Micromodem](INFO): Nmea in: $CAREV,101917,COPROC,0.20.0.39330*74

2021-12-04T10:19:16.500Z,1638613156.500 [DDM](FAULT): LCB fault:  Hardware Overcurrent Shutdown.
2021-12-04T10:19:16.974Z,1638613156.974 [CBIT](INFO): Clearing failed state for component DDM
2021-12-04T10:19:16.974Z,1638613156.974 [DDM] No Fault, FailCount= 1
2021-12-04T10:19:18.140Z,1638613158.140 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-12-04T10:19:18.161Z,1638613158.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:18.931Z,1638613158.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:19.336Z,1638613159.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:20.156Z,1638613160.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101920.38*5E

2021-12-04T10:19:20.157Z,1638613160.157 [Micromodem](INFO): Nmea in: $CAREV,101921,AUV,2.1.4000*20

2021-12-04T10:19:20.556Z,1638613160.556 [Micromodem](INFO): Nmea in: $CAREV,101921,COPROC,0.20.0.39330*71

2021-12-04T10:19:21.348Z,1638613161.348 [DDM](INFO): Powering up
2021-12-04T10:19:21.348Z,1638613161.348 [DDM](DEBUG): Initializing DDM.
2021-12-04T10:19:22.587Z,1638613162.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:23.373Z,1638613163.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:23.800Z,1638613163.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:24.600Z,1638613164.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101924.82*5B

2021-12-04T10:19:24.601Z,1638613164.601 [Micromodem](INFO): Nmea in: $CAREV,101925,AUV,2.1.4000*24

2021-12-04T10:19:24.000Z,1638613165.000 [Micromodem](INFO): Nmea in: $CAREV,101925,COPROC,0.20.0.39330*75

2021-12-04T10:19:27.032Z,1638613167.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:27.815Z,1638613167.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:28.229Z,1638613168.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:29.048Z,1638613169.048 [Micromodem](INFO): Nmea in: $SNTTA,0.024421,,,,101929.26*47

2021-12-04T10:19:29.049Z,1638613169.049 [Micromodem](INFO): Nmea in: $CAREV,101930,AUV,2.1.4000*20

2021-12-04T10:19:29.448Z,1638613169.448 [Micromodem](INFO): Nmea in: $CAREV,101930,COPROC,0.20.0.39330*71

2021-12-04T10:19:31.467Z,1638613171.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:32.259Z,1638613172.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:32.673Z,1638613172.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:33.488Z,1638613173.488 [Micromodem](INFO): Nmea in: $SNTTA,,0.005282,,,101933.71*42

2021-12-04T10:19:33.489Z,1638613173.489 [Micromodem](INFO): Nmea in: $CAREV,101934,AUV,2.1.4000*24

2021-12-04T10:19:33.899Z,1638613173.899 [Micromodem](INFO): Nmea in: $CAREV,101934,COPROC,0.20.0.39330*75

2021-12-04T10:19:35.977Z,1638613175.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:36.749Z,1638613176.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:37.110Z,1638613177.110 [DDM](INFO): Latch/Whisker Boards:V1,H_RECOVERY_LATCH
!V2,H_RECOVERY_WHISKERS
2021-12-04T10:19:37.210Z,1638613177.210 [DDM](INFO): Dynamic Docking Module:C REMUS Capture Rev 1.1
2021-12-04T10:19:37.334Z,1638613177.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:37.996Z,1638613177.996 [Micromodem](INFO): Nmea in: $SNTTA,0.045929,,,,101938.20*43

2021-12-04T10:19:37.997Z,1638613177.997 [Micromodem](INFO): Nmea in: $CAREV,101939,AUV,2.1.4000*29

2021-12-04T10:19:38.364Z,1638613178.364 [Micromodem](INFO): Nmea in: $CAREV,101939,COPROC,0.20.0.39330*78

2021-12-04T10:19:40.035Z,1638613180.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:40.817Z,1638613180.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:41.179Z,1638613181.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:42.001Z,1638613182.001 [Micromodem](INFO): Nmea in: $SNTTA,0.027256,,,,101942.27*4E

2021-12-04T10:19:42.008Z,1638613182.008 [Micromodem](INFO): Nmea in: $CAREV,101943,AUV,2.1.4000*24

2021-12-04T10:19:42.418Z,1638613182.418 [Micromodem](INFO): Nmea in: $CAREV,101943,COPROC,0.20.0.39330*75

2021-12-04T10:19:44.428Z,1638613184.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:45.228Z,1638613185.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:45.629Z,1638613185.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:46.463Z,1638613186.463 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101946.68*5B

2021-12-04T10:19:46.464Z,1638613186.464 [Micromodem](INFO): Nmea in: $CAREV,101947,AUV,2.1.4000*20

2021-12-04T10:19:46.840Z,1638613186.840 [Micromodem](INFO): Nmea in: $CAREV,101947,COPROC,0.20.0.39330*71

2021-12-04T10:19:48.836Z,1638613188.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:49.744Z,1638613189.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:50.080Z,1638613190.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:51.292Z,1638613191.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101951.19*5B

2021-12-04T10:19:51.293Z,1638613191.293 [Micromodem](INFO): Nmea in: $CAREV,101952,AUV,2.1.4000*24

2021-12-04T10:19:51.692Z,1638613191.692 [Micromodem](INFO): Nmea in: $CAREV,101952,COPROC,0.20.0.39330*75

2021-12-04T10:19:53.328Z,1638613193.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:54.109Z,1638613194.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:54.519Z,1638613194.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:55.352Z,1638613195.352 [Micromodem](INFO): Nmea in: $SNTTA,0.005779,,,,101955.56*46

2021-12-04T10:19:55.353Z,1638613195.353 [Micromodem](INFO): Nmea in: $CAREV,101956,AUV,2.1.4000*20

2021-12-04T10:19:55.735Z,1638613195.735 [Micromodem](INFO): Nmea in: $CAREV,101956,COPROC,0.20.0.39330*71

2021-12-04T10:19:57.828Z,1638613197.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:19:58.549Z,1638613198.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:19:58.941Z,1638613198.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:19:59.889Z,1638613199.889 [Micromodem](INFO): Nmea in: $SNTTA,0.018687,,,,102000.00*43

2021-12-04T10:19:59.919Z,1638613199.919 [Micromodem](INFO): Nmea in: $CAREV,102001,AUV,2.1.4000*28

2021-12-04T10:20:00.176Z,1638613200.176 [Micromodem](INFO): Nmea in: $CAREV,102001,COPROC,0.20.0.39330*79

2021-12-04T10:20:01.913Z,1638613201.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:02.593Z,1638613202.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:03.003Z,1638613203.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:03.852Z,1638613203.852 [Micromodem](INFO): Nmea in: $SNTTA,0.031668,,,,102004.04*49

2021-12-04T10:20:03.855Z,1638613203.855 [Micromodem](INFO): Nmea in: $CAREV,102005,AUV,2.1.4000*2C

2021-12-04T10:20:04.220Z,1638613204.220 [Micromodem](INFO): Nmea in: $CAREV,102005,COPROC,0.20.0.39330*7D

2021-12-04T10:20:05.949Z,1638613205.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:06.633Z,1638613206.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:07.044Z,1638613207.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:07.877Z,1638613207.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102008.08*5D

2021-12-04T10:20:07.878Z,1638613207.878 [Micromodem](INFO): Nmea in: $CAREV,102009,AUV,2.1.4000*20

2021-12-04T10:20:08.228Z,1638613208.228 [Micromodem](INFO): Nmea in: $CAREV,102009,COPROC,0.20.0.39330*71

2021-12-04T10:20:09.989Z,1638613209.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:10.673Z,1638613210.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:11.071Z,1638613211.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:11.930Z,1638613211.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102012.12*5D

2021-12-04T10:20:11.931Z,1638613211.931 [Micromodem](INFO): Nmea in: $CAREV,102013,AUV,2.1.4000*2B

2021-12-04T10:20:12.308Z,1638613212.308 [Micromodem](INFO): Nmea in: $CAREV,102013,COPROC,0.20.0.39330*7A

2021-12-04T10:20:14.321Z,1638613214.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:15.117Z,1638613215.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:15.527Z,1638613215.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:15.958Z,1638613215.958 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:20:16.352Z,1638613216.352 [Micromodem](INFO): Nmea in: $SNTTA,0.020603,,,,102016.57*41

2021-12-04T10:20:16.353Z,1638613216.353 [Micromodem](INFO): Nmea in: $CAREV,102017,AUV,2.1.4000*2F

2021-12-04T10:20:16.748Z,1638613216.748 [Micromodem](INFO): Nmea in: $CAREV,102017,COPROC,0.20.0.39330*7E

2021-12-04T10:20:18.768Z,1638613218.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:19.529Z,1638613219.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:20.051Z,1638613220.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:20.814Z,1638613220.814 [Micromodem](INFO): Nmea in: $SNTTA,0.005726,,,,102020.98*46

2021-12-04T10:20:20.816Z,1638613220.816 [Micromodem](INFO): Nmea in: $CAREV,102022,AUV,2.1.4000*29

2021-12-04T10:20:21.192Z,1638613221.192 [Micromodem](INFO): Nmea in: $CAREV,102022,COPROC,0.20.0.39330*78

2021-12-04T10:20:23.239Z,1638613223.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:24.001Z,1638613224.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:24.417Z,1638613224.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:25.232Z,1638613225.232 [Micromodem](INFO): Nmea in: $SNTTA,0.003524,,,,102025.45*45

2021-12-04T10:20:25.233Z,1638613225.233 [Micromodem](INFO): Nmea in: $CAREV,102026,AUV,2.1.4000*2D

2021-12-04T10:20:25.632Z,1638613225.632 [Micromodem](INFO): Nmea in: $CAREV,102026,COPROC,0.20.0.39330*7C

2021-12-04T10:20:27.660Z,1638613227.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:28.421Z,1638613228.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:28.855Z,1638613228.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:29.650Z,1638613229.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102029.87*59

2021-12-04T10:20:29.651Z,1638613229.651 [Micromodem](INFO): Nmea in: $CAREV,102030,AUV,2.1.4000*2A

2021-12-04T10:20:30.144Z,1638613230.144 [Micromodem](INFO): Nmea in: $CAREV,102030,COPROC,0.20.0.39330*7B

2021-12-04T10:20:32.136Z,1638613232.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:32.911Z,1638613232.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:33.302Z,1638613233.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:34.124Z,1638613234.124 [Micromodem](INFO): Nmea in: $SNTTA,0.027874,,,,102034.36*4F

2021-12-04T10:20:34.125Z,1638613234.125 [Micromodem](INFO): Nmea in: $CAREV,102035,AUV,2.1.4000*2F

2021-12-04T10:20:34.536Z,1638613234.536 [Micromodem](INFO): Nmea in: $CAREV,102035,COPROC,0.20.0.39330*7E

2021-12-04T10:20:36.551Z,1638613236.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:37.337Z,1638613237.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:37.785Z,1638613237.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:38.545Z,1638613238.545 [Micromodem](INFO): Nmea in: $SNTTA,0.033903,,,,102038.79*4C

2021-12-04T10:20:38.547Z,1638613238.547 [Micromodem](INFO): Nmea in: $CAREV,102039,AUV,2.1.4000*23

2021-12-04T10:20:38.988Z,1638613238.988 [Micromodem](INFO): Nmea in: $CAREV,102039,COPROC,0.20.0.39330*72

2021-12-04T10:20:41.026Z,1638613241.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:41.819Z,1638613241.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:42.196Z,1638613242.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:43.024Z,1638613243.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102043.27*5F

2021-12-04T10:20:43.025Z,1638613243.025 [Micromodem](INFO): Nmea in: $CAREV,102044,AUV,2.1.4000*29

2021-12-04T10:20:43.408Z,1638613243.408 [Micromodem](INFO): Nmea in: $CAREV,102044,COPROC,0.20.0.39330*78

2021-12-04T10:20:45.430Z,1638613245.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:46.232Z,1638613246.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:46.631Z,1638613246.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:47.464Z,1638613247.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102047.68*50

2021-12-04T10:20:47.465Z,1638613247.465 [Micromodem](INFO): Nmea in: $CAREV,102048,AUV,2.1.4000*25

2021-12-04T10:20:47.856Z,1638613247.856 [Micromodem](INFO): Nmea in: $CAREV,102048,COPROC,0.20.0.39330*74

2021-12-04T10:20:49.859Z,1638613249.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:50.665Z,1638613250.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:51.067Z,1638613251.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:51.907Z,1638613251.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102052.12*59

2021-12-04T10:20:51.911Z,1638613251.911 [Micromodem](INFO): Nmea in: $CAREV,102053,AUV,2.1.4000*2F

2021-12-04T10:20:52.292Z,1638613252.292 [Micromodem](INFO): Nmea in: $CAREV,102053,COPROC,0.20.0.39330*7E

2021-12-04T10:20:54.313Z,1638613254.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:55.113Z,1638613255.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:55.515Z,1638613255.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:20:56.352Z,1638613256.352 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102056.56*5D

2021-12-04T10:20:56.353Z,1638613256.353 [Micromodem](INFO): Nmea in: $CAREV,102057,AUV,2.1.4000*2B

2021-12-04T10:20:56.748Z,1638613256.748 [Micromodem](INFO): Nmea in: $CAREV,102057,COPROC,0.20.0.39330*7A

2021-12-04T10:20:58.729Z,1638613258.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:20:59.524Z,1638613259.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:20:59.947Z,1638613259.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:00.820Z,1638613260.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102100.97*52

2021-12-04T10:21:00.821Z,1638613260.821 [Micromodem](INFO): Nmea in: $CAREV,102102,AUV,2.1.4000*2A

2021-12-04T10:21:01.185Z,1638613261.185 [Micromodem](INFO): Nmea in: $CAREV,102102,COPROC,0.20.0.39330*7B

2021-12-04T10:21:03.224Z,1638613263.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:03.997Z,1638613263.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:04.416Z,1638613264.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:05.243Z,1638613265.243 [Micromodem](INFO): Nmea in: $SNTTA,0.021436,,,,102105.45*44

2021-12-04T10:21:05.244Z,1638613265.244 [Micromodem](INFO): Nmea in: $CAREV,102106,AUV,2.1.4000*2E

2021-12-04T10:21:05.268Z,1638613265.268 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T10:21:05.268Z,1638613265.268 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T10:21:05.268Z,1638613265.268 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T10:21:05.268Z,1638613265.268 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:21:05.268Z,1638613265.268 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T10:21:05.269Z,1638613265.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.160000 m 
2021-12-04T10:21:05.269Z,1638613265.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T10:21:05.269Z,1638613265.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T10:21:05.269Z,1638613265.269 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T10:21:05.624Z,1638613265.624 [Micromodem](INFO): Nmea in: $CAREV,102106,COPROC,0.20.0.39330*7F

2021-12-04T10:21:05.642Z,1638613265.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T102105: (41.552319, -70.708603)
2021-12-04T10:21:05.642Z,1638613265.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T10:21:05.642Z,1638613265.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T10:21:05.642Z,1638613265.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:21:05.642Z,1638613265.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T10:21:05.642Z,1638613265.642 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:21:05.643Z,1638613265.643 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T10:21:05.643Z,1638613265.643 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T10:21:05.643Z,1638613265.643 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T10:21:07.657Z,1638613267.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:08.442Z,1638613268.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:08.818Z,1638613268.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:09.648Z,1638613269.648 [Micromodem](INFO): Nmea in: $SNTTA,0.016784,,,,102109.89*46

2021-12-04T10:21:09.649Z,1638613269.649 [Micromodem](INFO): Nmea in: $CAREV,102110,AUV,2.1.4000*29

2021-12-04T10:21:10.044Z,1638613270.044 [Micromodem](INFO): Nmea in: $CAREV,102110,COPROC,0.20.0.39330*78

2021-12-04T10:21:12.148Z,1638613272.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:12.896Z,1638613272.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:13.299Z,1638613273.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:14.120Z,1638613274.120 [Micromodem](INFO): Nmea in: $SNTTA,0.036263,,,,102114.35*43

2021-12-04T10:21:14.121Z,1638613274.121 [Micromodem](INFO): Nmea in: $CAREV,102115,AUV,2.1.4000*2C

2021-12-04T10:21:14.520Z,1638613274.520 [Micromodem](INFO): Nmea in: $CAREV,102115,COPROC,0.20.0.39330*7D

2021-12-04T10:21:16.553Z,1638613276.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:17.329Z,1638613277.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:17.779Z,1638613277.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:18.567Z,1638613278.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102118.78*5A

2021-12-04T10:21:18.568Z,1638613278.568 [Micromodem](INFO): Nmea in: $CAREV,102119,AUV,2.1.4000*20

2021-12-04T10:21:18.956Z,1638613278.956 [Micromodem](INFO): Nmea in: $CAREV,102119,COPROC,0.20.0.39330*71

2021-12-04T10:21:21.003Z,1638613281.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:21.814Z,1638613281.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:22.187Z,1638613282.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:23.005Z,1638613283.005 [Micromodem](INFO): Nmea in: $SNTTA,0.014182,,,,102123.27*48

2021-12-04T10:21:23.007Z,1638613283.007 [Micromodem](INFO): Nmea in: $CAREV,102124,AUV,2.1.4000*2E

2021-12-04T10:21:23.412Z,1638613283.412 [Micromodem](INFO): Nmea in: $CAREV,102124,COPROC,0.20.0.39330*7F

2021-12-04T10:21:25.429Z,1638613285.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:26.217Z,1638613286.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:26.634Z,1638613286.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:29.898Z,1638613289.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:30.742Z,1638613290.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:31.083Z,1638613291.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:32.301Z,1638613292.301 [Micromodem](INFO): Nmea in: $SNTTA,0.016227,,,,102132.20*41

2021-12-04T10:21:32.302Z,1638613292.302 [Micromodem](INFO): Nmea in: $CAREV,102133,AUV,2.1.4000*28

2021-12-04T10:21:32.696Z,1638613292.696 [Micromodem](INFO): Nmea in: $CAREV,102133,COPROC,0.20.0.39330*79

2021-12-04T10:21:34.319Z,1638613294.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:35.121Z,1638613295.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:35.516Z,1638613295.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:36.347Z,1638613296.347 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102136.57*5B

2021-12-04T10:21:36.349Z,1638613296.349 [Micromodem](INFO): Nmea in: $CAREV,102137,AUV,2.1.4000*2C

2021-12-04T10:21:36.736Z,1638613296.736 [Micromodem](INFO): Nmea in: $CAREV,102137,COPROC,0.20.0.39330*7D

2021-12-04T10:21:38.761Z,1638613298.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:39.553Z,1638613299.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:39.945Z,1638613299.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:40.868Z,1638613300.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102141.00*59

2021-12-04T10:21:40.869Z,1638613300.869 [Micromodem](INFO): Nmea in: $CAREV,102142,AUV,2.1.4000*2E

2021-12-04T10:21:40.940Z,1638613300.940 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-12-04T10:16:40.6Z
2021-12-04T10:21:40.940Z,1638613300.940 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-12-04T10:21:40.940Z,1638613300.940 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-12-04T10:21:40.940Z,1638613300.940 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T10:21:40.940Z,1638613300.940 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-12-04T10:21:41.156Z,1638613301.156 [Micromodem](INFO): Nmea in: $CAREV,102142,COPROC,0.20.0.39330*7F

2021-12-04T10:21:41.178Z,1638613301.178 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.160000 m .
2021-12-04T10:21:41.178Z,1638613301.178 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-12-04T10:21:41.178Z,1638613301.178 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-12-04T10:21:41.178Z,1638613301.178 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-12-04T10:21:41.178Z,1638613301.178 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T10:21:42.883Z,1638613302.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:43.597Z,1638613303.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:43.999Z,1638613303.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:44.437Z,1638613304.437 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-12-04T10:21:44.840Z,1638613304.840 [Micromodem](INFO): Nmea in: $SNTTA,0.018046,,,,102145.05*4D

2021-12-04T10:21:44.841Z,1638613304.841 [Micromodem](INFO): Nmea in: $CAREV,102146,AUV,2.1.4000*2A

2021-12-04T10:21:44.861Z,1638613304.861 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T10:21:45.224Z,1638613305.224 [Micromodem](INFO): Nmea in: $CAREV,102146,COPROC,0.20.0.39330*7B

2021-12-04T10:21:47.259Z,1638613307.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:48.039Z,1638613308.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:48.450Z,1638613308.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:49.288Z,1638613309.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102149.49*5C

2021-12-04T10:21:49.289Z,1638613309.289 [Micromodem](INFO): Nmea in: $CAREV,102150,AUV,2.1.4000*2D

2021-12-04T10:21:49.664Z,1638613309.664 [Micromodem](INFO): Nmea in: $CAREV,102150,COPROC,0.20.0.39330*7C

2021-12-04T10:21:51.686Z,1638613311.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:52.481Z,1638613312.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:52.904Z,1638613312.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:53.741Z,1638613313.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102153.93*50

2021-12-04T10:21:53.745Z,1638613313.745 [Micromodem](INFO): Nmea in: $CAREV,102154,AUV,2.1.4000*29

2021-12-04T10:21:54.108Z,1638613314.108 [Micromodem](INFO): Nmea in: $CAREV,102154,COPROC,0.20.0.39330*78

2021-12-04T10:21:54.956Z,1638613314.956 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-12-04T10:21:56.159Z,1638613316.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:21:56.940Z,1638613316.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:21:57.332Z,1638613317.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:21:58.164Z,1638613318.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102158.39*5B

2021-12-04T10:21:58.165Z,1638613318.165 [Micromodem](INFO): Nmea in: $CAREV,102159,AUV,2.1.4000*24

2021-12-04T10:21:58.544Z,1638613318.544 [Micromodem](INFO): Nmea in: $CAREV,102159,COPROC,0.20.0.39330*75

2021-12-04T10:22:00.573Z,1638613320.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:01.368Z,1638613321.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:01.796Z,1638613321.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:02.604Z,1638613322.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102202.82*57

2021-12-04T10:22:02.605Z,1638613322.605 [Micromodem](INFO): Nmea in: $CAREV,102203,AUV,2.1.4000*28

2021-12-04T10:22:02.996Z,1638613322.996 [Micromodem](INFO): Nmea in: $CAREV,102203,COPROC,0.20.0.39330*79

2021-12-04T10:22:05.033Z,1638613325.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:05.826Z,1638613325.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:05.976Z,1638613325.976 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T10:22:06.219Z,1638613326.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:07.052Z,1638613327.052 [Micromodem](INFO): Nmea in: $SNTTA,0.023115,,,,102207.28*48

2021-12-04T10:22:07.053Z,1638613327.053 [Micromodem](INFO): Nmea in: $CAREV,102208,AUV,2.1.4000*23

2021-12-04T10:22:07.448Z,1638613327.448 [Micromodem](INFO): Nmea in: $CAREV,102208,COPROC,0.20.0.39330*72

2021-12-04T10:22:09.461Z,1638613329.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:10.257Z,1638613330.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:10.671Z,1638613330.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:11.492Z,1638613331.492 [Micromodem](INFO): Nmea in: $SNTTA,0.056146,,,,102211.71*47

2021-12-04T10:22:11.493Z,1638613331.493 [Micromodem](INFO): Nmea in: $CAREV,102212,AUV,2.1.4000*28

2021-12-04T10:22:11.896Z,1638613331.896 [Micromodem](INFO): Nmea in: $CAREV,102212,COPROC,0.20.0.39330*79

2021-12-04T10:22:13.981Z,1638613333.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:14.709Z,1638613334.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:15.107Z,1638613335.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:15.932Z,1638613335.932 [Micromodem](INFO): Nmea in: $SNTTA,0.042408,0.418554,,,102216.16*5C

2021-12-04T10:22:15.933Z,1638613335.933 [Micromodem](INFO): Nmea in: $CAREV,102217,AUV,2.1.4000*2D

2021-12-04T10:22:16.336Z,1638613336.336 [Micromodem](INFO): Nmea in: $CAREV,102217,COPROC,0.20.0.39330*7C

2021-12-04T10:22:18.345Z,1638613338.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:19.145Z,1638613339.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:19.561Z,1638613339.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:20.380Z,1638613340.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102220.60*5B

2021-12-04T10:22:20.381Z,1638613340.381 [Micromodem](INFO): Nmea in: $CAREV,102221,AUV,2.1.4000*28

2021-12-04T10:22:20.776Z,1638613340.776 [Micromodem](INFO): Nmea in: $CAREV,102221,COPROC,0.20.0.39330*79

2021-12-04T10:22:22.811Z,1638613342.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:23.591Z,1638613343.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:23.998Z,1638613343.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:24.832Z,1638613344.832 [Micromodem](INFO): Nmea in: $SNTTA,0.026993,,,,102225.04*45

2021-12-04T10:22:24.833Z,1638613344.833 [Micromodem](INFO): Nmea in: $CAREV,102226,AUV,2.1.4000*2F

2021-12-04T10:22:25.212Z,1638613345.212 [Micromodem](INFO): Nmea in: $CAREV,102226,COPROC,0.20.0.39330*7E

2021-12-04T10:22:27.251Z,1638613347.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:28.033Z,1638613348.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:28.431Z,1638613348.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:29.273Z,1638613349.273 [Micromodem](INFO): Nmea in: $SNTTA,,0.030804,,,102229.48*49

2021-12-04T10:22:29.274Z,1638613349.274 [Micromodem](INFO): Nmea in: $CAREV,102230,AUV,2.1.4000*28

2021-12-04T10:22:29.335Z,1638613349.335 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T10:22:29.668Z,1638613349.668 [Micromodem](INFO): Nmea in: $CAREV,102230,COPROC,0.20.0.39330*79

2021-12-04T10:22:31.688Z,1638613351.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:32.473Z,1638613352.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:32.876Z,1638613352.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:33.708Z,1638613353.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102233.92*54

2021-12-04T10:22:33.709Z,1638613353.709 [Micromodem](INFO): Nmea in: $CAREV,102234,AUV,2.1.4000*2C

2021-12-04T10:22:34.111Z,1638613354.111 [Micromodem](INFO): Nmea in: $CAREV,102234,COPROC,0.20.0.39330*7D

2021-12-04T10:22:36.156Z,1638613356.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:36.941Z,1638613356.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:37.323Z,1638613357.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:38.160Z,1638613358.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102238.39*5E

2021-12-04T10:22:38.161Z,1638613358.161 [Micromodem](INFO): Nmea in: $CAREV,102239,AUV,2.1.4000*21

2021-12-04T10:22:38.548Z,1638613358.548 [Micromodem](INFO): Nmea in: $CAREV,102239,COPROC,0.20.0.39330*70

2021-12-04T10:22:40.568Z,1638613360.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:41.369Z,1638613361.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:41.811Z,1638613361.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:42.596Z,1638613362.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102242.82*53

2021-12-04T10:22:42.597Z,1638613362.597 [Micromodem](INFO): Nmea in: $CAREV,102243,AUV,2.1.4000*2C

2021-12-04T10:22:42.996Z,1638613362.996 [Micromodem](INFO): Nmea in: $CAREV,102243,COPROC,0.20.0.39330*7D

2021-12-04T10:22:45.032Z,1638613365.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:45.825Z,1638613365.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:45.973Z,1638613365.973 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:22:46.220Z,1638613366.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:47.048Z,1638613367.048 [Micromodem](INFO): Nmea in: $SNTTA,0.054360,,,,102247.28*4C

2021-12-04T10:22:47.049Z,1638613367.049 [Micromodem](INFO): Nmea in: $CAREV,102248,AUV,2.1.4000*27

2021-12-04T10:22:47.436Z,1638613367.436 [Micromodem](INFO): Nmea in: $CAREV,102248,COPROC,0.20.0.39330*76

2021-12-04T10:22:49.461Z,1638613369.461 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 14.16 m. Transitioning DDM to standby.
2021-12-04T10:22:49.461Z,1638613369.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:50.253Z,1638613370.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:50.659Z,1638613370.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:51.524Z,1638613371.524 [Micromodem](INFO): Nmea in: $SNTTA,,0.053292,,,102251.71*4C

2021-12-04T10:22:51.525Z,1638613371.525 [Micromodem](INFO): Nmea in: $CAREV,102252,AUV,2.1.4000*2C

2021-12-04T10:22:51.544Z,1638613371.544 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-12-04T10:22:51.892Z,1638613371.892 [Micromodem](INFO): Nmea in: $CAREV,102252,COPROC,0.20.0.39330*7D

2021-12-04T10:22:51.971Z,1638613371.971 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T10:22:51.971Z,1638613371.971 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap] Stopped
2021-12-04T10:22:51.972Z,1638613371.972 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T10:22:51.973Z,1638613371.973 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-12-04T10:22:51.973Z,1638613371.973 [lineCaptureDepth:Lap] Running Loop=2
2021-12-04T10:22:51.973Z,1638613371.973 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T10:22:51.973Z,1638613371.973 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T10:22:52.273Z,1638613372.273 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T10:22:52.273Z,1638613372.273 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T10:22:52.273Z,1638613372.273 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T10:22:52.700Z,1638613372.700 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T10:22:52.700Z,1638613372.700 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T10:22:52.700Z,1638613372.700 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T10:22:52.700Z,1638613372.700 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T10:22:52.701Z,1638613372.701 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T10:22:52.702Z,1638613372.702 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T10:22:52.702Z,1638613372.702 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T10:22:52.702Z,1638613372.702 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T10:22:52.702Z,1638613372.702 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T10:22:52.702Z,1638613372.702 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:22:52.702Z,1638613372.702 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T10:22:52.703Z,1638613372.703 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T10:22:52.703Z,1638613372.703 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T10:22:52.703Z,1638613372.703 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T10:22:52.703Z,1638613372.703 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T10:22:52.704Z,1638613372.704 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T10:22:52.704Z,1638613372.704 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T10:22:53.097Z,1638613373.097 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T10:22:53.097Z,1638613373.097 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T10:22:53.478Z,1638613373.478 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T10:22:53.478Z,1638613373.478 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T10:22:53.931Z,1638613373.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:53.937Z,1638613373.937 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T10:22:53.937Z,1638613373.937 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T10:22:54.312Z,1638613374.312 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T10:22:54.312Z,1638613374.312 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T10:22:54.312Z,1638613374.312 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T10:22:54.313Z,1638613374.313 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T10:22:54.314Z,1638613374.314 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T10:22:54.315Z,1638613374.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T10:22:54.671Z,1638613374.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:54.752Z,1638613374.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T10:22:54.752Z,1638613374.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:22:54.752Z,1638613374.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T10:22:54.752Z,1638613374.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T10:22:54.753Z,1638613374.753 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T10:22:54.754Z,1638613374.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T10:22:54.754Z,1638613374.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T10:22:54.754Z,1638613374.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T10:22:54.754Z,1638613374.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T10:22:55.075Z,1638613375.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:22:55.964Z,1638613375.964 [Micromodem](INFO): Nmea in: $SNTTA,0.038711,,,,102256.12*4D

2021-12-04T10:22:55.965Z,1638613375.965 [Micromodem](INFO): Nmea in: $CAREV,102257,AUV,2.1.4000*29

2021-12-04T10:22:56.324Z,1638613376.324 [Micromodem](INFO): Nmea in: $CAREV,102257,COPROC,0.20.0.39330*78

2021-12-04T10:22:57.187Z,1638613377.187 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T10:22:57.561Z,1638613377.561 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T10:22:57.993Z,1638613377.993 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T10:22:58.352Z,1638613378.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:22:58.353Z,1638613378.353 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T10:22:59.138Z,1638613379.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:22:59.551Z,1638613379.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:00.380Z,1638613380.380 [Micromodem](INFO): Nmea in: $SNTTA,0.029208,,,,102300.59*4D

2021-12-04T10:23:00.381Z,1638613380.381 [Micromodem](INFO): Nmea in: $CAREV,102301,AUV,2.1.4000*2B

2021-12-04T10:23:00.763Z,1638613380.763 [Micromodem](INFO): Nmea in: $CAREV,102301,COPROC,0.20.0.39330*7A

2021-12-04T10:23:02.788Z,1638613382.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:03.585Z,1638613383.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:03.991Z,1638613383.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:04.824Z,1638613384.824 [Micromodem](INFO): Nmea in: $SNTTA,0.059525,,,,102305.04*4F

2021-12-04T10:23:04.825Z,1638613384.825 [Micromodem](INFO): Nmea in: $CAREV,102306,AUV,2.1.4000*2C

2021-12-04T10:23:05.219Z,1638613385.219 [Micromodem](INFO): Nmea in: $CAREV,102306,COPROC,0.20.0.39330*7D

2021-12-04T10:23:06.055Z,1638613386.055 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T10:23:07.238Z,1638613387.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:08.036Z,1638613388.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:08.435Z,1638613388.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:09.264Z,1638613389.264 [Micromodem](INFO): Nmea in: $SNTTA,0.044569,,,,102309.49*4E

2021-12-04T10:23:09.265Z,1638613389.265 [Micromodem](INFO): Nmea in: $CAREV,102310,AUV,2.1.4000*2B

2021-12-04T10:23:09.659Z,1638613389.659 [Micromodem](INFO): Nmea in: $CAREV,102310,COPROC,0.20.0.39330*7A

2021-12-04T10:23:11.688Z,1638613391.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:12.479Z,1638613392.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:12.879Z,1638613392.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:13.713Z,1638613393.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102313.93*56

2021-12-04T10:23:13.714Z,1638613393.714 [Micromodem](INFO): Nmea in: $CAREV,102314,AUV,2.1.4000*2F

2021-12-04T10:23:14.104Z,1638613394.104 [Micromodem](INFO): Nmea in: $CAREV,102314,COPROC,0.20.0.39330*7E

2021-12-04T10:23:16.145Z,1638613396.145 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:23:16.179Z,1638613396.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:16.927Z,1638613396.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:17.329Z,1638613397.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:18.156Z,1638613398.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102318.38*5C

2021-12-04T10:23:18.157Z,1638613398.157 [Micromodem](INFO): Nmea in: $CAREV,102319,AUV,2.1.4000*22

2021-12-04T10:23:18.540Z,1638613398.540 [Micromodem](INFO): Nmea in: $CAREV,102319,COPROC,0.20.0.39330*73

2021-12-04T10:23:18.557Z,1638613398.557 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 20.70 m. Transitioning DDM to standby.
2021-12-04T10:23:20.605Z,1638613400.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:20.612Z,1638613400.612 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T10:23:21.027Z,1638613401.027 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T10:23:21.038Z,1638613401.038 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T10:23:21.038Z,1638613401.038 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T10:23:21.039Z,1638613401.039 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T10:23:21.333Z,1638613401.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:21.420Z,1638613401.420 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T10:23:21.420Z,1638613401.420 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T10:23:21.420Z,1638613401.420 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T10:23:21.803Z,1638613401.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:21.865Z,1638613401.865 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T10:23:21.865Z,1638613401.865 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T10:23:21.865Z,1638613401.865 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T10:23:21.865Z,1638613401.865 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T10:23:21.865Z,1638613401.865 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T10:23:22.187Z,1638613402.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T10:23:22.187Z,1638613402.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T10:23:22.187Z,1638613402.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T10:23:22.187Z,1638613402.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T10:23:22.187Z,1638613402.187 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T10:23:22.188Z,1638613402.188 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T10:23:22.188Z,1638613402.188 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T10:23:22.188Z,1638613402.188 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T10:23:22.188Z,1638613402.188 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T10:23:22.191Z,1638613402.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T10:23:22.191Z,1638613402.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T10:23:22.191Z,1638613402.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T10:23:22.192Z,1638613402.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 20.700001 m 
2021-12-04T10:23:22.193Z,1638613402.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T10:23:22.193Z,1638613402.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T10:23:22.195Z,1638613402.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T10:23:22.195Z,1638613402.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T10:23:22.195Z,1638613402.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T10:23:22.195Z,1638613402.195 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T10:23:22.560Z,1638613402.560 [Micromodem](INFO): Nmea in: $SNTTA,0.038626,,,,102322.79*47

2021-12-04T10:23:22.561Z,1638613402.561 [Micromodem](INFO): Nmea in: $CAREV,102323,AUV,2.1.4000*2B

2021-12-04T10:23:22.601Z,1638613402.601 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T10:23:22.601Z,1638613402.601 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T10:23:22.602Z,1638613402.602 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T10:23:22.603Z,1638613402.603 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T10:23:22.968Z,1638613402.968 [Micromodem](INFO): Nmea in: $CAREV,102323,COPROC,0.20.0.39330*7A

2021-12-04T10:23:23.015Z,1638613403.015 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T10:23:23.016Z,1638613403.016 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T10:23:23.017Z,1638613403.017 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T10:23:23.017Z,1638613403.017 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:23:23.017Z,1638613403.017 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T10:23:23.023Z,1638613403.023 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 21.540003 m (mode 0 count ).
2021-12-04T10:23:23.023Z,1638613403.023 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T10:23:23.023Z,1638613403.023 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T10:23:23.024Z,1638613403.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T10:23:23.025Z,1638613403.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:23:23.025Z,1638613403.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T10:23:23.025Z,1638613403.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:23:23.025Z,1638613403.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T10:23:23.026Z,1638613403.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T10:23:23.026Z,1638613403.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T10:23:23.027Z,1638613403.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T10:23:23.028Z,1638613403.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T10:23:23.029Z,1638613403.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T10:23:23.029Z,1638613403.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T10:23:23.029Z,1638613403.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T10:23:23.029Z,1638613403.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T10:23:23.029Z,1638613403.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T10:23:23.029Z,1638613403.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T10:23:23.039Z,1638613403.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T10:23:23.040Z,1638613403.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T10:23:23.041Z,1638613403.041 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T10:23:23.376Z,1638613403.376 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T10:23:23.377Z,1638613403.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:23:23.377Z,1638613403.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T10:23:23.377Z,1638613403.377 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:23:23.384Z,1638613403.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 235.059949 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T10:23:23.384Z,1638613403.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 21.54 m.
2021-12-04T10:23:23.385Z,1638613403.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 235.059949deg and heading rate command to 0 deg/s.
2021-12-04T10:23:24.712Z,1638613404.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:25.511Z,1638613405.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:25.977Z,1638613405.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:26.315Z,1638613406.315 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:26.326Z,1638613406.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 236.104477 deg, deltaT: 4.131164 s, deltaX: 0.899998 m, approachRate: 0.217856 m/s, LOS rate: 0.252841 deg/s, posRepo size: 2
2021-12-04T10:23:26.327Z,1638613406.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 22.44 m.
2021-12-04T10:23:26.329Z,1638613406.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 236.104477 deg,
      approachRate: 0.217856 m/s,
      LOS rate: 0.252841 deg/s,
      cmd update: 0.758523 deg/s,
      cmd heading: 235.059949 deg,
      new cmd heading: 235.059949 deg.

2021-12-04T10:23:26.706Z,1638613406.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102326.96*55

2021-12-04T10:23:26.709Z,1638613406.709 [Micromodem](INFO): Nmea in: $CAREV,102328,AUV,2.1.4000*20

2021-12-04T10:23:27.104Z,1638613407.104 [Micromodem](INFO): Nmea in: $CAREV,102328,COPROC,0.20.0.39330*71

2021-12-04T10:23:29.141Z,1638613409.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:29.936Z,1638613409.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:30.341Z,1638613410.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:30.767Z,1638613410.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:30.777Z,1638613410.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 238.265630 deg, deltaT: 4.452618 s, deltaX: 0.359997 m, approachRate: 0.080851 m/s, LOS rate: 0.485367 deg/s, posRepo size: 3
2021-12-04T10:23:30.777Z,1638613410.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 22.80 m.
2021-12-04T10:23:30.783Z,1638613410.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 238.265630 deg,
      approachRate: 0.080851 m/s,
      LOS rate: 0.485367 deg/s,
      cmd update: 1.456101 deg/s,
      cmd heading: 238.334346 deg,
      new cmd heading: 238.637689 deg.

2021-12-04T10:23:31.151Z,1638613411.151 [Micromodem](INFO): Nmea in: $SNTTA,0.014967,,,,102331.39*45

2021-12-04T10:23:31.152Z,1638613411.152 [Micromodem](INFO): Nmea in: $CAREV,102332,AUV,2.1.4000*2B

2021-12-04T10:23:31.165Z,1638613411.165 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T10:23:31.568Z,1638613411.568 [Micromodem](INFO): Nmea in: $CAREV,102332,COPROC,0.20.0.39330*7A

2021-12-04T10:23:33.581Z,1638613413.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:34.361Z,1638613414.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:34.772Z,1638613414.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:35.223Z,1638613415.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:35.234Z,1638613415.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 232.104690 deg, deltaT: 4.456211 s, deltaX: -0.239996 m, approachRate: -0.053857 m/s, LOS rate: -1.382551 deg/s, posRepo size: 4
2021-12-04T10:23:35.239Z,1638613415.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 22.56 m.
2021-12-04T10:23:35.239Z,1638613415.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 22.56 m.
2021-12-04T10:23:35.240Z,1638613415.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 22.56 m.
2021-12-04T10:23:35.240Z,1638613415.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T10:23:35.247Z,1638613415.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 244.779066 deg,
      new cmd heading: 245.404337 deg.

2021-12-04T10:23:35.608Z,1638613415.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102335.81*51

2021-12-04T10:23:35.609Z,1638613415.609 [Micromodem](INFO): Nmea in: $CAREV,102336,AUV,2.1.4000*2F

2021-12-04T10:23:35.631Z,1638613415.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 242.998006 deg,
      new cmd heading: 241.344361 deg.

2021-12-04T10:23:36.020Z,1638613416.020 [Micromodem](INFO): Nmea in: $CAREV,102336,COPROC,0.20.0.39330*7E

2021-12-04T10:23:36.114Z,1638613416.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 22.56 m.
2021-12-04T10:23:36.120Z,1638613416.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 241.344361 deg,
      new cmd heading: 239.336577 deg.

2021-12-04T10:23:36.410Z,1638613416.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 22.56 m.
2021-12-04T10:23:36.412Z,1638613416.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 239.336577 deg,
      new cmd heading: 238.109295 deg.

2021-12-04T10:23:36.812Z,1638613416.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 238.109295 deg,
      new cmd heading: 236.448890 deg.

2021-12-04T10:23:37.227Z,1638613417.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 236.448890 deg,
      new cmd heading: 234.726966 deg.

2021-12-04T10:23:37.642Z,1638613417.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 234.726966 deg,
      new cmd heading: 233.004769 deg.

2021-12-04T10:23:38.055Z,1638613418.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:38.056Z,1638613418.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 22.56 m.
2021-12-04T10:23:38.058Z,1638613418.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 233.004769 deg,
      new cmd heading: 231.279901 deg.

2021-12-04T10:23:38.427Z,1638613418.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 22.56 m.
2021-12-04T10:23:38.429Z,1638613418.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 231.279901 deg,
      new cmd heading: 229.741760 deg.

2021-12-04T10:23:38.806Z,1638613418.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:38.923Z,1638613418.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 229.741760 deg,
      new cmd heading: 227.840687 deg.

2021-12-04T10:23:39.211Z,1638613419.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:39.258Z,1638613419.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 232.104690 deg,
      approachRate: -0.053857 m/s,
      LOS rate: -1.382551 deg/s,
      cmd update: -4.147654 deg/s,
      cmd heading: 227.840687 deg,
      new cmd heading: 226.301501 deg.

2021-12-04T10:23:39.622Z,1638613419.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:39.643Z,1638613419.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 232.598759 deg, deltaT: 4.398825 s, deltaX: -1.260002 m, approachRate: -0.286441 m/s, LOS rate: 0.112318 deg/s, posRepo size: 4
2021-12-04T10:23:39.645Z,1638613419.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 226.301501 deg,
      new cmd heading: 224.770138 deg.

2021-12-04T10:23:40.044Z,1638613420.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102340.26*5E

2021-12-04T10:23:40.045Z,1638613420.045 [Micromodem](INFO): Nmea in: $CAREV,102341,AUV,2.1.4000*2F

2021-12-04T10:23:40.129Z,1638613420.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 21.30 m.
2021-12-04T10:23:40.132Z,1638613420.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 226.425909 deg,
      new cmd heading: 226.595585 deg.

2021-12-04T10:23:40.432Z,1638613420.432 [Micromodem](INFO): Nmea in: $CAREV,102341,COPROC,0.20.0.39330*7E

2021-12-04T10:23:40.449Z,1638613420.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 21.30 m.
2021-12-04T10:23:40.451Z,1638613420.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 226.595585 deg,
      new cmd heading: 226.703353 deg.

2021-12-04T10:23:40.855Z,1638613420.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 226.703353 deg,
      new cmd heading: 226.839592 deg.

2021-12-04T10:23:41.276Z,1638613421.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 226.839592 deg,
      new cmd heading: 226.981351 deg.

2021-12-04T10:23:41.664Z,1638613421.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 226.981351 deg,
      new cmd heading: 227.111970 deg.

2021-12-04T10:23:42.108Z,1638613422.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 21.30 m.
2021-12-04T10:23:42.110Z,1638613422.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 227.111970 deg,
      new cmd heading: 227.262347 deg.

2021-12-04T10:23:42.472Z,1638613422.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:42.474Z,1638613422.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 21.30 m.
2021-12-04T10:23:42.476Z,1638613422.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 227.262347 deg,
      new cmd heading: 227.385558 deg.

2021-12-04T10:23:42.866Z,1638613422.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 227.385558 deg,
      new cmd heading: 227.517194 deg.

2021-12-04T10:23:43.249Z,1638613423.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:43.371Z,1638613423.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 227.517194 deg,
      new cmd heading: 227.685798 deg.

2021-12-04T10:23:43.651Z,1638613423.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:43.680Z,1638613423.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.299999 m,
      bearing: 232.598759 deg,
      approachRate: -0.286441 m/s,
      LOS rate: 0.112318 deg/s,
      cmd update: 0.336955 deg/s,
      cmd heading: 227.685798 deg,
      new cmd heading: 227.791432 deg.

2021-12-04T10:23:44.124Z,1638613424.124 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:44.130Z,1638613424.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 231.600950 deg, deltaT: 4.502073 s, deltaX: -1.680000 m, approachRate: -0.373161 m/s, LOS rate: -0.221633 deg/s, posRepo size: 4
2021-12-04T10:23:44.130Z,1638613424.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.62 m.
2021-12-04T10:23:44.140Z,1638613424.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 227.791432 deg,
      new cmd heading: 227.943045 deg.

2021-12-04T10:23:44.491Z,1638613424.491 [Micromodem](INFO): Nmea in: $SNTTA,0.012836,,,,102344.70*49

2021-12-04T10:23:44.492Z,1638613424.492 [Micromodem](INFO): Nmea in: $CAREV,102345,AUV,2.1.4000*2B

2021-12-04T10:23:44.510Z,1638613424.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 19.62 m.
2021-12-04T10:23:44.512Z,1638613424.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 227.492261 deg,
      new cmd heading: 227.238589 deg.

2021-12-04T10:23:44.876Z,1638613424.876 [Micromodem](INFO): Nmea in: $CAREV,102345,COPROC,0.20.0.39330*7A

2021-12-04T10:23:44.948Z,1638613424.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 227.238589 deg,
      new cmd heading: 226.947906 deg.

2021-12-04T10:23:45.312Z,1638613425.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 226.947906 deg,
      new cmd heading: 226.706566 deg.

2021-12-04T10:23:45.797Z,1638613425.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 226.706566 deg,
      new cmd heading: 226.385585 deg.

2021-12-04T10:23:46.141Z,1638613426.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.62 m.
2021-12-04T10:23:46.143Z,1638613426.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 226.385585 deg,
      new cmd heading: 226.153861 deg.

2021-12-04T10:23:46.501Z,1638613426.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 19.62 m.
2021-12-04T10:23:46.503Z,1638613426.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 226.153861 deg,
      new cmd heading: 225.914648 deg.

2021-12-04T10:23:46.971Z,1638613426.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:46.000Z,1638613427.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 225.914648 deg,
      new cmd heading: 225.600832 deg.

2021-12-04T10:23:47.320Z,1638613427.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 225.600832 deg,
      new cmd heading: 225.370761 deg.

2021-12-04T10:23:47.689Z,1638613427.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:47.803Z,1638613427.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 225.370761 deg,
      new cmd heading: 225.052532 deg.

2021-12-04T10:23:48.103Z,1638613428.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:48.161Z,1638613428.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.62 m.
2021-12-04T10:23:48.183Z,1638613428.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 231.600950 deg,
      approachRate: -0.373161 m/s,
      LOS rate: -0.221633 deg/s,
      cmd update: -0.664899 deg/s,
      cmd heading: 225.052532 deg,
      new cmd heading: 224.810645 deg.

2021-12-04T10:23:48.515Z,1638613428.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:48.520Z,1638613428.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 230.090003 deg, deltaT: 4.390200 s, deltaX: -2.099997 m, approachRate: -0.478337 m/s, LOS rate: -0.344164 deg/s, posRepo size: 4
2021-12-04T10:23:48.521Z,1638613428.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 224.810645 deg,
      new cmd heading: 224.573498 deg.

2021-12-04T10:23:48.944Z,1638613428.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102349.14*56

2021-12-04T10:23:48.945Z,1638613428.945 [Micromodem](INFO): Nmea in: $CAREV,102350,AUV,2.1.4000*2F

2021-12-04T10:23:48.986Z,1638613428.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 224.442391 deg,
      new cmd heading: 223.964610 deg.

2021-12-04T10:23:49.328Z,1638613429.328 [Micromodem](INFO): Nmea in: $CAREV,102350,COPROC,0.20.0.39330*7E

2021-12-04T10:23:49.347Z,1638613429.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 223.964610 deg,
      new cmd heading: 223.588478 deg.

2021-12-04T10:23:49.797Z,1638613429.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 223.588478 deg,
      new cmd heading: 223.123224 deg.

2021-12-04T10:23:50.180Z,1638613430.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 223.123224 deg,
      new cmd heading: 222.728499 deg.

2021-12-04T10:23:50.546Z,1638613430.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 222.728499 deg,
      new cmd heading: 222.349880 deg.

2021-12-04T10:23:51.007Z,1638613431.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 222.349880 deg,
      new cmd heading: 221.890769 deg.

2021-12-04T10:23:51.336Z,1638613431.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:51.339Z,1638613431.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 221.890769 deg,
      new cmd heading: 221.531089 deg.

2021-12-04T10:23:51.819Z,1638613431.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 221.531089 deg,
      new cmd heading: 221.036362 deg.

2021-12-04T10:23:52.145Z,1638613432.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:52.250Z,1638613432.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 221.036362 deg,
      new cmd heading: 220.590504 deg.

2021-12-04T10:23:52.543Z,1638613432.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:52.575Z,1638613432.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 230.090003 deg,
      approachRate: -0.478337 m/s,
      LOS rate: -0.344164 deg/s,
      cmd update: -1.032491 deg/s,
      cmd heading: 220.590504 deg,
      new cmd heading: 220.255511 deg.

2021-12-04T10:23:52.988Z,1638613432.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:52.993Z,1638613432.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 233.211536 deg, deltaT: 4.473136 s, deltaX: -2.100002 m, approachRate: -0.469470 m/s, LOS rate: 0.697840 deg/s, posRepo size: 4
2021-12-04T10:23:52.996Z,1638613432.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 220.255511 deg,
      new cmd heading: 219.823019 deg.

2021-12-04T10:23:53.376Z,1638613433.376 [Micromodem](INFO): Nmea in: $SNTTA,0.033258,,,,102353.60*4F

2021-12-04T10:23:53.377Z,1638613433.377 [Micromodem](INFO): Nmea in: $CAREV,102354,AUV,2.1.4000*2B

2021-12-04T10:23:53.392Z,1638613433.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 221.132449 deg,
      new cmd heading: 221.966071 deg.

2021-12-04T10:23:53.775Z,1638613433.775 [Micromodem](INFO): Nmea in: $CAREV,102354,COPROC,0.20.0.39330*7A

2021-12-04T10:23:53.828Z,1638613433.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 221.966071 deg,
      new cmd heading: 222.879168 deg.

2021-12-04T10:23:54.199Z,1638613434.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 222.879168 deg,
      new cmd heading: 223.655466 deg.

2021-12-04T10:23:54.595Z,1638613434.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 223.655466 deg,
      new cmd heading: 224.483822 deg.

2021-12-04T10:23:55.031Z,1638613435.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 224.483822 deg,
      new cmd heading: 225.397110 deg.

2021-12-04T10:23:55.399Z,1638613435.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 225.397110 deg,
      new cmd heading: 226.167889 deg.

2021-12-04T10:23:55.845Z,1638613435.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:23:55.848Z,1638613435.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 226.167889 deg,
      new cmd heading: 227.107900 deg.

2021-12-04T10:23:56.225Z,1638613436.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 227.107900 deg,
      new cmd heading: 227.898801 deg.

2021-12-04T10:23:56.581Z,1638613436.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:23:56.681Z,1638613436.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 227.898801 deg,
      new cmd heading: 228.837079 deg.

2021-12-04T10:23:56.987Z,1638613436.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:23:57.038Z,1638613437.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 233.211536 deg,
      approachRate: -0.469470 m/s,
      LOS rate: 0.697840 deg/s,
      cmd update: 2.093520 deg/s,
      cmd heading: 228.837079 deg,
      new cmd heading: 229.599635 deg.

2021-12-04T10:23:57.403Z,1638613437.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:23:57.408Z,1638613437.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.500002 m, bearing: 236.932132 deg, deltaT: 4.415248 s, deltaX: -1.919998 m, approachRate: -0.434856 m/s, LOS rate: 0.842670 deg/s, posRepo size: 4
2021-12-04T10:23:57.410Z,1638613437.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 229.599635 deg,
      new cmd heading: 230.374061 deg.

2021-12-04T10:23:57.840Z,1638613437.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102358.04*57

2021-12-04T10:23:57.841Z,1638613437.841 [Micromodem](INFO): Nmea in: $CAREV,102359,AUV,2.1.4000*26

2021-12-04T10:23:57.943Z,1638613437.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 230.534786 deg,
      new cmd heading: 231.875439 deg.

2021-12-04T10:23:58.204Z,1638613438.204 [Micromodem](INFO): Nmea in: $CAREV,102359,COPROC,0.20.0.39330*77

2021-12-04T10:23:58.243Z,1638613438.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 231.875439 deg,
      new cmd heading: 232.645577 deg.

2021-12-04T10:23:58.643Z,1638613438.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 232.645577 deg,
      new cmd heading: 233.656328 deg.

2021-12-04T10:23:59.040Z,1638613439.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 233.656328 deg,
      new cmd heading: 234.659697 deg.

2021-12-04T10:23:59.441Z,1638613439.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 234.659697 deg,
      new cmd heading: 235.674069 deg.

2021-12-04T10:23:59.886Z,1638613439.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 235.674069 deg,
      new cmd heading: 236.798552 deg.

2021-12-04T10:24:00.235Z,1638613440.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:00.238Z,1638613440.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 236.798552 deg,
      new cmd heading: 237.688778 deg.

2021-12-04T10:24:00.655Z,1638613440.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 237.688778 deg,
      new cmd heading: 238.743809 deg.

2021-12-04T10:24:01.025Z,1638613441.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:01.137Z,1638613441.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 238.743809 deg,
      new cmd heading: 239.962762 deg.

2021-12-04T10:24:01.424Z,1638613441.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:01.461Z,1638613441.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 236.932132 deg,
      approachRate: -0.434856 m/s,
      LOS rate: 0.842670 deg/s,
      cmd update: 2.528009 deg/s,
      cmd heading: 239.962762 deg,
      new cmd heading: 240.775479 deg.

2021-12-04T10:24:01.882Z,1638613441.882 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:01.935Z,1638613441.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 239.911870 deg, deltaT: 4.478621 s, deltaX: -2.040004 m, approachRate: -0.455498 m/s, LOS rate: 0.665325 deg/s, posRepo size: 4
2021-12-04T10:24:01.937Z,1638613441.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 240.775479 deg,
      new cmd heading: 241.947429 deg.

2021-12-04T10:24:02.264Z,1638613442.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102402.48*57

2021-12-04T10:24:02.265Z,1638613442.265 [Micromodem](INFO): Nmea in: $CAREV,102403,AUV,2.1.4000*2E

2021-12-04T10:24:02.307Z,1638613442.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 241.700785 deg,
      new cmd heading: 242.467679 deg.

2021-12-04T10:24:02.644Z,1638613442.644 [Micromodem](INFO): Nmea in: $CAREV,102403,COPROC,0.20.0.39330*7F

2021-12-04T10:24:02.664Z,1638613442.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 242.467679 deg,
      new cmd heading: 243.180549 deg.

2021-12-04T10:24:03.091Z,1638613443.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 243.180549 deg,
      new cmd heading: 244.032673 deg.

2021-12-04T10:24:03.499Z,1638613443.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 244.032673 deg,
      new cmd heading: 244.846787 deg.

2021-12-04T10:24:03.948Z,1638613443.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 244.846787 deg,
      new cmd heading: 245.735010 deg.

2021-12-04T10:24:04.288Z,1638613444.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 245.735010 deg,
      new cmd heading: 246.422132 deg.

2021-12-04T10:24:04.685Z,1638613444.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:04.688Z,1638613444.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 246.422132 deg,
      new cmd heading: 247.220081 deg.

2021-12-04T10:24:05.109Z,1638613445.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 247.220081 deg,
      new cmd heading: 248.062101 deg.

2021-12-04T10:24:05.462Z,1638613445.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:05.564Z,1638613445.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 248.062101 deg,
      new cmd heading: 248.960190 deg.

2021-12-04T10:24:05.872Z,1638613445.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:05.993Z,1638613445.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 239.911870 deg,
      approachRate: -0.455498 m/s,
      LOS rate: 0.665325 deg/s,
      cmd update: 1.995975 deg/s,
      cmd heading: 248.960190 deg,
      new cmd heading: 249.826523 deg.

2021-12-04T10:24:06.293Z,1638613446.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:06.299Z,1638613446.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 245.086476 deg, deltaT: 4.411813 s, deltaX: -2.160000 m, approachRate: -0.489595 m/s, LOS rate: 1.172898 deg/s, posRepo size: 4
2021-12-04T10:24:06.300Z,1638613446.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 249.826523 deg,
      new cmd heading: 250.435536 deg.

2021-12-04T10:24:06.720Z,1638613446.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102406.92*54

2021-12-04T10:24:06.721Z,1638613446.721 [Micromodem](INFO): Nmea in: $CAREV,102407,AUV,2.1.4000*2A

2021-12-04T10:24:06.740Z,1638613446.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 250.900150 deg,
      new cmd heading: 252.451067 deg.

2021-12-04T10:24:07.108Z,1638613447.108 [Micromodem](INFO): Nmea in: $CAREV,102407,COPROC,0.20.0.39330*7B

2021-12-04T10:24:07.152Z,1638613447.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 252.451067 deg,
      new cmd heading: 253.904224 deg.

2021-12-04T10:24:07.527Z,1638613447.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 253.904224 deg,
      new cmd heading: 255.221735 deg.

2021-12-04T10:24:07.987Z,1638613447.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 255.221735 deg,
      new cmd heading: 256.842146 deg.

2021-12-04T10:24:08.347Z,1638613448.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 256.842146 deg,
      new cmd heading: 258.052362 deg.

2021-12-04T10:24:08.735Z,1638613448.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 258.052362 deg,
      new cmd heading: 259.471975 deg.

2021-12-04T10:24:09.141Z,1638613449.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:09.144Z,1638613449.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 259.471975 deg,
      new cmd heading: 260.913732 deg.

2021-12-04T10:24:09.534Z,1638613449.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 260.913732 deg,
      new cmd heading: 262.283334 deg.

2021-12-04T10:24:09.935Z,1638613449.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:10.055Z,1638613450.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 262.283334 deg,
      new cmd heading: 264.116837 deg.

2021-12-04T10:24:10.323Z,1638613450.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:10.363Z,1638613450.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 245.086476 deg,
      approachRate: -0.489595 m/s,
      LOS rate: 1.172898 deg/s,
      cmd update: 3.518693 deg/s,
      cmd heading: 264.116837 deg,
      new cmd heading: 265.201847 deg.

2021-12-04T10:24:10.739Z,1638613450.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:10.744Z,1638613450.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 247.785138 deg, deltaT: 4.445725 s, deltaX: -2.039999 m, approachRate: -0.458868 m/s, LOS rate: 0.607024 deg/s, posRepo size: 4
2021-12-04T10:24:10.746Z,1638613450.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 265.201847 deg,
      new cmd heading: 266.543543 deg.

2021-12-04T10:24:11.154Z,1638613451.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102411.39*53

2021-12-04T10:24:11.155Z,1638613451.155 [Micromodem](INFO): Nmea in: $CAREV,102412,AUV,2.1.4000*2E

2021-12-04T10:24:11.179Z,1638613451.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 265.896231 deg,
      new cmd heading: 266.687974 deg.

2021-12-04T10:24:11.540Z,1638613451.540 [Micromodem](INFO): Nmea in: $CAREV,102412,COPROC,0.20.0.39330*7F

2021-12-04T10:24:11.559Z,1638613451.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 266.687974 deg,
      new cmd heading: 267.379043 deg.

2021-12-04T10:24:12.020Z,1638613452.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 267.379043 deg,
      new cmd heading: 268.218376 deg.

2021-12-04T10:24:12.377Z,1638613452.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 268.218376 deg,
      new cmd heading: 268.843947 deg.

2021-12-04T10:24:12.771Z,1638613452.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 268.843947 deg,
      new cmd heading: 269.587241 deg.

2021-12-04T10:24:13.179Z,1638613453.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 269.587241 deg,
      new cmd heading: 270.329913 deg.

2021-12-04T10:24:13.580Z,1638613453.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:13.583Z,1638613453.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 270.329913 deg,
      new cmd heading: 271.065528 deg.

2021-12-04T10:24:14.048Z,1638613454.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 271.065528 deg,
      new cmd heading: 271.882472 deg.

2021-12-04T10:24:14.373Z,1638613454.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:14.472Z,1638613454.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 271.882472 deg,
      new cmd heading: 272.671876 deg.

2021-12-04T10:24:14.759Z,1638613454.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:14.814Z,1638613454.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 247.785138 deg,
      approachRate: -0.458868 m/s,
      LOS rate: 0.607024 deg/s,
      cmd update: 1.821073 deg/s,
      cmd heading: 272.671876 deg,
      new cmd heading: 273.264996 deg.

2021-12-04T10:24:15.196Z,1638613455.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:15.201Z,1638613455.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 251.951526 deg, deltaT: 4.456769 s, deltaX: -1.739999 m, approachRate: -0.390417 m/s, LOS rate: 0.934845 deg/s, posRepo size: 4
2021-12-04T10:24:15.203Z,1638613455.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 273.264996 deg,
      new cmd heading: 274.012413 deg.

2021-12-04T10:24:15.600Z,1638613455.600 [Micromodem](INFO): Nmea in: $SNTTA,0.026283,,,,102415.83*45

2021-12-04T10:24:15.601Z,1638613455.601 [Micromodem](INFO): Nmea in: $CAREV,102416,AUV,2.1.4000*2A

2021-12-04T10:24:15.643Z,1638613455.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 274.416052 deg,
      new cmd heading: 275.598094 deg.

2021-12-04T10:24:16.012Z,1638613456.012 [Micromodem](INFO): Nmea in: $CAREV,102416,COPROC,0.20.0.39330*7B

2021-12-04T10:24:16.062Z,1638613456.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 275.598094 deg,
      new cmd heading: 276.830227 deg.

2021-12-04T10:24:16.408Z,1638613456.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 276.830227 deg,
      new cmd heading: 277.802049 deg.

2021-12-04T10:24:16.824Z,1638613456.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 277.802049 deg,
      new cmd heading: 278.966279 deg.

2021-12-04T10:24:17.250Z,1638613457.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 278.966279 deg,
      new cmd heading: 280.118718 deg.

2021-12-04T10:24:17.635Z,1638613457.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 280.118718 deg,
      new cmd heading: 281.241118 deg.

2021-12-04T10:24:18.048Z,1638613458.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:18.051Z,1638613458.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 281.241118 deg,
      new cmd heading: 282.406927 deg.

2021-12-04T10:24:18.427Z,1638613458.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 282.406927 deg,
      new cmd heading: 283.462075 deg.

2021-12-04T10:24:18.808Z,1638613458.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:18.935Z,1638613458.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 283.462075 deg,
      new cmd heading: 284.855149 deg.

2021-12-04T10:24:19.217Z,1638613459.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:19.269Z,1638613459.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 251.951526 deg,
      approachRate: -0.390417 m/s,
      LOS rate: 0.934845 deg/s,
      cmd update: 2.804535 deg/s,
      cmd heading: 284.855149 deg,
      new cmd heading: 285.823928 deg.

2021-12-04T10:24:19.622Z,1638613459.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:19.627Z,1638613459.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 249.388921 deg, deltaT: 4.426215 s, deltaX: -1.140000 m, approachRate: -0.257556 m/s, LOS rate: -0.578961 deg/s, posRepo size: 4
2021-12-04T10:24:19.629Z,1638613459.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 285.823928 deg,
      new cmd heading: 286.828613 deg.

2021-12-04T10:24:20.053Z,1638613460.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102420.26*5F

2021-12-04T10:24:20.054Z,1638613460.054 [Micromodem](INFO): Nmea in: $CAREV,102421,AUV,2.1.4000*2E

2021-12-04T10:24:20.121Z,1638613460.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 285.201714 deg,
      new cmd heading: 284.344347 deg.

2021-12-04T10:24:20.424Z,1638613460.424 [Micromodem](INFO): Nmea in: $CAREV,102421,COPROC,0.20.0.39330*7F

2021-12-04T10:24:20.443Z,1638613460.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 284.344347 deg,
      new cmd heading: 283.785205 deg.

2021-12-04T10:24:20.887Z,1638613460.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 283.785205 deg,
      new cmd heading: 283.012921 deg.

2021-12-04T10:24:21.260Z,1638613461.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 283.012921 deg,
      new cmd heading: 282.365977 deg.

2021-12-04T10:24:21.673Z,1638613461.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 282.365977 deg,
      new cmd heading: 281.648552 deg.

2021-12-04T10:24:22.088Z,1638613462.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 281.648552 deg,
      new cmd heading: 280.928333 deg.

2021-12-04T10:24:22.457Z,1638613462.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:22.462Z,1638613462.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 280.928333 deg,
      new cmd heading: 280.279333 deg.

2021-12-04T10:24:22.880Z,1638613462.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 280.279333 deg,
      new cmd heading: 279.559430 deg.

2021-12-04T10:24:23.247Z,1638613463.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:23.358Z,1638613463.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 279.559430 deg,
      new cmd heading: 278.728082 deg.

2021-12-04T10:24:23.652Z,1638613463.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:23.704Z,1638613463.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 249.388921 deg,
      approachRate: -0.257556 m/s,
      LOS rate: -0.578961 deg/s,
      cmd update: -1.736883 deg/s,
      cmd heading: 278.728082 deg,
      new cmd heading: 278.123676 deg.

2021-12-04T10:24:24.122Z,1638613464.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:24.147Z,1638613464.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 218.537886 deg, deltaT: 4.515919 s, deltaX: 0.780001 m, approachRate: 0.172722 m/s, LOS rate: -6.831618 deg/s, posRepo size: 4
2021-12-04T10:24:24.149Z,1638613464.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 278.123676 deg,
      new cmd heading: 277.358095 deg.

2021-12-04T10:24:24.492Z,1638613464.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102424.70*58

2021-12-04T10:24:24.493Z,1638613464.493 [Micromodem](INFO): Nmea in: $CAREV,102425,AUV,2.1.4000*2A

2021-12-04T10:24:24.508Z,1638613464.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 272.834328 deg,
      new cmd heading: 268.462272 deg.

2021-12-04T10:24:24.873Z,1638613464.873 [Micromodem](INFO): Nmea in: $CAREV,102425,COPROC,0.20.0.39330*7B

2021-12-04T10:24:24.947Z,1638613464.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 268.462272 deg,
      new cmd heading: 263.234460 deg.

2021-12-04T10:24:25.301Z,1638613465.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 263.234460 deg,
      new cmd heading: 258.941448 deg.

2021-12-04T10:24:25.720Z,1638613465.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 258.941448 deg,
      new cmd heading: 253.971743 deg.

2021-12-04T10:24:26.130Z,1638613466.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.971743 deg,
      new cmd heading: 248.991011 deg.

2021-12-04T10:24:26.520Z,1638613466.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 248.991011 deg,
      new cmd heading: 244.327487 deg.

2021-12-04T10:24:26.924Z,1638613466.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:26.934Z,1638613466.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.327487 deg,
      new cmd heading: 239.346695 deg.

2021-12-04T10:24:27.349Z,1638613467.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 239.346695 deg,
      new cmd heading: 234.438743 deg.

2021-12-04T10:24:27.689Z,1638613467.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:27.793Z,1638613467.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 234.438743 deg,
      new cmd heading: 229.031531 deg.

2021-12-04T10:24:28.105Z,1638613468.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:28.208Z,1638613468.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 218.537886 deg,
      approachRate: 0.172722 m/s,
      LOS rate: -6.831618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 229.031531 deg,
      new cmd heading: 224.152691 deg.

2021-12-04T10:24:28.507Z,1638613468.507 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:28.512Z,1638613468.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.719998 m, bearing: 244.471513 deg, deltaT: 4.368579 s, deltaX: 1.559998 m, approachRate: 0.357095 m/s, LOS rate: 5.936399 deg/s, posRepo size: 4
2021-12-04T10:24:28.512Z,1638613468.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.72 m.
2021-12-04T10:24:28.514Z,1638613468.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 224.152691 deg,
      new cmd heading: 220.411655 deg.

2021-12-04T10:24:28.940Z,1638613468.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102429.14*57

2021-12-04T10:24:28.941Z,1638613468.941 [Micromodem](INFO): Nmea in: $CAREV,102430,AUV,2.1.4000*2E

2021-12-04T10:24:29.024Z,1638613469.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 227.893727 deg,
      new cmd heading: 233.959979 deg.

2021-12-04T10:24:29.312Z,1638613469.312 [Micromodem](INFO): Nmea in: $CAREV,102430,COPROC,0.20.0.39330*7F

2021-12-04T10:24:29.346Z,1638613469.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.959979 deg,
      new cmd heading: 237.909419 deg.

2021-12-04T10:24:29.818Z,1638613469.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.909419 deg,
      new cmd heading: 243.501179 deg.

2021-12-04T10:24:30.160Z,1638613470.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 6.72 m.
2021-12-04T10:24:30.182Z,1638613470.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.501179 deg,
      new cmd heading: 247.697711 deg.

2021-12-04T10:24:30.537Z,1638613470.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.72 m.
2021-12-04T10:24:30.539Z,1638613470.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 247.697711 deg,
      new cmd heading: 252.220151 deg.

2021-12-04T10:24:31.019Z,1638613471.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.220151 deg,
      new cmd heading: 257.920104 deg.

2021-12-04T10:24:31.345Z,1638613471.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:31.348Z,1638613471.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 257.920104 deg,
      new cmd heading: 261.925692 deg.

2021-12-04T10:24:31.801Z,1638613471.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.925692 deg,
      new cmd heading: 267.366324 deg.

2021-12-04T10:24:32.125Z,1638613472.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:32.258Z,1638613472.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 6.72 m.
2021-12-04T10:24:32.260Z,1638613472.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 267.366324 deg,
      new cmd heading: 272.860272 deg.

2021-12-04T10:24:32.539Z,1638613472.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:32.569Z,1638613472.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.72 m.
2021-12-04T10:24:32.571Z,1638613472.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 244.471513 deg,
      approachRate: 0.357095 m/s,
      LOS rate: 5.936399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 272.860272 deg,
      new cmd heading: 276.602448 deg.

2021-12-04T10:24:32.992Z,1638613472.992 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:32.997Z,1638613472.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 218.765468 deg, deltaT: 4.485164 s, deltaX: 1.560001 m, approachRate: 0.347814 m/s, LOS rate: -5.731350 deg/s, posRepo size: 4
2021-12-04T10:24:32.999Z,1638613472.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.602448 deg,
      new cmd heading: 281.718492 deg.

2021-12-04T10:24:33.368Z,1638613473.368 [Micromodem](INFO): Nmea in: $SNTTA,0.030023,,,,102433.58*48

2021-12-04T10:24:33.369Z,1638613473.369 [Micromodem](INFO): Nmea in: $CAREV,102434,AUV,2.1.4000*2A

2021-12-04T10:24:33.414Z,1638613473.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.486404 deg,
      new cmd heading: 266.479548 deg.

2021-12-04T10:24:33.783Z,1638613473.783 [Micromodem](INFO): Nmea in: $CAREV,102434,COPROC,0.20.0.39330*7B

2021-12-04T10:24:33.836Z,1638613473.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.28 m.
2021-12-04T10:24:33.838Z,1638613473.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 266.479548 deg,
      new cmd heading: 261.406164 deg.

2021-12-04T10:24:34.189Z,1638613474.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.28 m.
2021-12-04T10:24:34.211Z,1638613474.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 261.406164 deg,
      new cmd heading: 257.161008 deg.

2021-12-04T10:24:34.590Z,1638613474.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.161008 deg,
      new cmd heading: 252.368567 deg.

2021-12-04T10:24:35.022Z,1638613475.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 252.368567 deg,
      new cmd heading: 247.189919 deg.

2021-12-04T10:24:35.399Z,1638613475.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.189919 deg,
      new cmd heading: 242.666519 deg.

2021-12-04T10:24:36.029Z,1638613476.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:36.031Z,1638613476.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.28 m.
2021-12-04T10:24:36.033Z,1638613476.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 242.666519 deg,
      new cmd heading: 235.059239 deg.

2021-12-04T10:24:36.209Z,1638613476.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.28 m.
2021-12-04T10:24:36.211Z,1638613476.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.059239 deg,
      new cmd heading: 232.925999 deg.

2021-12-04T10:24:36.577Z,1638613476.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:36.677Z,1638613476.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 232.925999 deg,
      new cmd heading: 227.396735 deg.

2021-12-04T10:24:36.983Z,1638613476.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:37.042Z,1638613477.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 218.765468 deg,
      approachRate: 0.347814 m/s,
      LOS rate: -5.731350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 227.396735 deg,
      new cmd heading: 222.950363 deg.

2021-12-04T10:24:37.411Z,1638613477.411 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:37.416Z,1638613477.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 298.923120 deg, deltaT: 4.419236 s, deltaX: 3.420001 m, approachRate: 0.773890 m/s, LOS rate: 18.138351 deg/s, posRepo size: 4
2021-12-04T10:24:37.416Z,1638613477.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.70 m.
2021-12-04T10:24:37.417Z,1638613477.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:37.836Z,1638613477.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102438.03*51

2021-12-04T10:24:37.837Z,1638613477.837 [Micromodem](INFO): Nmea in: $CAREV,102439,AUV,2.1.4000*27

2021-12-04T10:24:37.896Z,1638613477.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:38.216Z,1638613478.216 [Micromodem](INFO): Nmea in: $CAREV,102439,COPROC,0.20.0.39330*76

2021-12-04T10:24:38.246Z,1638613478.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:38.622Z,1638613478.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:39.038Z,1638613479.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:39.430Z,1638613479.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:39.875Z,1638613479.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:40.237Z,1638613480.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:40.239Z,1638613480.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:40.645Z,1638613480.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:41.053Z,1638613481.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:41.169Z,1638613481.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:41.432Z,1638613481.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:41.478Z,1638613481.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.138351 deg/s. Setting heading cmd to target bearing of 298.923120deg and heading rate command to 0 deg/s.
2021-12-04T10:24:41.934Z,1638613481.934 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:41.947Z,1638613481.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 226.578261 deg, deltaT: 4.527098 s, deltaX: 0.059998 m, approachRate: 0.013253 m/s, LOS rate: -15.980404 deg/s, posRepo size: 4
2021-12-04T10:24:41.948Z,1638613481.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:42.262Z,1638613482.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102442.51*5B

2021-12-04T10:24:42.264Z,1638613482.264 [Micromodem](INFO): Nmea in: $CAREV,102443,AUV,2.1.4000*2A

2021-12-04T10:24:42.287Z,1638613482.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:42.648Z,1638613482.648 [Micromodem](INFO): Nmea in: $CAREV,102443,COPROC,0.20.0.39330*7B

2021-12-04T10:24:42.662Z,1638613482.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:43.075Z,1638613483.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:43.478Z,1638613483.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:43.939Z,1638613483.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:44.282Z,1638613484.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:44.677Z,1638613484.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:44.679Z,1638613484.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:45.094Z,1638613485.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:45.465Z,1638613485.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:45.536Z,1638613485.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:45.885Z,1638613485.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:45.972Z,1638613485.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.980404 deg/s. Setting heading cmd to target bearing of 226.578261deg and heading rate command to 0 deg/s.
2021-12-04T10:24:46.286Z,1638613486.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:46.313Z,1638613486.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 280.597640 deg, deltaT: 4.368009 s, deltaX: 1.800002 m, approachRate: 0.412088 m/s, LOS rate: 12.367049 deg/s, posRepo size: 4
2021-12-04T10:24:46.323Z,1638613486.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:46.712Z,1638613486.712 [Micromodem](INFO): Nmea in: $SNTTA,0.026014,,,,102446.92*4F

2021-12-04T10:24:46.713Z,1638613486.713 [Micromodem](INFO): Nmea in: $CAREV,102447,AUV,2.1.4000*2E

2021-12-04T10:24:46.734Z,1638613486.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:47.096Z,1638613487.096 [Micromodem](INFO): Nmea in: $CAREV,102447,COPROC,0.20.0.39330*7F

2021-12-04T10:24:47.119Z,1638613487.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:47.521Z,1638613487.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:47.991Z,1638613487.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:48.314Z,1638613488.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:48.730Z,1638613488.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:49.137Z,1638613489.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:49.139Z,1638613489.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:49.523Z,1638613489.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:49.935Z,1638613489.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:50.056Z,1638613490.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:50.319Z,1638613490.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:50.350Z,1638613490.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.367049 deg/s. Setting heading cmd to target bearing of 280.597640deg and heading rate command to 0 deg/s.
2021-12-04T10:24:50.727Z,1638613490.727 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:50.731Z,1638613490.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 282.454523 deg, deltaT: 4.420346 s, deltaX: 2.400002 m, approachRate: 0.542944 m/s, LOS rate: 0.420076 deg/s, posRepo size: 4
2021-12-04T10:24:50.733Z,1638613490.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 280.597640 deg,
      new cmd heading: 280.597640 deg.

2021-12-04T10:24:51.134Z,1638613491.134 [Micromodem](INFO): Nmea in: $SNTTA,0.035348,,,,102451.39*40

2021-12-04T10:24:51.136Z,1638613491.136 [Micromodem](INFO): Nmea in: $CAREV,102452,AUV,2.1.4000*2A

2021-12-04T10:24:51.187Z,1638613491.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 281.077340 deg,
      new cmd heading: 281.646076 deg.

2021-12-04T10:24:51.532Z,1638613491.532 [Micromodem](INFO): Nmea in: $CAREV,102452,COPROC,0.20.0.39330*7B

2021-12-04T10:24:51.575Z,1638613491.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 281.646076 deg,
      new cmd heading: 282.114941 deg.

2021-12-04T10:24:52.002Z,1638613492.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 282.114941 deg,
      new cmd heading: 282.678199 deg.

2021-12-04T10:24:52.371Z,1638613492.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 282.678199 deg,
      new cmd heading: 283.143183 deg.

2021-12-04T10:24:52.775Z,1638613492.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 283.143183 deg,
      new cmd heading: 283.652208 deg.

2021-12-04T10:24:53.185Z,1638613493.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 283.652208 deg,
      new cmd heading: 284.169506 deg.

2021-12-04T10:24:53.552Z,1638613493.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:53.555Z,1638613493.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 284.169506 deg,
      new cmd heading: 284.635560 deg.

2021-12-04T10:24:54.032Z,1638613494.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 284.635560 deg,
      new cmd heading: 285.236427 deg.

2021-12-04T10:24:54.349Z,1638613494.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:54.433Z,1638613494.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 285.236427 deg,
      new cmd heading: 285.728423 deg.

2021-12-04T10:24:54.763Z,1638613494.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:54.811Z,1638613494.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 282.454523 deg,
      approachRate: 0.542944 m/s,
      LOS rate: 0.420076 deg/s,
      cmd update: 1.260229 deg/s,
      cmd heading: 285.728423 deg,
      new cmd heading: 286.218099 deg.

2021-12-04T10:24:55.189Z,1638613495.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:55.194Z,1638613495.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 273.659152 deg, deltaT: 4.462485 s, deltaX: 2.399996 m, approachRate: 0.537816 m/s, LOS rate: -1.970958 deg/s, posRepo size: 4
2021-12-04T10:24:55.196Z,1638613495.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 286.218099 deg,
      new cmd heading: 286.701456 deg.

2021-12-04T10:24:55.600Z,1638613495.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102455.80*51

2021-12-04T10:24:55.601Z,1638613495.601 [Micromodem](INFO): Nmea in: $CAREV,102456,AUV,2.1.4000*2E

2021-12-04T10:24:55.623Z,1638613495.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 283.950233 deg,
      new cmd heading: 281.416904 deg.

2021-12-04T10:24:55.988Z,1638613495.988 [Micromodem](INFO): Nmea in: $CAREV,102456,COPROC,0.20.0.39330*7F

2021-12-04T10:24:56.065Z,1638613496.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 281.416904 deg,
      new cmd heading: 278.799818 deg.

2021-12-04T10:24:56.413Z,1638613496.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 278.799818 deg,
      new cmd heading: 276.745354 deg.

2021-12-04T10:24:56.811Z,1638613496.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 276.745354 deg,
      new cmd heading: 274.388760 deg.

2021-12-04T10:24:57.223Z,1638613497.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 274.388760 deg,
      new cmd heading: 271.953756 deg.

2021-12-04T10:24:57.619Z,1638613497.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 271.953756 deg,
      new cmd heading: 269.612269 deg.

2021-12-04T10:24:58.034Z,1638613498.034 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T10:24:58.034Z,1638613498.034 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T10:24:58.035Z,1638613498.035 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T10:24:58.061Z,1638613498.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:24:58.064Z,1638613498.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 269.612269 deg,
      new cmd heading: 266.982837 deg.

2021-12-04T10:24:58.174Z,1638613498.174 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T10:24:58.475Z,1638613498.475 [RDI_Pathfinder](INFO): Powering down
2021-12-04T10:24:58.512Z,1638613498.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 266.982837 deg,
      new cmd heading: 264.339995 deg.

2021-12-04T10:24:58.793Z,1638613498.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:24:58.877Z,1638613498.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 264.339995 deg,
      new cmd heading: 262.216108 deg.

2021-12-04T10:24:59.204Z,1638613499.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:24:59.253Z,1638613499.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 273.659152 deg,
      approachRate: 0.537816 m/s,
      LOS rate: -1.970958 deg/s,
      cmd update: -5.912875 deg/s,
      cmd heading: 262.216108 deg,
      new cmd heading: 259.952157 deg.

2021-12-04T10:24:59.295Z,1638613499.295 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T10:24:59.295Z,1638613499.295 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T10:24:59.617Z,1638613499.617 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:24:59.623Z,1638613499.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 280.521552 deg, deltaT: 4.428280 s, deltaX: 3.120003 m, approachRate: 0.704563 m/s, LOS rate: 1.549676 deg/s, posRepo size: 4
2021-12-04T10:24:59.623Z,1638613499.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.48 m. Rolling out.
2021-12-04T10:24:59.624Z,1638613499.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-12-04T10:25:00.040Z,1638613500.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102500.25*5F

2021-12-04T10:25:00.041Z,1638613500.041 [Micromodem](INFO): Nmea in: $CAREV,102501,AUV,2.1.4000*2D

2021-12-04T10:25:00.080Z,1638613500.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T10:25:00.080Z,1638613500.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T10:25:00.081Z,1638613500.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T10:25:00.082Z,1638613500.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 21.480000 m (mode 4 count ).
2021-12-04T10:25:00.082Z,1638613500.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T10:25:00.082Z,1638613500.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T10:25:00.085Z,1638613500.085 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T10:25:00.504Z,1638613500.504 [Micromodem](INFO): Nmea in: $CAREV,102501,COPROC,0.20.0.39330*7C

2021-12-04T10:25:00.520Z,1638613500.520 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T10:25:00.520Z,1638613500.520 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T10:25:00.520Z,1638613500.520 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T10:25:00.520Z,1638613500.520 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T10:25:02.467Z,1638613502.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:03.241Z,1638613503.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:03.639Z,1638613503.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:04.089Z,1638613504.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 278.814059 deg, deltaT: 4.466942 s, deltaX: 1.800001 m, approachRate: 0.402960 m/s, LOS rate: -0.382251 deg/s, posRepo size: 4
2021-12-04T10:25:04.483Z,1638613504.483 [Micromodem](INFO): Nmea in: $SNTTA,0.026012,,,,102504.70*42

2021-12-04T10:25:04.484Z,1638613504.484 [Micromodem](INFO): Nmea in: $CAREV,102505,AUV,2.1.4000*29

2021-12-04T10:25:04.882Z,1638613504.882 [Micromodem](INFO): Nmea in: $CAREV,102505,COPROC,0.20.0.39330*78

2021-12-04T10:25:06.935Z,1638613506.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:07.681Z,1638613507.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:08.130Z,1638613508.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:08.514Z,1638613508.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 238.527035 deg, deltaT: 4.424566 s, deltaX: 0.420000 m, approachRate: 0.094925 m/s, LOS rate: -9.105306 deg/s, posRepo size: 4
2021-12-04T10:25:08.944Z,1638613508.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102509.14*54

2021-12-04T10:25:08.945Z,1638613508.945 [Micromodem](INFO): Nmea in: $CAREV,102510,AUV,2.1.4000*2D

2021-12-04T10:25:09.308Z,1638613509.308 [Micromodem](INFO): Nmea in: $CAREV,102510,COPROC,0.20.0.39330*7C

2021-12-04T10:25:11.344Z,1638613511.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:12.134Z,1638613512.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:12.548Z,1638613512.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:13.010Z,1638613513.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 300.881799 deg, deltaT: 4.495846 s, deltaX: 0.779999 m, approachRate: 0.173493 m/s, LOS rate: 13.869417 deg/s, posRepo size: 4
2021-12-04T10:25:13.368Z,1638613513.368 [Micromodem](INFO): Nmea in: $SNTTA,0.050358,,,,102513.59*43

2021-12-04T10:25:13.369Z,1638613513.369 [Micromodem](INFO): Nmea in: $CAREV,102514,AUV,2.1.4000*29

2021-12-04T10:25:13.762Z,1638613513.762 [Micromodem](INFO): Nmea in: $CAREV,102514,COPROC,0.20.0.39330*78

2021-12-04T10:25:15.806Z,1638613515.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:16.573Z,1638613516.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:16.993Z,1638613516.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:17.428Z,1638613517.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 288.638603 deg, deltaT: 4.414150 s, deltaX: 0.479998 m, approachRate: 0.108741 m/s, LOS rate: -2.773625 deg/s, posRepo size: 4
2021-12-04T10:25:17.793Z,1638613517.793 [Micromodem](INFO): Nmea in: $SNTTA,0.039373,0.439437,,,102518.03*51

2021-12-04T10:25:17.795Z,1638613517.795 [Micromodem](INFO): Nmea in: $CAREV,102518,AUV,2.1.4000*25

2021-12-04T10:25:18.204Z,1638613518.204 [Micromodem](INFO): Nmea in: $CAREV,102518,COPROC,0.20.0.39330*74

2021-12-04T10:25:20.245Z,1638613520.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:21.032Z,1638613521.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:21.419Z,1638613521.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:21.940Z,1638613521.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 289.157315 deg, deltaT: 4.512253 s, deltaX: 0.480003 m, approachRate: 0.106378 m/s, LOS rate: 0.114956 deg/s, posRepo size: 4
2021-12-04T10:25:22.252Z,1638613522.252 [Micromodem](INFO): Nmea in: $SNTTA,0.036554,,,,102522.49*4A

2021-12-04T10:25:22.253Z,1638613522.253 [Micromodem](INFO): Nmea in: $CAREV,102523,AUV,2.1.4000*2D

2021-12-04T10:25:22.640Z,1638613522.640 [Micromodem](INFO): Nmea in: $CAREV,102523,COPROC,0.20.0.39330*7C

2021-12-04T10:25:24.664Z,1638613524.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:25.461Z,1638613525.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:25.877Z,1638613525.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:26.289Z,1638613526.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 279.632944 deg, deltaT: 4.353301 s, deltaX: 0.179998 m, approachRate: 0.041348 m/s, LOS rate: -2.187850 deg/s, posRepo size: 4
2021-12-04T10:25:26.696Z,1638613526.696 [Micromodem](INFO): Nmea in: $SNTTA,0.051493,,,,102526.91*40

2021-12-04T10:25:26.697Z,1638613526.697 [Micromodem](INFO): Nmea in: $CAREV,102527,AUV,2.1.4000*29

2021-12-04T10:25:27.092Z,1638613527.092 [Micromodem](INFO): Nmea in: $CAREV,102527,COPROC,0.20.0.39330*78

2021-12-04T10:25:29.135Z,1638613529.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:29.931Z,1638613529.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:30.387Z,1638613530.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:30.811Z,1638613530.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 276.212795 deg, deltaT: 4.521829 s, deltaX: 0.059998 m, approachRate: 0.013268 m/s, LOS rate: -0.756364 deg/s, posRepo size: 4
2021-12-04T10:25:31.208Z,1638613531.208 [Micromodem](INFO): Nmea in: $SNTTA,0.042833,,,,102531.38*41

2021-12-04T10:25:31.209Z,1638613531.209 [Micromodem](INFO): Nmea in: $CAREV,102532,AUV,2.1.4000*2D

2021-12-04T10:25:31.611Z,1638613531.611 [Micromodem](INFO): Nmea in: $CAREV,102532,COPROC,0.20.0.39330*7C

2021-12-04T10:25:33.696Z,1638613533.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:34.425Z,1638613534.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:34.823Z,1638613534.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:35.276Z,1638613535.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 226.232599 deg, deltaT: 4.465217 s, deltaX: 0.720001 m, approachRate: 0.161247 m/s, LOS rate: -11.193229 deg/s, posRepo size: 4
2021-12-04T10:25:35.679Z,1638613535.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102535.88*5E

2021-12-04T10:25:35.691Z,1638613535.691 [Micromodem](INFO): Nmea in: $CAREV,102536,AUV,2.1.4000*29

2021-12-04T10:25:36.053Z,1638613536.053 [Micromodem](INFO): Nmea in: $CAREV,102536,COPROC,0.20.0.39330*78

2021-12-04T10:25:38.113Z,1638613538.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:38.857Z,1638613538.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:39.279Z,1638613539.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:39.748Z,1638613539.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 227.222048 deg, deltaT: 4.471188 s, deltaX: 0.180004 m, approachRate: 0.040259 m/s, LOS rate: 0.221294 deg/s, posRepo size: 4
2021-12-04T10:25:40.104Z,1638613540.104 [Micromodem](INFO): Nmea in: $SNTTA,0.056742,,,,102540.31*42

2021-12-04T10:25:40.105Z,1638613540.105 [Micromodem](INFO): Nmea in: $CAREV,102541,AUV,2.1.4000*29

2021-12-04T10:25:40.489Z,1638613540.489 [Micromodem](INFO): Nmea in: $CAREV,102541,COPROC,0.20.0.39330*78

2021-12-04T10:25:42.512Z,1638613542.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:43.321Z,1638613543.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:43.731Z,1638613543.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:44.166Z,1638613544.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 261.915461 deg, deltaT: 4.418043 s, deltaX: -0.900005 m, approachRate: -0.203711 m/s, LOS rate: 7.852665 deg/s, posRepo size: 4
2021-12-04T10:25:44.555Z,1638613544.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102544.78*57

2021-12-04T10:25:44.556Z,1638613544.556 [Micromodem](INFO): Nmea in: $CAREV,102545,AUV,2.1.4000*2D

2021-12-04T10:25:44.952Z,1638613544.952 [Micromodem](INFO): Nmea in: $CAREV,102545,COPROC,0.20.0.39330*7C

2021-12-04T10:25:46.982Z,1638613546.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:47.761Z,1638613547.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:48.158Z,1638613548.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:48.594Z,1638613548.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 264.522927 deg, deltaT: 4.428472 s, deltaX: -0.179998 m, approachRate: -0.040646 m/s, LOS rate: 0.588796 deg/s, posRepo size: 4
2021-12-04T10:25:49.004Z,1638613549.004 [Micromodem](INFO): Nmea in: $SNTTA,0.048985,,,,102549.22*43

2021-12-04T10:25:49.005Z,1638613549.005 [Micromodem](INFO): Nmea in: $CAREV,102550,AUV,2.1.4000*29

2021-12-04T10:25:49.408Z,1638613549.408 [Micromodem](INFO): Nmea in: $CAREV,102550,COPROC,0.20.0.39330*78

2021-12-04T10:25:51.404Z,1638613551.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:52.197Z,1638613552.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:52.595Z,1638613552.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:53.032Z,1638613553.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 253.719780 deg, deltaT: 4.437955 s, deltaX: -0.120001 m, approachRate: -0.027040 m/s, LOS rate: -2.434262 deg/s, posRepo size: 4
2021-12-04T10:25:53.432Z,1638613553.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102553.65*5D

2021-12-04T10:25:53.433Z,1638613553.433 [Micromodem](INFO): Nmea in: $CAREV,102554,AUV,2.1.4000*2D

2021-12-04T10:25:53.832Z,1638613553.832 [Micromodem](INFO): Nmea in: $CAREV,102554,COPROC,0.20.0.39330*7C

2021-12-04T10:25:55.889Z,1638613555.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:25:56.645Z,1638613556.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:25:57.047Z,1638613557.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:25:57.479Z,1638613557.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 263.584841 deg, deltaT: 4.443193 s, deltaX: -0.059998 m, approachRate: -0.013503 m/s, LOS rate: 2.220264 deg/s, posRepo size: 4
2021-12-04T10:25:57.884Z,1638613557.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102558.10*54

2021-12-04T10:25:57.885Z,1638613557.885 [Micromodem](INFO): Nmea in: $CAREV,102559,AUV,2.1.4000*20

2021-12-04T10:25:58.264Z,1638613558.264 [Micromodem](INFO): Nmea in: $CAREV,102559,COPROC,0.20.0.39330*71

2021-12-04T10:26:00.296Z,1638613560.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:01.101Z,1638613561.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:01.491Z,1638613561.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:01.997Z,1638613561.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 265.513413 deg, deltaT: 4.521679 s, deltaX: -0.060003 m, approachRate: -0.013270 m/s, LOS rate: 0.426517 deg/s, posRepo size: 4
2021-12-04T10:26:02.328Z,1638613562.328 [Micromodem](INFO): Nmea in: $SNTTA,0.051922,,,,102602.55*4A

2021-12-04T10:26:02.329Z,1638613562.329 [Micromodem](INFO): Nmea in: $CAREV,102603,AUV,2.1.4000*2C

2021-12-04T10:26:02.716Z,1638613562.716 [Micromodem](INFO): Nmea in: $CAREV,102603,COPROC,0.20.0.39330*7D

2021-12-04T10:26:04.743Z,1638613564.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:05.541Z,1638613565.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:05.967Z,1638613565.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:06.352Z,1638613566.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 273.316413 deg, deltaT: 4.354137 s, deltaX: -0.299999 m, approachRate: -0.068900 m/s, LOS rate: 1.792089 deg/s, posRepo size: 4
2021-12-04T10:26:06.776Z,1638613566.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102607.00*5C

2021-12-04T10:26:06.777Z,1638613566.777 [Micromodem](INFO): Nmea in: $CAREV,102608,AUV,2.1.4000*27

2021-12-04T10:26:07.148Z,1638613567.148 [Micromodem](INFO): Nmea in: $CAREV,102608,COPROC,0.20.0.39330*76

2021-12-04T10:26:09.222Z,1638613569.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:09.997Z,1638613569.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:10.403Z,1638613570.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:10.838Z,1638613570.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 227.894193 deg, deltaT: 4.486876 s, deltaX: -0.059998 m, approachRate: -0.013372 m/s, LOS rate: -10.123350 deg/s, posRepo size: 4
2021-12-04T10:26:11.251Z,1638613571.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102611.45*5A

2021-12-04T10:26:11.252Z,1638613571.252 [Micromodem](INFO): Nmea in: $CAREV,102612,AUV,2.1.4000*2C

2021-12-04T10:26:11.643Z,1638613571.643 [Micromodem](INFO): Nmea in: $CAREV,102612,COPROC,0.20.0.39330*7D

2021-12-04T10:26:13.703Z,1638613573.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:14.433Z,1638613574.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:14.855Z,1638613574.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:15.290Z,1638613575.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 226.575379 deg, deltaT: 4.451691 s, deltaX: -0.059998 m, approachRate: -0.013477 m/s, LOS rate: -0.296250 deg/s, posRepo size: 4
2021-12-04T10:26:15.756Z,1638613575.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102615.89*5E

2021-12-04T10:26:15.757Z,1638613575.757 [Micromodem](INFO): Nmea in: $CAREV,102616,AUV,2.1.4000*28

2021-12-04T10:26:16.081Z,1638613576.081 [Micromodem](INFO): Nmea in: $CAREV,102616,COPROC,0.20.0.39330*79

2021-12-04T10:26:18.133Z,1638613578.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:18.887Z,1638613578.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:19.287Z,1638613579.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:19.780Z,1638613579.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 218.928340 deg, deltaT: 4.489987 s, deltaX: -0.120001 m, approachRate: -0.026726 m/s, LOS rate: -1.703132 deg/s, posRepo size: 4
2021-12-04T10:26:20.120Z,1638613580.120 [Micromodem](INFO): Nmea in: $SNTTA,0.036312,,,,102620.34*45

2021-12-04T10:26:20.121Z,1638613580.121 [Micromodem](INFO): Nmea in: $CAREV,102621,AUV,2.1.4000*2C

2021-12-04T10:26:20.525Z,1638613580.525 [Micromodem](INFO): Nmea in: $CAREV,102621,COPROC,0.20.0.39330*7D

2021-12-04T10:26:22.537Z,1638613582.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:23.337Z,1638613583.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:23.741Z,1638613583.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:24.181Z,1638613584.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 211.763786 deg, deltaT: 4.380899 s, deltaX: -0.060003 m, approachRate: -0.013697 m/s, LOS rate: -1.635407 deg/s, posRepo size: 4
2021-12-04T10:26:24.573Z,1638613584.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102624.79*53

2021-12-04T10:26:24.574Z,1638613584.574 [Micromodem](INFO): Nmea in: $CAREV,102625,AUV,2.1.4000*28

2021-12-04T10:26:24.988Z,1638613584.988 [Micromodem](INFO): Nmea in: $CAREV,102625,COPROC,0.20.0.39330*79

2021-12-04T10:26:27.009Z,1638613587.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:27.765Z,1638613587.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:28.184Z,1638613588.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:28.614Z,1638613588.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 208.976850 deg, deltaT: 4.453749 s, deltaX: 0.060003 m, approachRate: 0.013473 m/s, LOS rate: -0.625751 deg/s, posRepo size: 4
2021-12-04T10:26:29.020Z,1638613589.020 [Micromodem](INFO): Nmea in: $SNTTA,,0.043801,,,102629.22*40

2021-12-04T10:26:29.021Z,1638613589.021 [Micromodem](INFO): Nmea in: $CAREV,102630,AUV,2.1.4000*2C

2021-12-04T10:26:29.408Z,1638613589.408 [Micromodem](INFO): Nmea in: $CAREV,102630,COPROC,0.20.0.39330*7D

2021-12-04T10:26:31.437Z,1638613591.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:32.213Z,1638613592.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:32.623Z,1638613592.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:33.065Z,1638613593.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 207.090707 deg, deltaT: 4.450579 s, deltaX: -0.240002 m, approachRate: -0.053926 m/s, LOS rate: -0.423797 deg/s, posRepo size: 4
2021-12-04T10:26:33.464Z,1638613593.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102633.67*5A

2021-12-04T10:26:33.465Z,1638613593.465 [Micromodem](INFO): Nmea in: $CAREV,102634,AUV,2.1.4000*28

2021-12-04T10:26:33.840Z,1638613593.840 [Micromodem](INFO): Nmea in: $CAREV,102634,COPROC,0.20.0.39330*79

2021-12-04T10:26:35.888Z,1638613595.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:36.669Z,1638613596.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:37.067Z,1638613597.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:37.501Z,1638613597.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 197.172822 deg, deltaT: 4.435357 s, deltaX: -0.299999 m, approachRate: -0.067638 m/s, LOS rate: -2.236096 deg/s, posRepo size: 4
2021-12-04T10:26:37.912Z,1638613597.912 [Micromodem](INFO): Nmea in: $SNTTA,0.033156,,,,102638.12*4F

2021-12-04T10:26:37.920Z,1638613597.920 [Micromodem](INFO): Nmea in: $CAREV,102639,AUV,2.1.4000*25

2021-12-04T10:26:38.280Z,1638613598.280 [Micromodem](INFO): Nmea in: $CAREV,102639,COPROC,0.20.0.39330*74

2021-12-04T10:26:40.308Z,1638613600.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:41.108Z,1638613601.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:41.559Z,1638613601.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:42.053Z,1638613602.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 238.592960 deg, deltaT: 4.553167 s, deltaX: 0.960001 m, approachRate: 0.210842 m/s, LOS rate: 9.096995 deg/s, posRepo size: 4
2021-12-04T10:26:42.372Z,1638613602.372 [Micromodem](INFO): Nmea in: $SNTTA,0.038061,,,,102642.56*4C

2021-12-04T10:26:42.373Z,1638613602.373 [Micromodem](INFO): Nmea in: $CAREV,102643,AUV,2.1.4000*28

2021-12-04T10:26:42.784Z,1638613602.784 [Micromodem](INFO): Nmea in: $CAREV,102643,COPROC,0.20.0.39330*79

2021-12-04T10:26:44.809Z,1638613604.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:45.609Z,1638613605.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:46.003Z,1638613606.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:46.432Z,1638613606.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 247.241974 deg, deltaT: 4.379035 s, deltaX: -1.019999 m, approachRate: -0.232928 m/s, LOS rate: 1.975096 deg/s, posRepo size: 4
2021-12-04T10:26:46.836Z,1638613606.836 [Micromodem](INFO): Nmea in: $SNTTA,0.037028,,,,102647.07*4F

2021-12-04T10:26:46.837Z,1638613606.837 [Micromodem](INFO): Nmea in: $CAREV,102648,AUV,2.1.4000*23

2021-12-04T10:26:47.224Z,1638613607.224 [Micromodem](INFO): Nmea in: $CAREV,102648,COPROC,0.20.0.39330*72

2021-12-04T10:26:49.251Z,1638613609.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:50.044Z,1638613610.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:50.443Z,1638613610.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:50.888Z,1638613610.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 253.975530 deg, deltaT: 4.435343 s, deltaX: 0.059998 m, approachRate: 0.013527 m/s, LOS rate: 1.518159 deg/s, posRepo size: 4
2021-12-04T10:26:51.289Z,1638613611.289 [Micromodem](INFO): Nmea in: $SNTTA,,0.061175,,,102651.50*40

2021-12-04T10:26:51.290Z,1638613611.290 [Micromodem](INFO): Nmea in: $CAREV,102652,AUV,2.1.4000*28

2021-12-04T10:26:51.687Z,1638613611.687 [Micromodem](INFO): Nmea in: $CAREV,102652,COPROC,0.20.0.39330*79

2021-12-04T10:26:53.756Z,1638613613.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:54.485Z,1638613614.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:54.903Z,1638613614.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:55.340Z,1638613615.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 244.946348 deg, deltaT: 4.472167 s, deltaX: -0.299999 m, approachRate: -0.067081 m/s, LOS rate: -2.018973 deg/s, posRepo size: 4
2021-12-04T10:26:55.812Z,1638613615.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102655.94*56

2021-12-04T10:26:55.813Z,1638613615.813 [Micromodem](INFO): Nmea in: $CAREV,102656,AUV,2.1.4000*2C

2021-12-04T10:26:56.117Z,1638613616.117 [Micromodem](INFO): Nmea in: $CAREV,102656,COPROC,0.20.0.39330*7D

2021-12-04T10:26:58.146Z,1638613618.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:26:58.941Z,1638613618.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:26:59.407Z,1638613619.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:26:59.782Z,1638613619.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 236.356237 deg, deltaT: 4.441940 s, deltaX: -0.120001 m, approachRate: -0.027015 m/s, LOS rate: -1.933865 deg/s, posRepo size: 4
2021-12-04T10:27:00.172Z,1638613620.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102700.39*50

2021-12-04T10:27:00.173Z,1638613620.173 [Micromodem](INFO): Nmea in: $CAREV,102701,AUV,2.1.4000*2F

2021-12-04T10:27:00.556Z,1638613620.556 [Micromodem](INFO): Nmea in: $CAREV,102701,COPROC,0.20.0.39330*7E

2021-12-04T10:27:02.576Z,1638613622.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:03.373Z,1638613623.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:03.787Z,1638613623.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:04.225Z,1638613624.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 220.770866 deg, deltaT: 4.443012 s, deltaX: 1.380001 m, approachRate: 0.310600 m/s, LOS rate: -3.507839 deg/s, posRepo size: 4
2021-12-04T10:27:04.620Z,1638613624.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102704.83*55

2021-12-04T10:27:04.621Z,1638613624.621 [Micromodem](INFO): Nmea in: $CAREV,102705,AUV,2.1.4000*2B

2021-12-04T10:27:04.996Z,1638613624.996 [Micromodem](INFO): Nmea in: $CAREV,102705,COPROC,0.20.0.39330*7A

2021-12-04T10:27:07.039Z,1638613627.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:07.821Z,1638613627.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:08.231Z,1638613628.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:08.648Z,1638613628.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 208.953846 deg, deltaT: 4.423086 s, deltaX: -1.320004 m, approachRate: -0.298435 m/s, LOS rate: -2.671668 deg/s, posRepo size: 4
2021-12-04T10:27:09.056Z,1638613629.056 [Micromodem](INFO): Nmea in: $SNTTA,0.031784,,,,102709.28*4E

2021-12-04T10:27:09.057Z,1638613629.057 [Micromodem](INFO): Nmea in: $CAREV,102710,AUV,2.1.4000*2F

2021-12-04T10:27:09.452Z,1638613629.452 [Micromodem](INFO): Nmea in: $CAREV,102710,COPROC,0.20.0.39330*7E

2021-12-04T10:27:11.484Z,1638613631.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:12.261Z,1638613632.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:12.675Z,1638613632.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:13.113Z,1638613633.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 202.872396 deg, deltaT: 4.465268 s, deltaX: 0.120001 m, approachRate: 0.026874 m/s, LOS rate: -1.361945 deg/s, posRepo size: 4
2021-12-04T10:27:13.516Z,1638613633.516 [Micromodem](INFO): Nmea in: $SNTTA,0.037140,,,,102713.72*42

2021-12-04T10:27:13.517Z,1638613633.517 [Micromodem](INFO): Nmea in: $CAREV,102714,AUV,2.1.4000*2B

2021-12-04T10:27:13.900Z,1638613633.900 [Micromodem](INFO): Nmea in: $CAREV,102714,COPROC,0.20.0.39330*7A

2021-12-04T10:27:15.989Z,1638613635.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:16.725Z,1638613636.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:17.119Z,1638613637.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:17.577Z,1638613637.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 201.264624 deg, deltaT: 4.444148 s, deltaX: -0.179998 m, approachRate: -0.040502 m/s, LOS rate: -0.361773 deg/s, posRepo size: 4
2021-12-04T10:27:17.964Z,1638613637.964 [Micromodem](INFO): Nmea in: $SNTTA,,0.045609,,,102718.18*4A

2021-12-04T10:27:17.965Z,1638613637.965 [Micromodem](INFO): Nmea in: $CAREV,102719,AUV,2.1.4000*26

2021-12-04T10:27:18.355Z,1638613638.355 [Micromodem](INFO): Nmea in: $CAREV,102719,COPROC,0.20.0.39330*77

2021-12-04T10:27:20.369Z,1638613640.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:21.189Z,1638613641.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:21.569Z,1638613641.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:22.052Z,1638613642.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 202.804504 deg, deltaT: 4.490757 s, deltaX: -0.059999 m, approachRate: -0.013361 m/s, LOS rate: 0.342900 deg/s, posRepo size: 4
2021-12-04T10:27:22.397Z,1638613642.397 [Micromodem](INFO): Nmea in: $SNTTA,0.035547,,,,102722.65*47

2021-12-04T10:27:22.399Z,1638613642.399 [Micromodem](INFO): Nmea in: $CAREV,102723,AUV,2.1.4000*2F

2021-12-04T10:27:22.788Z,1638613642.788 [Micromodem](INFO): Nmea in: $CAREV,102723,COPROC,0.20.0.39330*7E

2021-12-04T10:27:24.816Z,1638613644.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:25.602Z,1638613645.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:26.007Z,1638613646.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:26.440Z,1638613646.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 206.033203 deg, deltaT: 4.375105 s, deltaX: -0.120001 m, approachRate: -0.027428 m/s, LOS rate: 0.737971 deg/s, posRepo size: 4
2021-12-04T10:27:26.848Z,1638613646.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102727.06*59

2021-12-04T10:27:26.849Z,1638613646.849 [Micromodem](INFO): Nmea in: $CAREV,102728,AUV,2.1.4000*24

2021-12-04T10:27:27.232Z,1638613647.232 [Micromodem](INFO): Nmea in: $CAREV,102728,COPROC,0.20.0.39330*75

2021-12-04T10:27:29.260Z,1638613649.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:30.041Z,1638613650.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:30.453Z,1638613650.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:30.940Z,1638613650.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 205.729095 deg, deltaT: 4.487502 s, deltaX: 0.059998 m, approachRate: 0.013370 m/s, LOS rate: -0.067768 deg/s, posRepo size: 4
2021-12-04T10:27:31.283Z,1638613651.283 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102731.50*5D

2021-12-04T10:27:31.284Z,1638613651.284 [Micromodem](INFO): Nmea in: $CAREV,102732,AUV,2.1.4000*2F

2021-12-04T10:27:31.700Z,1638613651.700 [Micromodem](INFO): Nmea in: $CAREV,102732,COPROC,0.20.0.39330*7E

2021-12-04T10:27:33.760Z,1638613653.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:34.485Z,1638613654.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:34.901Z,1638613654.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:35.333Z,1638613655.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 211.574904 deg, deltaT: 4.422456 s, deltaX: -0.059998 m, approachRate: -0.013567 m/s, LOS rate: 1.321847 deg/s, posRepo size: 4
2021-12-04T10:27:35.744Z,1638613655.744 [Micromodem](INFO): Nmea in: $SNTTA,0.029976,,,,102735.94*4C

2021-12-04T10:27:35.745Z,1638613655.745 [Micromodem](INFO): Nmea in: $CAREV,102736,AUV,2.1.4000*2B

2021-12-04T10:27:36.112Z,1638613656.112 [Micromodem](INFO): Nmea in: $CAREV,102736,COPROC,0.20.0.39330*7A

2021-12-04T10:27:38.148Z,1638613658.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:38.957Z,1638613658.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:39.335Z,1638613659.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:39.777Z,1638613659.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 215.087233 deg, deltaT: 4.444210 s, deltaX: 0.300001 m, approachRate: 0.067504 m/s, LOS rate: 0.790316 deg/s, posRepo size: 4
2021-12-04T10:27:40.163Z,1638613660.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102740.41*5B

2021-12-04T10:27:40.164Z,1638613660.164 [Micromodem](INFO): Nmea in: $CAREV,102741,AUV,2.1.4000*2B

2021-12-04T10:27:40.560Z,1638613660.560 [Micromodem](INFO): Nmea in: $CAREV,102741,COPROC,0.20.0.39330*7A

2021-12-04T10:27:42.576Z,1638613662.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:43.377Z,1638613663.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:43.783Z,1638613663.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:44.190Z,1638613664.190 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:27:44.207Z,1638613664.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 217.657871 deg, deltaT: 4.429028 s, deltaX: 0.059998 m, approachRate: 0.013546 m/s, LOS rate: 0.580407 deg/s, posRepo size: 4
2021-12-04T10:27:44.620Z,1638613664.620 [Micromodem](INFO): Nmea in: $SNTTA,0.026145,,,,102744.83*4B

2021-12-04T10:27:44.621Z,1638613664.621 [Micromodem](INFO): Nmea in: $CAREV,102745,AUV,2.1.4000*2F

2021-12-04T10:27:45.012Z,1638613665.012 [Micromodem](INFO): Nmea in: $CAREV,102745,COPROC,0.20.0.39330*7E

2021-12-04T10:27:47.050Z,1638613667.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:47.829Z,1638613667.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:48.224Z,1638613668.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:48.656Z,1638613668.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 216.389914 deg, deltaT: 4.449459 s, deltaX: 0.180004 m, approachRate: 0.040455 m/s, LOS rate: -0.284969 deg/s, posRepo size: 4
2021-12-04T10:27:49.060Z,1638613669.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102749.29*5C

2021-12-04T10:27:49.061Z,1638613669.061 [Micromodem](INFO): Nmea in: $CAREV,102750,AUV,2.1.4000*2B

2021-12-04T10:27:49.444Z,1638613669.444 [Micromodem](INFO): Nmea in: $CAREV,102750,COPROC,0.20.0.39330*7A

2021-12-04T10:27:51.474Z,1638613671.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:52.265Z,1638613672.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:52.671Z,1638613672.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:53.130Z,1638613673.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 221.607359 deg, deltaT: 4.445705 s, deltaX: 0.179998 m, approachRate: 0.040488 m/s, LOS rate: 1.173592 deg/s, posRepo size: 4
2021-12-04T10:27:53.500Z,1638613673.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102753.72*59

2021-12-04T10:27:53.501Z,1638613673.501 [Micromodem](INFO): Nmea in: $CAREV,102754,AUV,2.1.4000*2F

2021-12-04T10:27:53.905Z,1638613673.905 [Micromodem](INFO): Nmea in: $CAREV,102754,COPROC,0.20.0.39330*7E

2021-12-04T10:27:55.989Z,1638613675.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:27:56.713Z,1638613676.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:27:57.119Z,1638613677.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:27:57.539Z,1638613677.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 225.319512 deg, deltaT: 4.437791 s, deltaX: 0.479998 m, approachRate: 0.108161 m/s, LOS rate: 0.836487 deg/s, posRepo size: 4
2021-12-04T10:27:57.964Z,1638613677.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102758.17*51

2021-12-04T10:27:57.965Z,1638613677.965 [Micromodem](INFO): Nmea in: $CAREV,102759,AUV,2.1.4000*22

2021-12-04T10:27:58.344Z,1638613678.344 [Micromodem](INFO): Nmea in: $CAREV,102759,COPROC,0.20.0.39330*73

2021-12-04T10:28:00.368Z,1638613680.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:01.164Z,1638613681.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:01.567Z,1638613681.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:02.051Z,1638613682.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 229.988971 deg, deltaT: 4.487195 s, deltaX: 0.060003 m, approachRate: 0.013372 m/s, LOS rate: 1.040619 deg/s, posRepo size: 4
2021-12-04T10:28:02.396Z,1638613682.396 [Micromodem](INFO): Nmea in: $SNTTA,0.032862,,,,102802.62*40

2021-12-04T10:28:02.397Z,1638613682.397 [Micromodem](INFO): Nmea in: $CAREV,102803,AUV,2.1.4000*22

2021-12-04T10:28:02.772Z,1638613682.772 [Micromodem](INFO): Nmea in: $CAREV,102803,COPROC,0.20.0.39330*73

2021-12-04T10:28:04.809Z,1638613684.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:05.609Z,1638613685.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:06.007Z,1638613686.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:06.427Z,1638613686.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 225.230761 deg, deltaT: 4.400936 s, deltaX: -0.060003 m, approachRate: -0.013634 m/s, LOS rate: -1.081181 deg/s, posRepo size: 4
2021-12-04T10:28:06.844Z,1638613686.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102807.06*54

2021-12-04T10:28:06.845Z,1638613686.845 [Micromodem](INFO): Nmea in: $CAREV,102808,AUV,2.1.4000*29

2021-12-04T10:28:07.232Z,1638613687.232 [Micromodem](INFO): Nmea in: $CAREV,102808,COPROC,0.20.0.39330*78

2021-12-04T10:28:09.271Z,1638613689.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:10.040Z,1638613690.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:10.463Z,1638613690.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:10.929Z,1638613690.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 230.378265 deg, deltaT: 4.477701 s, deltaX: 0.420000 m, approachRate: 0.093798 m/s, LOS rate: 1.149586 deg/s, posRepo size: 4
2021-12-04T10:28:11.288Z,1638613691.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102811.50*50

2021-12-04T10:28:11.289Z,1638613691.289 [Micromodem](INFO): Nmea in: $CAREV,102812,AUV,2.1.4000*22

2021-12-04T10:28:11.689Z,1638613691.689 [Micromodem](INFO): Nmea in: $CAREV,102812,COPROC,0.20.0.39330*73

2021-12-04T10:28:13.761Z,1638613693.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:14.487Z,1638613694.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:14.923Z,1638613694.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:15.345Z,1638613695.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 232.632828 deg, deltaT: 4.438519 s, deltaX: 0.179998 m, approachRate: 0.040554 m/s, LOS rate: 0.507954 deg/s, posRepo size: 4
2021-12-04T10:28:15.744Z,1638613695.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102815.94*5C

2021-12-04T10:28:15.745Z,1638613695.745 [Micromodem](INFO): Nmea in: $CAREV,102817,AUV,2.1.4000*27

2021-12-04T10:28:16.117Z,1638613696.117 [Micromodem](INFO): Nmea in: $CAREV,102817,COPROC,0.20.0.39330*76

2021-12-04T10:28:18.149Z,1638613698.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:18.953Z,1638613698.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:19.335Z,1638613699.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:19.788Z,1638613699.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 234.651531 deg, deltaT: 4.443986 s, deltaX: 0.420000 m, approachRate: 0.094510 m/s, LOS rate: 0.454255 deg/s, posRepo size: 4
2021-12-04T10:28:20.166Z,1638613700.166 [Micromodem](INFO): Nmea in: $SNTTA,0.035644,,,,102820.41*4C

2021-12-04T10:28:20.168Z,1638613700.168 [Micromodem](INFO): Nmea in: $CAREV,102821,AUV,2.1.4000*22

2021-12-04T10:28:20.556Z,1638613700.556 [Micromodem](INFO): Nmea in: $CAREV,102821,COPROC,0.20.0.39330*73

2021-12-04T10:28:22.581Z,1638613702.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:23.377Z,1638613703.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:23.779Z,1638613703.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:24.209Z,1638613704.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 227.686569 deg, deltaT: 4.421472 s, deltaX: 0.060003 m, approachRate: 0.013571 m/s, LOS rate: -1.575259 deg/s, posRepo size: 4
2021-12-04T10:28:24.604Z,1638613704.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102824.83*58

2021-12-04T10:28:24.605Z,1638613704.605 [Micromodem](INFO): Nmea in: $CAREV,102825,AUV,2.1.4000*26

2021-12-04T10:28:25.005Z,1638613705.005 [Micromodem](INFO): Nmea in: $CAREV,102825,COPROC,0.20.0.39330*77

2021-12-04T10:28:27.045Z,1638613707.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:27.817Z,1638613707.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:28.241Z,1638613708.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:28.664Z,1638613708.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 276.607416 deg, deltaT: 4.454608 s, deltaX: 0.480000 m, approachRate: 0.107753 m/s, LOS rate: 10.982077 deg/s, posRepo size: 4
2021-12-04T10:28:31.484Z,1638613711.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:32.277Z,1638613712.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:32.691Z,1638613712.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:33.116Z,1638613713.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 191.302588 deg, deltaT: 4.452440 s, deltaX: 0.420000 m, approachRate: 0.094330 m/s, LOS rate: -19.159119 deg/s, posRepo size: 4
2021-12-04T10:28:33.516Z,1638613713.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102833.73*51

2021-12-04T10:28:33.518Z,1638613713.518 [Micromodem](INFO): Nmea in: $CAREV,102834,AUV,2.1.4000*26

2021-12-04T10:28:33.903Z,1638613713.903 [Micromodem](INFO): Nmea in: $CAREV,102834,COPROC,0.20.0.39330*77

2021-12-04T10:28:35.988Z,1638613715.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:36.717Z,1638613716.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:37.127Z,1638613717.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:37.543Z,1638613717.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 188.947730 deg, deltaT: 4.426936 s, deltaX: 0.299999 m, approachRate: 0.067767 m/s, LOS rate: -0.531939 deg/s, posRepo size: 4
2021-12-04T10:28:37.979Z,1638613717.979 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102838.17*58

2021-12-04T10:28:37.980Z,1638613717.980 [Micromodem](INFO): Nmea in: $CAREV,102839,AUV,2.1.4000*2B

2021-12-04T10:28:38.345Z,1638613718.345 [Micromodem](INFO): Nmea in: $CAREV,102839,COPROC,0.20.0.39330*7A

2021-12-04T10:28:40.369Z,1638613720.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:41.165Z,1638613721.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:41.563Z,1638613721.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:42.037Z,1638613722.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 185.943663 deg, deltaT: 4.493430 s, deltaX: 0.299999 m, approachRate: 0.066764 m/s, LOS rate: -0.668547 deg/s, posRepo size: 4
2021-12-04T10:28:42.408Z,1638613722.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102842.63*56

2021-12-04T10:28:42.409Z,1638613722.409 [Micromodem](INFO): Nmea in: $CAREV,102843,AUV,2.1.4000*26

2021-12-04T10:28:42.799Z,1638613722.799 [Micromodem](INFO): Nmea in: $CAREV,102843,COPROC,0.20.0.39330*77

2021-12-04T10:28:44.816Z,1638613724.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:45.610Z,1638613725.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:46.016Z,1638613726.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:46.447Z,1638613726.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 183.901354 deg, deltaT: 4.409749 s, deltaX: 0.120001 m, approachRate: 0.027213 m/s, LOS rate: -0.463135 deg/s, posRepo size: 4
2021-12-04T10:28:46.852Z,1638613726.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102847.07*51

2021-12-04T10:28:46.853Z,1638613726.853 [Micromodem](INFO): Nmea in: $CAREV,102848,AUV,2.1.4000*2D

2021-12-04T10:28:47.232Z,1638613727.232 [Micromodem](INFO): Nmea in: $CAREV,102848,COPROC,0.20.0.39330*7C

2021-12-04T10:28:49.275Z,1638613729.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:50.049Z,1638613730.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:50.463Z,1638613730.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:50.943Z,1638613730.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 182.231551 deg, deltaT: 4.488300 s, deltaX: 0.479998 m, approachRate: 0.106944 m/s, LOS rate: -0.372035 deg/s, posRepo size: 4
2021-12-04T10:28:51.304Z,1638613731.304 [Micromodem](INFO): Nmea in: $SNTTA,0.088539,,,,102851.51*44

2021-12-04T10:28:51.305Z,1638613731.305 [Micromodem](INFO): Nmea in: $CAREV,102852,AUV,2.1.4000*26

2021-12-04T10:28:51.708Z,1638613731.708 [Micromodem](INFO): Nmea in: $CAREV,102852,COPROC,0.20.0.39330*77

2021-12-04T10:28:53.760Z,1638613733.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:54.497Z,1638613734.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:54.930Z,1638613734.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:55.337Z,1638613735.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 181.368789 deg, deltaT: 4.402310 s, deltaX: 0.360003 m, approachRate: 0.081776 m/s, LOS rate: -0.195979 deg/s, posRepo size: 4
2021-12-04T10:28:55.744Z,1638613735.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102855.95*59

2021-12-04T10:28:55.745Z,1638613735.745 [Micromodem](INFO): Nmea in: $CAREV,102857,AUV,2.1.4000*23

2021-12-04T10:28:56.124Z,1638613736.124 [Micromodem](INFO): Nmea in: $CAREV,102857,COPROC,0.20.0.39330*72

2021-12-04T10:28:58.157Z,1638613738.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:28:58.962Z,1638613738.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:28:59.347Z,1638613739.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:28:59.796Z,1638613739.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 181.840154 deg, deltaT: 4.458983 s, deltaX: 0.600000 m, approachRate: 0.134560 m/s, LOS rate: 0.105711 deg/s, posRepo size: 4
2021-12-04T10:29:00.188Z,1638613740.188 [Micromodem](INFO): Nmea in: $SNTTA,0.064845,,,,102900.42*47

2021-12-04T10:29:00.189Z,1638613740.189 [Micromodem](INFO): Nmea in: $CAREV,102901,AUV,2.1.4000*21

2021-12-04T10:29:00.570Z,1638613740.570 [Micromodem](INFO): Nmea in: $CAREV,102901,COPROC,0.20.0.39330*70

2021-12-04T10:29:02.605Z,1638613742.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:03.389Z,1638613743.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:03.795Z,1638613743.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:04.237Z,1638613744.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 182.494076 deg, deltaT: 4.441405 s, deltaX: 0.179998 m, approachRate: 0.040527 m/s, LOS rate: 0.147233 deg/s, posRepo size: 4
2021-12-04T10:29:04.632Z,1638613744.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102904.84*5C

2021-12-04T10:29:04.633Z,1638613744.633 [Micromodem](INFO): Nmea in: $CAREV,102905,AUV,2.1.4000*25

2021-12-04T10:29:05.024Z,1638613745.024 [Micromodem](INFO): Nmea in: $CAREV,102905,COPROC,0.20.0.39330*74

2021-12-04T10:29:07.047Z,1638613747.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:07.837Z,1638613747.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:08.251Z,1638613748.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:08.679Z,1638613748.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 183.687324 deg, deltaT: 4.437970 s, deltaX: 0.480003 m, approachRate: 0.108158 m/s, LOS rate: 0.268872 deg/s, posRepo size: 4
2021-12-04T10:29:09.080Z,1638613749.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102909.30*5E

2021-12-04T10:29:09.081Z,1638613749.081 [Micromodem](INFO): Nmea in: $CAREV,102910,AUV,2.1.4000*21

2021-12-04T10:29:09.452Z,1638613749.452 [Micromodem](INFO): Nmea in: $CAREV,102910,COPROC,0.20.0.39330*70

2021-12-04T10:29:11.500Z,1638613751.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:12.280Z,1638613752.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:12.689Z,1638613752.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:13.161Z,1638613753.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 185.239102 deg, deltaT: 4.480010 s, deltaX: 0.599998 m, approachRate: 0.133928 m/s, LOS rate: 0.346378 deg/s, posRepo size: 4
2021-12-04T10:29:13.519Z,1638613753.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102913.74*55

2021-12-04T10:29:13.520Z,1638613753.520 [Micromodem](INFO): Nmea in: $CAREV,102914,AUV,2.1.4000*25

2021-12-04T10:29:13.908Z,1638613753.908 [Micromodem](INFO): Nmea in: $CAREV,102914,COPROC,0.20.0.39330*74

2021-12-04T10:29:15.979Z,1638613755.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:16.713Z,1638613756.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:17.124Z,1638613757.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:17.560Z,1638613757.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 186.125988 deg, deltaT: 4.388927 s, deltaX: 0.479998 m, approachRate: 0.109366 m/s, LOS rate: 0.202074 deg/s, posRepo size: 4
2021-12-04T10:29:17.968Z,1638613757.968 [Micromodem](INFO): Nmea in: $SNTTA,0.036432,,,,102918.17*45

2021-12-04T10:29:17.969Z,1638613757.969 [Micromodem](INFO): Nmea in: $CAREV,102919,AUV,2.1.4000*28

2021-12-04T10:29:18.348Z,1638613758.348 [Micromodem](INFO): Nmea in: $CAREV,102919,COPROC,0.20.0.39330*79

2021-12-04T10:29:20.364Z,1638613760.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:21.169Z,1638613761.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:21.563Z,1638613761.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:22.049Z,1638613762.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 188.013606 deg, deltaT: 4.499532 s, deltaX: 1.380003 m, approachRate: 0.306699 m/s, LOS rate: 0.419514 deg/s, posRepo size: 4
2021-12-04T10:29:22.404Z,1638613762.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102922.63*51

2021-12-04T10:29:22.405Z,1638613762.405 [Micromodem](INFO): Nmea in: $CAREV,102923,AUV,2.1.4000*21

2021-12-04T10:29:22.788Z,1638613762.788 [Micromodem](INFO): Nmea in: $CAREV,102923,COPROC,0.20.0.39330*70

2021-12-04T10:29:24.817Z,1638613764.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:25.232Z,1638613765.232 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:29:25.609Z,1638613765.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:26.011Z,1638613766.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:26.427Z,1638613766.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 189.328281 deg, deltaT: 4.383659 s, deltaX: -0.240002 m, approachRate: -0.054749 m/s, LOS rate: 0.299904 deg/s, posRepo size: 4
2021-12-04T10:29:26.840Z,1638613766.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102927.07*56

2021-12-04T10:29:26.841Z,1638613766.841 [Micromodem](INFO): Nmea in: $CAREV,102928,AUV,2.1.4000*2A

2021-12-04T10:29:27.228Z,1638613767.228 [Micromodem](INFO): Nmea in: $CAREV,102928,COPROC,0.20.0.39330*7B

2021-12-04T10:29:29.270Z,1638613769.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:30.049Z,1638613770.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:30.447Z,1638613770.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:30.993Z,1638613770.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 190.373983 deg, deltaT: 4.566109 s, deltaX: 0.480000 m, approachRate: 0.105122 m/s, LOS rate: 0.229014 deg/s, posRepo size: 4
2021-12-04T10:29:31.320Z,1638613771.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102931.51*52

2021-12-04T10:29:31.321Z,1638613771.321 [Micromodem](INFO): Nmea in: $CAREV,102932,AUV,2.1.4000*21

2021-12-04T10:29:31.708Z,1638613771.708 [Micromodem](INFO): Nmea in: $CAREV,102932,COPROC,0.20.0.39330*70

2021-12-04T10:29:33.758Z,1638613773.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:34.493Z,1638613774.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:34.917Z,1638613774.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:35.350Z,1638613775.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 193.084284 deg, deltaT: 4.351645 s, deltaX: 0.660000 m, approachRate: 0.151667 m/s, LOS rate: 0.622822 deg/s, posRepo size: 4
2021-12-04T10:29:35.752Z,1638613775.752 [Micromodem](INFO): Nmea in: $SNTTA,0.047212,,,,102935.95*42

2021-12-04T10:29:35.753Z,1638613775.753 [Micromodem](INFO): Nmea in: $CAREV,102937,AUV,2.1.4000*24

2021-12-04T10:29:36.124Z,1638613776.124 [Micromodem](INFO): Nmea in: $CAREV,102937,COPROC,0.20.0.39330*75

2021-12-04T10:29:38.157Z,1638613778.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:38.969Z,1638613778.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:39.351Z,1638613779.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:39.789Z,1638613779.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.600002 m, bearing: 195.567659 deg, deltaT: 4.444335 s, deltaX: 0.660004 m, approachRate: 0.148504 m/s, LOS rate: 0.558773 deg/s, posRepo size: 4
2021-12-04T10:29:40.173Z,1638613780.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102940.42*56

2021-12-04T10:29:40.174Z,1638613780.174 [Micromodem](INFO): Nmea in: $CAREV,102941,AUV,2.1.4000*25

2021-12-04T10:29:40.560Z,1638613780.560 [Micromodem](INFO): Nmea in: $CAREV,102941,COPROC,0.20.0.39330*74

2021-12-04T10:29:42.585Z,1638613782.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:43.381Z,1638613783.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:43.791Z,1638613783.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:44.231Z,1638613784.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 198.556768 deg, deltaT: 4.440798 s, deltaX: 1.199997 m, approachRate: 0.270221 m/s, LOS rate: 0.673102 deg/s, posRepo size: 4
2021-12-04T10:29:44.628Z,1638613784.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102944.84*58

2021-12-04T10:29:44.629Z,1638613784.629 [Micromodem](INFO): Nmea in: $CAREV,102945,AUV,2.1.4000*21

2021-12-04T10:29:45.012Z,1638613785.012 [Micromodem](INFO): Nmea in: $CAREV,102945,COPROC,0.20.0.39330*70

2021-12-04T10:29:47.045Z,1638613787.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:47.825Z,1638613787.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:48.231Z,1638613788.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:48.651Z,1638613788.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 200.311799 deg, deltaT: 4.421260 s, deltaX: 0.120003 m, approachRate: 0.027142 m/s, LOS rate: 0.396953 deg/s, posRepo size: 4
2021-12-04T10:29:49.064Z,1638613789.064 [Micromodem](INFO): Nmea in: $SNTTA,0.047414,,,,102949.28*4F

2021-12-04T10:29:49.065Z,1638613789.065 [Micromodem](INFO): Nmea in: $CAREV,102950,AUV,2.1.4000*25

2021-12-04T10:29:49.452Z,1638613789.452 [Micromodem](INFO): Nmea in: $CAREV,102950,COPROC,0.20.0.39330*74

2021-12-04T10:29:51.476Z,1638613791.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:52.278Z,1638613792.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:52.675Z,1638613792.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:53.129Z,1638613793.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 201.761124 deg, deltaT: 4.473786 s, deltaX: 0.239994 m, approachRate: 0.053645 m/s, LOS rate: 0.323959 deg/s, posRepo size: 4
2021-12-04T10:29:53.508Z,1638613793.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102953.74*51

2021-12-04T10:29:53.509Z,1638613793.509 [Micromodem](INFO): Nmea in: $CAREV,102954,AUV,2.1.4000*21

2021-12-04T10:29:53.911Z,1638613793.911 [Micromodem](INFO): Nmea in: $CAREV,102954,COPROC,0.20.0.39330*70

2021-12-04T10:29:55.000Z,1638613796.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:29:56.709Z,1638613796.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:29:57.132Z,1638613797.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:29:57.559Z,1638613797.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 202.371470 deg, deltaT: 4.429844 s, deltaX: 0.720005 m, approachRate: 0.162535 m/s, LOS rate: 0.137780 deg/s, posRepo size: 4
2021-12-04T10:29:57.972Z,1638613797.972 [Micromodem](INFO): Nmea in: $SNTTA,0.051320,,,,102958.17*44

2021-12-04T10:29:57.973Z,1638613797.973 [Micromodem](INFO): Nmea in: $CAREV,102959,AUV,2.1.4000*2C

2021-12-04T10:29:58.340Z,1638613798.340 [Micromodem](INFO): Nmea in: $CAREV,102959,COPROC,0.20.0.39330*7D

2021-12-04T10:30:00.369Z,1638613800.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:01.172Z,1638613801.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:01.560Z,1638613801.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:02.064Z,1638613802.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 201.592965 deg, deltaT: 4.491353 s, deltaX: 0.659996 m, approachRate: 0.146948 m/s, LOS rate: -0.173334 deg/s, posRepo size: 4
2021-12-04T10:30:02.396Z,1638613802.396 [Micromodem](INFO): Nmea in: $SNTTA,0.050159,,,,103002.63*4D

2021-12-04T10:30:02.397Z,1638613802.397 [Micromodem](INFO): Nmea in: $CAREV,103003,AUV,2.1.4000*2B

2021-12-04T10:30:02.784Z,1638613802.784 [Micromodem](INFO): Nmea in: $CAREV,103003,COPROC,0.20.0.39330*7A

2021-12-04T10:30:04.808Z,1638613804.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:05.597Z,1638613805.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:06.019Z,1638613806.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:06.435Z,1638613806.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.139999 m, bearing: 199.139616 deg, deltaT: 4.387859 s, deltaX: 0.600002 m, approachRate: 0.136741 m/s, LOS rate: -0.559122 deg/s, posRepo size: 4
2021-12-04T10:30:06.859Z,1638613806.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103007.06*5D

2021-12-04T10:30:06.860Z,1638613806.860 [Micromodem](INFO): Nmea in: $CAREV,103008,AUV,2.1.4000*20

2021-12-04T10:30:07.224Z,1638613807.224 [Micromodem](INFO): Nmea in: $CAREV,103008,COPROC,0.20.0.39330*71

2021-12-04T10:30:09.256Z,1638613809.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:10.045Z,1638613810.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:10.456Z,1638613810.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:10.933Z,1638613810.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 197.113440 deg, deltaT: 4.487084 s, deltaX: 0.419998 m, approachRate: 0.093602 m/s, LOS rate: -0.451557 deg/s, posRepo size: 4
2021-12-04T10:30:11.288Z,1638613811.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103011.50*59

2021-12-04T10:30:11.289Z,1638613811.289 [Micromodem](INFO): Nmea in: $CAREV,103012,AUV,2.1.4000*2B

2021-12-04T10:30:11.700Z,1638613811.700 [Micromodem](INFO): Nmea in: $CAREV,103012,COPROC,0.20.0.39330*7A

2021-12-04T10:30:13.763Z,1638613813.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:14.497Z,1638613814.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:14.929Z,1638613814.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:15.393Z,1638613815.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 193.627762 deg, deltaT: 4.390691 s, deltaX: 0.660004 m, approachRate: 0.150319 m/s, LOS rate: -0.793879 deg/s, posRepo size: 4
2021-12-04T10:30:15.736Z,1638613815.736 [Micromodem](INFO): Nmea in: $SNTTA,0.477073,0.477354,,,103015.95*52

2021-12-04T10:30:15.737Z,1638613815.737 [Micromodem](INFO): Nmea in: $CAREV,103016,AUV,2.1.4000*2F

2021-12-04T10:30:16.120Z,1638613816.120 [Micromodem](INFO): Nmea in: $CAREV,103016,COPROC,0.20.0.39330*7E

2021-12-04T10:30:18.163Z,1638613818.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:18.961Z,1638613818.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:19.408Z,1638613819.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:19.853Z,1638613819.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 192.311653 deg, deltaT: 4.538242 s, deltaX: 0.540001 m, approachRate: 0.118989 m/s, LOS rate: -0.290004 deg/s, posRepo size: 4
2021-12-04T10:30:20.216Z,1638613820.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103020.42*58

2021-12-04T10:30:20.217Z,1638613820.217 [Micromodem](INFO): Nmea in: $CAREV,103021,AUV,2.1.4000*2B

2021-12-04T10:30:20.616Z,1638613820.616 [Micromodem](INFO): Nmea in: $CAREV,103021,COPROC,0.20.0.39330*7A

2021-12-04T10:30:22.645Z,1638613822.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:23.433Z,1638613823.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:23.843Z,1638613823.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:24.263Z,1638613824.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 196.837487 deg, deltaT: 4.412820 s, deltaX: 0.119995 m, approachRate: 0.027192 m/s, LOS rate: 1.025610 deg/s, posRepo size: 4
2021-12-04T10:30:24.676Z,1638613824.676 [Micromodem](INFO): Nmea in: $SNTTA,0.071070,,,,103024.89*44

2021-12-04T10:30:24.677Z,1638613824.677 [Micromodem](INFO): Nmea in: $CAREV,103025,AUV,2.1.4000*2F

2021-12-04T10:30:25.068Z,1638613825.068 [Micromodem](INFO): Nmea in: $CAREV,103025,COPROC,0.20.0.39330*7E

2021-12-04T10:30:27.103Z,1638613827.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:27.883Z,1638613827.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:28.294Z,1638613828.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:28.732Z,1638613828.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 201.256414 deg, deltaT: 4.464314 s, deltaX: 0.780003 m, approachRate: 0.174719 m/s, LOS rate: 0.989833 deg/s, posRepo size: 4
2021-12-04T10:30:29.116Z,1638613829.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103029.34*50

2021-12-04T10:30:29.117Z,1638613829.117 [Micromodem](INFO): Nmea in: $CAREV,103030,AUV,2.1.4000*2B

2021-12-04T10:30:29.508Z,1638613829.508 [Micromodem](INFO): Nmea in: $CAREV,103030,COPROC,0.20.0.39330*7A

2021-12-04T10:30:31.539Z,1638613831.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:32.333Z,1638613832.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:32.727Z,1638613832.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:33.184Z,1638613833.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 202.693008 deg, deltaT: 4.456002 s, deltaX: 0.420002 m, approachRate: 0.094255 m/s, LOS rate: 0.322395 deg/s, posRepo size: 4
2021-12-04T10:30:33.573Z,1638613833.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103033.79*52

2021-12-04T10:30:33.574Z,1638613833.574 [Micromodem](INFO): Nmea in: $CAREV,103034,AUV,2.1.4000*2F

2021-12-04T10:30:33.980Z,1638613833.980 [Micromodem](INFO): Nmea in: $CAREV,103034,COPROC,0.20.0.39330*7E

2021-12-04T10:30:36.025Z,1638613836.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:36.769Z,1638613836.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:37.167Z,1638613837.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:37.591Z,1638613837.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 202.627684 deg, deltaT: 4.407915 s, deltaX: 0.599998 m, approachRate: 0.136118 m/s, LOS rate: -0.014820 deg/s, posRepo size: 4
2021-12-04T10:30:38.020Z,1638613838.020 [Micromodem](INFO): Nmea in: $SNTTA,0.052874,,,,103038.23*44

2021-12-04T10:30:38.021Z,1638613838.021 [Micromodem](INFO): Nmea in: $CAREV,103039,AUV,2.1.4000*22

2021-12-04T10:30:38.401Z,1638613838.401 [Micromodem](INFO): Nmea in: $CAREV,103039,COPROC,0.20.0.39330*73

2021-12-04T10:30:40.417Z,1638613840.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:41.213Z,1638613841.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:41.615Z,1638613841.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:42.091Z,1638613842.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 202.608013 deg, deltaT: 4.495563 s, deltaX: 0.540001 m, approachRate: 0.120119 m/s, LOS rate: -0.004376 deg/s, posRepo size: 4
2021-12-04T10:30:42.456Z,1638613842.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103042.67*5B

2021-12-04T10:30:42.457Z,1638613842.457 [Micromodem](INFO): Nmea in: $CAREV,103043,AUV,2.1.4000*2F

2021-12-04T10:30:42.848Z,1638613842.848 [Micromodem](INFO): Nmea in: $CAREV,103043,COPROC,0.20.0.39330*7E

2021-12-04T10:30:44.856Z,1638613844.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:45.688Z,1638613845.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:46.067Z,1638613846.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:46.482Z,1638613846.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 201.758529 deg, deltaT: 4.394971 s, deltaX: 0.539997 m, approachRate: 0.122867 m/s, LOS rate: -0.193286 deg/s, posRepo size: 4
2021-12-04T10:30:46.896Z,1638613846.896 [Micromodem](INFO): Nmea in: $SNTTA,0.042722,,,,103047.14*45

2021-12-04T10:30:46.900Z,1638613846.900 [Micromodem](INFO): Nmea in: $CAREV,103048,AUV,2.1.4000*24

2021-12-04T10:30:47.288Z,1638613847.288 [Micromodem](INFO): Nmea in: $CAREV,103048,COPROC,0.20.0.39330*75

2021-12-04T10:30:49.320Z,1638613849.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:50.109Z,1638613850.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:50.507Z,1638613850.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:50.986Z,1638613850.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 203.116043 deg, deltaT: 4.499647 s, deltaX: 0.840000 m, approachRate: 0.186681 m/s, LOS rate: 0.301693 deg/s, posRepo size: 4
2021-12-04T10:30:51.360Z,1638613851.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103051.57*5A

2021-12-04T10:30:51.361Z,1638613851.361 [Micromodem](INFO): Nmea in: $CAREV,103052,AUV,2.1.4000*2F

2021-12-04T10:30:51.748Z,1638613851.748 [Micromodem](INFO): Nmea in: $CAREV,103052,COPROC,0.20.0.39330*7E

2021-12-04T10:30:53.764Z,1638613853.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:54.545Z,1638613854.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:54.971Z,1638613854.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:55.385Z,1638613855.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 203.406435 deg, deltaT: 4.403080 s, deltaX: 0.540001 m, approachRate: 0.122642 m/s, LOS rate: 0.065952 deg/s, posRepo size: 4
2021-12-04T10:30:55.792Z,1638613855.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103056.00*5F

2021-12-04T10:30:55.793Z,1638613855.793 [Micromodem](INFO): Nmea in: $CAREV,103057,AUV,2.1.4000*2A

2021-12-04T10:30:56.176Z,1638613856.176 [Micromodem](INFO): Nmea in: $CAREV,103057,COPROC,0.20.0.39330*7B

2021-12-04T10:30:58.215Z,1638613858.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:30:58.991Z,1638613858.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:30:59.391Z,1638613859.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:30:59.845Z,1638613859.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 211.359494 deg, deltaT: 4.460226 s, deltaX: 1.500004 m, approachRate: 0.336307 m/s, LOS rate: 1.783107 deg/s, posRepo size: 4
2021-12-04T10:31:00.232Z,1638613860.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103100.45*5C

2021-12-04T10:31:00.233Z,1638613860.233 [Micromodem](INFO): Nmea in: $CAREV,103101,AUV,2.1.4000*28

2021-12-04T10:31:00.621Z,1638613860.621 [Micromodem](INFO): Nmea in: $CAREV,103101,COPROC,0.20.0.39330*79

2021-12-04T10:31:02.642Z,1638613862.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:03.425Z,1638613863.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:03.847Z,1638613863.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:04.273Z,1638613864.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 204.720044 deg, deltaT: 4.427929 s, deltaX: -0.480003 m, approachRate: -0.108404 m/s, LOS rate: -1.499448 deg/s, posRepo size: 4
2021-12-04T10:31:04.689Z,1638613864.689 [Micromodem](INFO): Nmea in: $SNTTA,0.047702,,,,103104.88*41

2021-12-04T10:31:04.690Z,1638613864.690 [Micromodem](INFO): Nmea in: $CAREV,103105,AUV,2.1.4000*2C

2021-12-04T10:31:05.068Z,1638613865.068 [Micromodem](INFO): Nmea in: $CAREV,103105,COPROC,0.20.0.39330*7D

2021-12-04T10:31:07.128Z,1638613867.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:07.877Z,1638613867.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:08.283Z,1638613868.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:08.704Z,1638613868.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 204.998060 deg, deltaT: 4.427487 s, deltaX: 0.660000 m, approachRate: 0.149069 m/s, LOS rate: 0.062793 deg/s, posRepo size: 4
2021-12-04T10:31:09.112Z,1638613869.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103109.34*53

2021-12-04T10:31:09.113Z,1638613869.113 [Micromodem](INFO): Nmea in: $CAREV,103110,AUV,2.1.4000*28

2021-12-04T10:31:09.504Z,1638613869.504 [Micromodem](INFO): Nmea in: $CAREV,103110,COPROC,0.20.0.39330*79

2021-12-04T10:31:11.537Z,1638613871.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:12.329Z,1638613872.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:12.723Z,1638613872.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:13.153Z,1638613873.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 205.916844 deg, deltaT: 4.453111 s, deltaX: 0.599998 m, approachRate: 0.134737 m/s, LOS rate: 0.206324 deg/s, posRepo size: 4
2021-12-04T10:31:13.564Z,1638613873.564 [Micromodem](INFO): Nmea in: $SNTTA,0.042103,,,,103113.79*4B

2021-12-04T10:31:13.565Z,1638613873.565 [Micromodem](INFO): Nmea in: $CAREV,103114,AUV,2.1.4000*2C

2021-12-04T10:31:13.968Z,1638613873.968 [Micromodem](INFO): Nmea in: $CAREV,103114,COPROC,0.20.0.39330*7D

2021-12-04T10:31:16.031Z,1638613876.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:16.777Z,1638613876.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:17.171Z,1638613877.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:17.609Z,1638613877.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 206.664927 deg, deltaT: 4.455170 s, deltaX: 0.720001 m, approachRate: 0.161610 m/s, LOS rate: 0.167914 deg/s, posRepo size: 4
2021-12-04T10:31:18.016Z,1638613878.016 [Micromodem](INFO): Nmea in: $SNTTA,0.053593,,,,103118.23*42

2021-12-04T10:31:18.017Z,1638613878.017 [Micromodem](INFO): Nmea in: $CAREV,103119,AUV,2.1.4000*21

2021-12-04T10:31:18.400Z,1638613878.400 [Micromodem](INFO): Nmea in: $CAREV,103119,COPROC,0.20.0.39330*70

2021-12-04T10:31:20.421Z,1638613880.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:21.212Z,1638613881.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:21.615Z,1638613881.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:22.088Z,1638613882.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 206.681060 deg, deltaT: 4.475597 s, deltaX: 0.720001 m, approachRate: 0.160873 m/s, LOS rate: 0.003605 deg/s, posRepo size: 4
2021-12-04T10:31:22.444Z,1638613882.444 [Micromodem](INFO): Nmea in: $SNTTA,0.059675,,,,103122.67*4A

2021-12-04T10:31:22.445Z,1638613882.445 [Micromodem](INFO): Nmea in: $CAREV,103123,AUV,2.1.4000*28

2021-12-04T10:31:22.839Z,1638613882.839 [Micromodem](INFO): Nmea in: $CAREV,103123,COPROC,0.20.0.39330*79

2021-12-04T10:31:24.857Z,1638613884.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:25.687Z,1638613885.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:26.059Z,1638613886.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:26.487Z,1638613886.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 207.014797 deg, deltaT: 4.402386 s, deltaX: 0.660004 m, approachRate: 0.149920 m/s, LOS rate: 0.075808 deg/s, posRepo size: 4
2021-12-04T10:31:26.881Z,1638613886.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103127.14*5D

2021-12-04T10:31:26.884Z,1638613886.884 [Micromodem](INFO): Nmea in: $CAREV,103128,AUV,2.1.4000*23

2021-12-04T10:31:27.280Z,1638613887.280 [Micromodem](INFO): Nmea in: $CAREV,103128,COPROC,0.20.0.39330*72

2021-12-04T10:31:29.331Z,1638613889.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:30.089Z,1638613890.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:30.507Z,1638613890.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:30.959Z,1638613890.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 207.329327 deg, deltaT: 4.472691 s, deltaX: 0.599998 m, approachRate: 0.134147 m/s, LOS rate: 0.070322 deg/s, posRepo size: 4
2021-12-04T10:31:31.336Z,1638613891.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103131.55*5F

2021-12-04T10:31:31.337Z,1638613891.337 [Micromodem](INFO): Nmea in: $CAREV,103132,AUV,2.1.4000*28

2021-12-04T10:31:31.736Z,1638613891.736 [Micromodem](INFO): Nmea in: $CAREV,103132,COPROC,0.20.0.39330*79

2021-12-04T10:31:33.772Z,1638613893.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:34.537Z,1638613894.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:34.971Z,1638613894.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:35.393Z,1638613895.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 207.993590 deg, deltaT: 4.429948 s, deltaX: 0.599998 m, approachRate: 0.135441 m/s, LOS rate: 0.149948 deg/s, posRepo size: 4
2021-12-04T10:31:35.780Z,1638613895.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103135.99*5B

2021-12-04T10:31:35.781Z,1638613895.781 [Micromodem](INFO): Nmea in: $CAREV,103137,AUV,2.1.4000*2D

2021-12-04T10:31:36.168Z,1638613896.168 [Micromodem](INFO): Nmea in: $CAREV,103137,COPROC,0.20.0.39330*7C

2021-12-04T10:31:36.190Z,1638613896.190 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T10:31:36.190Z,1638613896.190 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T10:31:36.190Z,1638613896.190 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T10:31:36.329Z,1638613896.329 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T10:31:36.647Z,1638613896.647 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T10:31:37.614Z,1638613897.614 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T10:31:37.614Z,1638613897.614 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T10:31:38.193Z,1638613898.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:38.985Z,1638613898.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:39.391Z,1638613899.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:39.835Z,1638613899.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 209.071025 deg, deltaT: 4.444680 s, deltaX: 0.539997 m, approachRate: 0.121493 m/s, LOS rate: 0.242410 deg/s, posRepo size: 4
2021-12-04T10:31:40.228Z,1638613900.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103140.44*59

2021-12-04T10:31:40.229Z,1638613900.229 [Micromodem](INFO): Nmea in: $CAREV,103141,AUV,2.1.4000*2C

2021-12-04T10:31:40.620Z,1638613900.620 [Micromodem](INFO): Nmea in: $CAREV,103141,COPROC,0.20.0.39330*7D

2021-12-04T10:31:42.628Z,1638613902.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:43.425Z,1638613903.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:43.839Z,1638613903.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:44.255Z,1638613904.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 210.504504 deg, deltaT: 4.420526 s, deltaX: 0.720005 m, approachRate: 0.162878 m/s, LOS rate: 0.324278 deg/s, posRepo size: 4
2021-12-04T10:31:44.664Z,1638613904.664 [Micromodem](INFO): Nmea in: $SNTTA,0.033117,,,,103144.88*44

2021-12-04T10:31:44.665Z,1638613904.665 [Micromodem](INFO): Nmea in: $CAREV,103145,AUV,2.1.4000*28

2021-12-04T10:31:45.064Z,1638613905.064 [Micromodem](INFO): Nmea in: $CAREV,103145,COPROC,0.20.0.39330*79

2021-12-04T10:31:47.076Z,1638613907.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:47.880Z,1638613907.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:48.279Z,1638613908.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:48.725Z,1638613908.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 210.376821 deg, deltaT: 4.454718 s, deltaX: 0.539997 m, approachRate: 0.121219 m/s, LOS rate: -0.028663 deg/s, posRepo size: 4
2021-12-04T10:31:49.116Z,1638613909.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103149.34*57

2021-12-04T10:31:49.117Z,1638613909.117 [Micromodem](INFO): Nmea in: $CAREV,103150,AUV,2.1.4000*2C

2021-12-04T10:31:49.512Z,1638613909.512 [Micromodem](INFO): Nmea in: $CAREV,103150,COPROC,0.20.0.39330*7D

2021-12-04T10:31:51.513Z,1638613911.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:52.329Z,1638613912.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:52.740Z,1638613912.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:53.169Z,1638613913.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 210.590988 deg, deltaT: 4.459566 s, deltaX: 0.660000 m, approachRate: 0.147996 m/s, LOS rate: 0.048024 deg/s, posRepo size: 4
2021-12-04T10:31:53.560Z,1638613913.560 [Micromodem](INFO): Nmea in: $SNTTA,0.064278,,,,103153.79*44

2021-12-04T10:31:53.561Z,1638613913.561 [Micromodem](INFO): Nmea in: $CAREV,103154,AUV,2.1.4000*28

2021-12-04T10:31:53.979Z,1638613913.979 [Micromodem](INFO): Nmea in: $CAREV,103154,COPROC,0.20.0.39330*79

2021-12-04T10:31:56.028Z,1638613916.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:31:56.763Z,1638613916.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:31:57.175Z,1638613917.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:31:57.643Z,1638613917.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 210.467908 deg, deltaT: 4.448774 s, deltaX: 0.660004 m, approachRate: 0.148356 m/s, LOS rate: -0.027666 deg/s, posRepo size: 4
2021-12-04T10:31:57.992Z,1638613917.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103158.22*50

2021-12-04T10:31:57.993Z,1638613917.993 [Micromodem](INFO): Nmea in: $CAREV,103159,AUV,2.1.4000*25

2021-12-04T10:31:58.404Z,1638613918.404 [Micromodem](INFO): Nmea in: $CAREV,103159,COPROC,0.20.0.39330*74

2021-12-04T10:32:00.408Z,1638613920.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:01.201Z,1638613921.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:01.630Z,1638613921.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:02.073Z,1638613922.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 211.375422 deg, deltaT: 4.455807 s, deltaX: 0.599998 m, approachRate: 0.134655 m/s, LOS rate: 0.203670 deg/s, posRepo size: 4
2021-12-04T10:32:02.453Z,1638613922.453 [Micromodem](INFO): Nmea in: $SNTTA,0.045957,,,,103202.66*48

2021-12-04T10:32:02.455Z,1638613922.455 [Micromodem](INFO): Nmea in: $CAREV,103203,AUV,2.1.4000*29

2021-12-04T10:32:02.832Z,1638613922.832 [Micromodem](INFO): Nmea in: $CAREV,103203,COPROC,0.20.0.39330*78

2021-12-04T10:32:04.866Z,1638613924.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:05.672Z,1638613925.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:06.063Z,1638613926.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:06.482Z,1638613926.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 216.670895 deg, deltaT: 4.408803 s, deltaX: 1.020000 m, approachRate: 0.231355 m/s, LOS rate: 1.201114 deg/s, posRepo size: 4
2021-12-04T10:32:06.874Z,1638613926.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103207.13*5B

2021-12-04T10:32:06.895Z,1638613926.895 [Micromodem](INFO): Nmea in: $CAREV,103208,AUV,2.1.4000*22

2021-12-04T10:32:07.272Z,1638613927.272 [Micromodem](INFO): Nmea in: $CAREV,103208,COPROC,0.20.0.39330*73

2021-12-04T10:32:09.307Z,1638613929.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:10.093Z,1638613930.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:10.503Z,1638613930.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:10.960Z,1638613930.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 212.096799 deg, deltaT: 4.477705 s, deltaX: 0.119995 m, approachRate: 0.026798 m/s, LOS rate: -1.021527 deg/s, posRepo size: 4
2021-12-04T10:32:11.335Z,1638613931.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103211.55*5E

2021-12-04T10:32:11.336Z,1638613931.336 [Micromodem](INFO): Nmea in: $CAREV,103212,AUV,2.1.4000*29

2021-12-04T10:32:11.732Z,1638613931.732 [Micromodem](INFO): Nmea in: $CAREV,103212,COPROC,0.20.0.39330*78

2021-12-04T10:32:13.765Z,1638613933.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:14.529Z,1638613934.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:14.955Z,1638613934.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:15.379Z,1638613935.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.300003 m, bearing: 212.722089 deg, deltaT: 4.418534 s, deltaX: 0.720005 m, approachRate: 0.162951 m/s, LOS rate: 0.141515 deg/s, posRepo size: 4
2021-12-04T10:32:15.800Z,1638613935.800 [Micromodem](INFO): Nmea in: $SNTTA,0.065746,,,,103215.99*42

2021-12-04T10:32:15.801Z,1638613935.801 [Micromodem](INFO): Nmea in: $CAREV,103217,AUV,2.1.4000*2C

2021-12-04T10:32:16.160Z,1638613936.160 [Micromodem](INFO): Nmea in: $CAREV,103217,COPROC,0.20.0.39330*7D

2021-12-04T10:32:18.197Z,1638613938.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:18.985Z,1638613938.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:19.387Z,1638613939.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:19.859Z,1638613939.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 212.763589 deg, deltaT: 4.455077 s, deltaX: 0.840000 m, approachRate: 0.188549 m/s, LOS rate: 0.009315 deg/s, posRepo size: 4
2021-12-04T10:32:20.224Z,1638613940.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103220.44*5C

2021-12-04T10:32:20.225Z,1638613940.225 [Micromodem](INFO): Nmea in: $CAREV,103221,AUV,2.1.4000*29

2021-12-04T10:32:20.604Z,1638613940.604 [Micromodem](INFO): Nmea in: $CAREV,103221,COPROC,0.20.0.39330*78

2021-12-04T10:32:22.637Z,1638613942.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:23.425Z,1638613943.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:23.858Z,1638613943.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:24.261Z,1638613944.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 216.603931 deg, deltaT: 4.427302 s, deltaX: 0.779999 m, approachRate: 0.176179 m/s, LOS rate: 0.867423 deg/s, posRepo size: 4
2021-12-04T10:32:27.086Z,1638613947.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:27.904Z,1638613947.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:28.275Z,1638613948.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:28.695Z,1638613948.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 214.843682 deg, deltaT: 4.434716 s, deltaX: 0.720005 m, approachRate: 0.162357 m/s, LOS rate: -0.396925 deg/s, posRepo size: 4
2021-12-04T10:32:29.105Z,1638613949.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103229.36*50

2021-12-04T10:32:29.106Z,1638613949.106 [Micromodem](INFO): Nmea in: $CAREV,103230,AUV,2.1.4000*29

2021-12-04T10:32:29.499Z,1638613949.499 [Micromodem](INFO): Nmea in: $CAREV,103230,COPROC,0.20.0.39330*78

2021-12-04T10:32:31.516Z,1638613951.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:32.321Z,1638613952.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:32.720Z,1638613952.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:33.165Z,1638613953.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.060005 m, bearing: 214.611743 deg, deltaT: 4.453352 s, deltaX: 0.419998 m, approachRate: 0.094311 m/s, LOS rate: -0.052082 deg/s, posRepo size: 4
2021-12-04T10:32:33.544Z,1638613953.544 [Micromodem](INFO): Nmea in: $SNTTA,0.075791,,,,103233.78*42

2021-12-04T10:32:33.545Z,1638613953.545 [Micromodem](INFO): Nmea in: $CAREV,103234,AUV,2.1.4000*2D

2021-12-04T10:32:33.964Z,1638613953.964 [Micromodem](INFO): Nmea in: $CAREV,103234,COPROC,0.20.0.39330*7C

2021-12-04T10:32:36.015Z,1638613956.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:36.765Z,1638613956.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:37.163Z,1638613957.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:37.587Z,1638613957.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 215.313435 deg, deltaT: 4.438266 s, deltaX: 0.719997 m, approachRate: 0.162225 m/s, LOS rate: 0.158101 deg/s, posRepo size: 4
2021-12-04T10:32:38.004Z,1638613958.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103238.23*54

2021-12-04T10:32:38.005Z,1638613958.005 [Micromodem](INFO): Nmea in: $CAREV,103239,AUV,2.1.4000*20

2021-12-04T10:32:38.385Z,1638613958.385 [Micromodem](INFO): Nmea in: $CAREV,103239,COPROC,0.20.0.39330*71

2021-12-04T10:32:40.404Z,1638613960.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:41.201Z,1638613961.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:41.631Z,1638613961.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:42.068Z,1638613962.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.440002 m, bearing: 214.811744 deg, deltaT: 4.480678 s, deltaX: 0.660000 m, approachRate: 0.147299 m/s, LOS rate: -0.111968 deg/s, posRepo size: 4
2021-12-04T10:32:42.500Z,1638613962.500 [Micromodem](INFO): Nmea in: $SNTTA,0.048671,,,,103242.66*4A

2021-12-04T10:32:42.501Z,1638613962.501 [Micromodem](INFO): Nmea in: $CAREV,103243,AUV,2.1.4000*2D

2021-12-04T10:32:42.828Z,1638613962.828 [Micromodem](INFO): Nmea in: $CAREV,103243,COPROC,0.20.0.39330*7C

2021-12-04T10:32:44.861Z,1638613964.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:45.688Z,1638613965.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:46.059Z,1638613966.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:46.495Z,1638613966.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 215.646257 deg, deltaT: 4.426844 s, deltaX: 0.480003 m, approachRate: 0.108430 m/s, LOS rate: 0.188512 deg/s, posRepo size: 4
2021-12-04T10:32:46.869Z,1638613966.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103247.15*59

2021-12-04T10:32:46.871Z,1638613966.871 [Micromodem](INFO): Nmea in: $CAREV,103248,AUV,2.1.4000*26

2021-12-04T10:32:47.280Z,1638613967.280 [Micromodem](INFO): Nmea in: $CAREV,103248,COPROC,0.20.0.39330*77

2021-12-04T10:32:49.309Z,1638613969.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:50.081Z,1638613970.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:50.501Z,1638613970.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:50.961Z,1638613970.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 218.144590 deg, deltaT: 4.458099 s, deltaX: 0.719997 m, approachRate: 0.161503 m/s, LOS rate: 0.560403 deg/s, posRepo size: 4
2021-12-04T10:32:51.324Z,1638613971.324 [Micromodem](INFO): Nmea in: $SNTTA,0.075482,,,,103251.54*49

2021-12-04T10:32:51.325Z,1638613971.325 [Micromodem](INFO): Nmea in: $CAREV,103252,AUV,2.1.4000*2D

2021-12-04T10:32:51.728Z,1638613971.728 [Micromodem](INFO): Nmea in: $CAREV,103252,COPROC,0.20.0.39330*7C

2021-12-04T10:32:53.800Z,1638613973.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:54.533Z,1638613974.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:54.956Z,1638613974.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:55.395Z,1638613975.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 216.508473 deg, deltaT: 4.439966 s, deltaX: 0.720005 m, approachRate: 0.162165 m/s, LOS rate: -0.368498 deg/s, posRepo size: 4
2021-12-04T10:32:55.780Z,1638613975.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103256.00*5D

2021-12-04T10:32:55.781Z,1638613975.781 [Micromodem](INFO): Nmea in: $CAREV,103257,AUV,2.1.4000*28

2021-12-04T10:32:56.156Z,1638613976.156 [Micromodem](INFO): Nmea in: $CAREV,103257,COPROC,0.20.0.39330*79

2021-12-04T10:32:58.205Z,1638613978.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:32:58.981Z,1638613978.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:32:59.388Z,1638613979.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:32:59.829Z,1638613979.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 216.991599 deg, deltaT: 4.436297 s, deltaX: 0.899990 m, approachRate: 0.202870 m/s, LOS rate: 0.108903 deg/s, posRepo size: 4
2021-12-04T10:33:00.224Z,1638613980.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103300.44*5F

2021-12-04T10:33:00.225Z,1638613980.225 [Micromodem](INFO): Nmea in: $CAREV,103301,AUV,2.1.4000*2A

2021-12-04T10:33:00.604Z,1638613980.604 [Micromodem](INFO): Nmea in: $CAREV,103301,COPROC,0.20.0.39330*7B

2021-12-04T10:33:02.625Z,1638613982.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:03.417Z,1638613983.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:03.827Z,1638613983.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:04.267Z,1638613984.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.920002 m, bearing: 217.303848 deg, deltaT: 4.437603 s, deltaX: 0.660004 m, approachRate: 0.148730 m/s, LOS rate: 0.070364 deg/s, posRepo size: 4
2021-12-04T10:33:04.664Z,1638613984.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103304.88*5B

2021-12-04T10:33:04.665Z,1638613984.665 [Micromodem](INFO): Nmea in: $CAREV,103305,AUV,2.1.4000*2E

2021-12-04T10:33:05.048Z,1638613985.048 [Micromodem](INFO): Nmea in: $CAREV,103305,COPROC,0.20.0.39330*7F

2021-12-04T10:33:07.078Z,1638613987.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:07.865Z,1638613987.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:08.277Z,1638613988.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:08.716Z,1638613988.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 218.518106 deg, deltaT: 4.449335 s, deltaX: 0.779999 m, approachRate: 0.175307 m/s, LOS rate: 0.272908 deg/s, posRepo size: 4
2021-12-04T10:33:09.111Z,1638613989.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103309.32*57

2021-12-04T10:33:09.112Z,1638613989.112 [Micromodem](INFO): Nmea in: $CAREV,103310,AUV,2.1.4000*2A

2021-12-04T10:33:09.496Z,1638613989.496 [Micromodem](INFO): Nmea in: $CAREV,103310,COPROC,0.20.0.39330*7B

2021-12-04T10:33:11.520Z,1638613991.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:12.305Z,1638613992.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:12.721Z,1638613992.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:13.162Z,1638613993.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 218.025089 deg, deltaT: 4.445870 s, deltaX: 0.960007 m, approachRate: 0.215932 m/s, LOS rate: -0.110893 deg/s, posRepo size: 4
2021-12-04T10:33:13.555Z,1638613993.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103313.76*5C

2021-12-04T10:33:13.557Z,1638613993.557 [Micromodem](INFO): Nmea in: $CAREV,103314,AUV,2.1.4000*2E

2021-12-04T10:33:13.964Z,1638613993.964 [Micromodem](INFO): Nmea in: $CAREV,103314,COPROC,0.20.0.39330*7F

2021-12-04T10:33:16.008Z,1638613996.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:16.749Z,1638613996.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:17.155Z,1638613997.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:17.579Z,1638613997.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 219.050669 deg, deltaT: 4.417563 s, deltaX: 0.659992 m, approachRate: 0.149402 m/s, LOS rate: 0.232160 deg/s, posRepo size: 4
2021-12-04T10:33:17.992Z,1638613997.992 [Micromodem](INFO): Nmea in: $SNTTA,0.042674,,,,103318.21*48

2021-12-04T10:33:17.993Z,1638613997.993 [Micromodem](INFO): Nmea in: $CAREV,103319,AUV,2.1.4000*23

2021-12-04T10:33:18.381Z,1638613998.381 [Micromodem](INFO): Nmea in: $CAREV,103319,COPROC,0.20.0.39330*72

2021-12-04T10:33:20.448Z,1638614000.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:21.197Z,1638614001.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:21.613Z,1638614001.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:22.066Z,1638614002.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.339996 m, bearing: 219.542074 deg, deltaT: 4.486656 s, deltaX: 1.019997 m, approachRate: 0.227340 m/s, LOS rate: 0.109526 deg/s, posRepo size: 4
2021-12-04T10:33:22.443Z,1638614002.443 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103322.66*5F

2021-12-04T10:33:22.444Z,1638614002.444 [Micromodem](INFO): Nmea in: $CAREV,103323,AUV,2.1.4000*2A

2021-12-04T10:33:22.824Z,1638614002.824 [Micromodem](INFO): Nmea in: $CAREV,103323,COPROC,0.20.0.39330*7B

2021-12-04T10:33:24.861Z,1638614004.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:25.668Z,1638614005.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:26.054Z,1638614006.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:26.495Z,1638614006.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 220.303695 deg, deltaT: 4.428406 s, deltaX: 0.840004 m, approachRate: 0.189685 m/s, LOS rate: 0.171985 deg/s, posRepo size: 4
2021-12-04T10:33:26.865Z,1638614006.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103327.13*58

2021-12-04T10:33:26.868Z,1638614006.868 [Micromodem](INFO): Nmea in: $CAREV,103328,AUV,2.1.4000*21

2021-12-04T10:33:27.268Z,1638614007.268 [Micromodem](INFO): Nmea in: $CAREV,103328,COPROC,0.20.0.39330*70

2021-12-04T10:33:29.306Z,1638614009.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:30.077Z,1638614010.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:30.491Z,1638614010.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:30.965Z,1638614010.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.779999 m, bearing: 220.075512 deg, deltaT: 4.466447 s, deltaX: 0.599998 m, approachRate: 0.134335 m/s, LOS rate: -0.051088 deg/s, posRepo size: 4
2021-12-04T10:33:31.328Z,1638614011.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103331.54*5C

2021-12-04T10:33:31.329Z,1638614011.329 [Micromodem](INFO): Nmea in: $CAREV,103332,AUV,2.1.4000*2A

2021-12-04T10:33:31.732Z,1638614011.732 [Micromodem](INFO): Nmea in: $CAREV,103332,COPROC,0.20.0.39330*7B

2021-12-04T10:33:33.751Z,1638614013.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:34.533Z,1638614014.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:34.968Z,1638614014.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:35.367Z,1638614015.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 219.571307 deg, deltaT: 4.406565 s, deltaX: 0.480003 m, approachRate: 0.108929 m/s, LOS rate: -0.114421 deg/s, posRepo size: 4
2021-12-04T10:33:35.768Z,1638614015.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103335.99*59

2021-12-04T10:33:35.769Z,1638614015.769 [Micromodem](INFO): Nmea in: $CAREV,103337,AUV,2.1.4000*2F

2021-12-04T10:33:36.168Z,1638614016.168 [Micromodem](INFO): Nmea in: $CAREV,103337,COPROC,0.20.0.39330*7E

2021-12-04T10:33:38.206Z,1638614018.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:38.977Z,1638614018.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:39.380Z,1638614019.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:39.826Z,1638614019.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 218.823961 deg, deltaT: 4.458823 s, deltaX: 0.839996 m, approachRate: 0.188390 m/s, LOS rate: -0.167611 deg/s, posRepo size: 4
2021-12-04T10:33:40.212Z,1638614020.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103340.44*5B

2021-12-04T10:33:40.213Z,1638614020.213 [Micromodem](INFO): Nmea in: $CAREV,103341,AUV,2.1.4000*2E

2021-12-04T10:33:40.604Z,1638614020.604 [Micromodem](INFO): Nmea in: $CAREV,103341,COPROC,0.20.0.39330*7F

2021-12-04T10:33:42.642Z,1638614022.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:43.422Z,1638614023.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:43.827Z,1638614023.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:44.295Z,1638614024.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.940002 m, bearing: 218.647237 deg, deltaT: 4.452131 s, deltaX: 0.840004 m, approachRate: 0.188675 m/s, LOS rate: -0.039694 deg/s, posRepo size: 4
2021-12-04T10:33:44.664Z,1638614024.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103344.88*5F

2021-12-04T10:33:44.665Z,1638614024.665 [Micromodem](INFO): Nmea in: $CAREV,103345,AUV,2.1.4000*2A

2021-12-04T10:33:45.049Z,1638614025.049 [Micromodem](INFO): Nmea in: $CAREV,103345,COPROC,0.20.0.39330*7B

2021-12-04T10:33:47.073Z,1638614027.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:47.862Z,1638614027.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:48.267Z,1638614028.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:48.712Z,1638614028.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 219.620484 deg, deltaT: 4.429356 s, deltaX: 0.779999 m, approachRate: 0.176098 m/s, LOS rate: 0.219727 deg/s, posRepo size: 4
2021-12-04T10:33:49.112Z,1638614029.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103349.32*53

2021-12-04T10:33:49.114Z,1638614029.114 [Micromodem](INFO): Nmea in: $CAREV,103350,AUV,2.1.4000*2E

2021-12-04T10:33:49.488Z,1638614029.488 [Micromodem](INFO): Nmea in: $CAREV,103350,COPROC,0.20.0.39330*7F

2021-12-04T10:33:51.551Z,1638614031.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:52.333Z,1638614032.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:52.731Z,1638614032.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:53.202Z,1638614033.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 220.381040 deg, deltaT: 4.487922 s, deltaX: 0.779999 m, approachRate: 0.173800 m/s, LOS rate: 0.169467 deg/s, posRepo size: 4
2021-12-04T10:33:53.572Z,1638614033.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103353.79*57

2021-12-04T10:33:53.573Z,1638614033.573 [Micromodem](INFO): Nmea in: $CAREV,103354,AUV,2.1.4000*2A

2021-12-04T10:33:53.977Z,1638614033.977 [Micromodem](INFO): Nmea in: $CAREV,103354,COPROC,0.20.0.39330*7B

2021-12-04T10:33:56.015Z,1638614036.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:33:56.777Z,1638614036.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:33:57.187Z,1638614037.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:33:57.648Z,1638614037.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 220.730458 deg, deltaT: 4.423806 s, deltaX: 0.720001 m, approachRate: 0.162756 m/s, LOS rate: 0.078986 deg/s, posRepo size: 4
2021-12-04T10:33:58.024Z,1638614038.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103358.24*54

2021-12-04T10:33:58.025Z,1638614038.025 [Micromodem](INFO): Nmea in: $CAREV,103359,AUV,2.1.4000*27

2021-12-04T10:33:58.404Z,1638614038.404 [Micromodem](INFO): Nmea in: $CAREV,103359,COPROC,0.20.0.39330*76

2021-12-04T10:34:00.421Z,1638614040.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:01.217Z,1638614041.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:01.647Z,1638614041.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:02.100Z,1638614042.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 220.697113 deg, deltaT: 4.480917 s, deltaX: 0.900009 m, approachRate: 0.200854 m/s, LOS rate: -0.007442 deg/s, posRepo size: 4
2021-12-04T10:34:02.456Z,1638614042.456 [Micromodem](INFO): Nmea in: $SNTTA,0.065368,,,,103402.68*44

2021-12-04T10:34:02.457Z,1638614042.457 [Micromodem](INFO): Nmea in: $CAREV,103403,AUV,2.1.4000*2F

2021-12-04T10:34:02.840Z,1638614042.840 [Micromodem](INFO): Nmea in: $CAREV,103403,COPROC,0.20.0.39330*7E

2021-12-04T10:34:04.916Z,1638614044.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:05.704Z,1638614045.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:06.066Z,1638614046.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:06.513Z,1638614046.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 221.481014 deg, deltaT: 4.412407 s, deltaX: 0.599998 m, approachRate: 0.135980 m/s, LOS rate: 0.177658 deg/s, posRepo size: 4
2021-12-04T10:34:06.911Z,1638614046.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103407.16*58

2021-12-04T10:34:06.914Z,1638614046.914 [Micromodem](INFO): Nmea in: $CAREV,103408,AUV,2.1.4000*24

2021-12-04T10:34:07.288Z,1638614047.288 [Micromodem](INFO): Nmea in: $CAREV,103408,COPROC,0.20.0.39330*75

2021-12-04T10:34:09.326Z,1638614049.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:10.105Z,1638614050.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:10.523Z,1638614050.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:10.953Z,1638614050.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 221.138781 deg, deltaT: 4.440202 s, deltaX: 0.899994 m, approachRate: 0.202692 m/s, LOS rate: -0.077076 deg/s, posRepo size: 4
2021-12-04T10:34:11.348Z,1638614051.348 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103411.57*5A

2021-12-04T10:34:11.349Z,1638614051.349 [Micromodem](INFO): Nmea in: $CAREV,103412,AUV,2.1.4000*2F

2021-12-04T10:34:11.740Z,1638614051.740 [Micromodem](INFO): Nmea in: $CAREV,103412,COPROC,0.20.0.39330*7E

2021-12-04T10:34:13.772Z,1638614053.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:14.549Z,1638614054.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:14.959Z,1638614054.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:15.393Z,1638614055.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.340004 m, bearing: 221.226945 deg, deltaT: 4.440343 s, deltaX: 0.720001 m, approachRate: 0.162150 m/s, LOS rate: 0.019855 deg/s, posRepo size: 4
2021-12-04T10:34:15.796Z,1638614055.796 [Micromodem](INFO): Nmea in: $SNTTA,0.486616,0.486591,,,103416.01*52

2021-12-04T10:34:15.798Z,1638614055.798 [Micromodem](INFO): Nmea in: $CAREV,103417,AUV,2.1.4000*2A

2021-12-04T10:34:16.228Z,1638614056.228 [Micromodem](INFO): Nmea in: $CAREV,103417,COPROC,0.20.0.39330*7B

2021-12-04T10:34:18.210Z,1638614058.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:18.993Z,1638614058.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:19.399Z,1638614059.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:19.845Z,1638614059.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 222.178677 deg, deltaT: 4.452089 s, deltaX: 0.959999 m, approachRate: 0.215629 m/s, LOS rate: 0.213772 deg/s, posRepo size: 4
2021-12-04T10:34:20.233Z,1638614060.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103420.45*5B

2021-12-04T10:34:20.234Z,1638614060.234 [Micromodem](INFO): Nmea in: $CAREV,103421,AUV,2.1.4000*2F

2021-12-04T10:34:20.612Z,1638614060.612 [Micromodem](INFO): Nmea in: $CAREV,103421,COPROC,0.20.0.39330*7E

2021-12-04T10:34:22.648Z,1638614062.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:23.437Z,1638614063.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:23.851Z,1638614063.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:24.276Z,1638614064.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 223.062654 deg, deltaT: 4.430688 s, deltaX: 0.720001 m, approachRate: 0.162503 m/s, LOS rate: 0.199512 deg/s, posRepo size: 4
2021-12-04T10:34:24.676Z,1638614064.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103424.90*57

2021-12-04T10:34:24.677Z,1638614064.677 [Micromodem](INFO): Nmea in: $CAREV,103425,AUV,2.1.4000*2B

2021-12-04T10:34:25.056Z,1638614065.056 [Micromodem](INFO): Nmea in: $CAREV,103425,COPROC,0.20.0.39330*7A

2021-12-04T10:34:27.093Z,1638614067.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:27.887Z,1638614067.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:28.279Z,1638614068.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:28.713Z,1638614068.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.560005 m, bearing: 221.863382 deg, deltaT: 4.437233 s, deltaX: 0.540001 m, approachRate: 0.121698 m/s, LOS rate: -0.270275 deg/s, posRepo size: 4
2021-12-04T10:34:29.128Z,1638614069.128 [Micromodem](INFO): Nmea in: $SNTTA,0.491284,,,,103429.35*49

2021-12-04T10:34:29.129Z,1638614069.129 [Micromodem](INFO): Nmea in: $CAREV,103430,AUV,2.1.4000*2F

2021-12-04T10:34:29.504Z,1638614069.504 [Micromodem](INFO): Nmea in: $CAREV,103430,COPROC,0.20.0.39330*7E

2021-12-04T10:34:31.580Z,1638614071.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:32.337Z,1638614072.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:32.727Z,1638614072.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:33.177Z,1638614073.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.099998 m, bearing: 223.533595 deg, deltaT: 4.463825 s, deltaX: 0.539993 m, approachRate: 0.120971 m/s, LOS rate: 0.374166 deg/s, posRepo size: 4
2021-12-04T10:34:33.568Z,1638614073.568 [Micromodem](INFO): Nmea in: $SNTTA,,0.068479,,,103433.80*4A

2021-12-04T10:34:33.569Z,1638614073.569 [Micromodem](INFO): Nmea in: $CAREV,103434,AUV,2.1.4000*2B

2021-12-04T10:34:33.980Z,1638614073.980 [Micromodem](INFO): Nmea in: $CAREV,103434,COPROC,0.20.0.39330*7A

2021-12-04T10:34:36.020Z,1638614076.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:36.777Z,1638614076.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:37.177Z,1638614077.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:37.602Z,1638614077.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 223.063583 deg, deltaT: 4.420461 s, deltaX: 1.019997 m, approachRate: 0.230744 m/s, LOS rate: -0.106327 deg/s, posRepo size: 4
2021-12-04T10:34:38.020Z,1638614078.020 [Micromodem](INFO): Nmea in: $SNTTA,0.062448,,,,103438.24*47

2021-12-04T10:34:38.021Z,1638614078.021 [Micromodem](INFO): Nmea in: $CAREV,103439,AUV,2.1.4000*26

2021-12-04T10:34:38.397Z,1638614078.397 [Micromodem](INFO): Nmea in: $CAREV,103439,COPROC,0.20.0.39330*77

2021-12-04T10:34:40.420Z,1638614080.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:41.225Z,1638614081.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:41.651Z,1638614081.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:42.097Z,1638614082.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 223.058733 deg, deltaT: 4.499522 s, deltaX: 1.080002 m, approachRate: 0.240026 m/s, LOS rate: -0.001078 deg/s, posRepo size: 4
2021-12-04T10:34:42.460Z,1638614082.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103442.69*51

2021-12-04T10:34:42.461Z,1638614082.461 [Micromodem](INFO): Nmea in: $CAREV,103443,AUV,2.1.4000*2B

2021-12-04T10:34:42.853Z,1638614082.853 [Micromodem](INFO): Nmea in: $CAREV,103443,COPROC,0.20.0.39330*7A

2021-12-04T10:34:44.894Z,1638614084.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:45.685Z,1638614085.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:46.063Z,1638614086.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:46.479Z,1638614086.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 221.857863 deg, deltaT: 4.381347 s, deltaX: 0.840004 m, approachRate: 0.191723 m/s, LOS rate: -0.274087 deg/s, posRepo size: 4
2021-12-04T10:34:46.896Z,1638614086.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103447.15*5F

2021-12-04T10:34:46.905Z,1638614086.905 [Micromodem](INFO): Nmea in: $CAREV,103448,AUV,2.1.4000*20

2021-12-04T10:34:47.284Z,1638614087.284 [Micromodem](INFO): Nmea in: $CAREV,103448,COPROC,0.20.0.39330*71

2021-12-04T10:34:49.309Z,1638614089.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:50.097Z,1638614090.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:50.507Z,1638614090.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:50.967Z,1638614090.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.760002 m, bearing: 223.009829 deg, deltaT: 4.478057 s, deltaX: 0.720001 m, approachRate: 0.160784 m/s, LOS rate: 0.257247 deg/s, posRepo size: 4
2021-12-04T10:34:51.340Z,1638614091.340 [Micromodem](INFO): Nmea in: $SNTTA,0.076298,,,,103451.56*43

2021-12-04T10:34:51.341Z,1638614091.341 [Micromodem](INFO): Nmea in: $CAREV,103452,AUV,2.1.4000*2B

2021-12-04T10:34:51.740Z,1638614091.740 [Micromodem](INFO): Nmea in: $CAREV,103452,COPROC,0.20.0.39330*7A

2021-12-04T10:34:53.777Z,1638614093.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:54.541Z,1638614094.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:54.963Z,1638614094.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:55.395Z,1638614095.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.600006 m, bearing: 222.404756 deg, deltaT: 4.430688 s, deltaX: 0.840004 m, approachRate: 0.189588 m/s, LOS rate: -0.136564 deg/s, posRepo size: 4
2021-12-04T10:34:55.792Z,1638614095.792 [Micromodem](INFO): Nmea in: $SNTTA,0.490751,0.490776,,,103456.00*5E

2021-12-04T10:34:55.793Z,1638614095.793 [Micromodem](INFO): Nmea in: $CAREV,103457,AUV,2.1.4000*2E

2021-12-04T10:34:56.172Z,1638614096.172 [Micromodem](INFO): Nmea in: $CAREV,103457,COPROC,0.20.0.39330*7F

2021-12-04T10:34:58.211Z,1638614098.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:34:58.993Z,1638614098.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:34:59.403Z,1638614099.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:34:59.858Z,1638614099.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.259995 m, bearing: 222.242690 deg, deltaT: 4.466164 s, deltaX: 0.659988 m, approachRate: 0.147775 m/s, LOS rate: -0.036288 deg/s, posRepo size: 4
2021-12-04T10:35:00.232Z,1638614100.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103500.45*58

2021-12-04T10:35:00.233Z,1638614100.233 [Micromodem](INFO): Nmea in: $CAREV,103501,AUV,2.1.4000*2C

2021-12-04T10:35:00.624Z,1638614100.624 [Micromodem](INFO): Nmea in: $CAREV,103501,COPROC,0.20.0.39330*7D

2021-12-04T10:35:02.645Z,1638614102.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:03.437Z,1638614103.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:03.843Z,1638614103.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:04.275Z,1638614104.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.980003 m, bearing: 224.050053 deg, deltaT: 4.421549 s, deltaX: 0.720009 m, approachRate: 0.162841 m/s, LOS rate: 0.408763 deg/s, posRepo size: 4
2021-12-04T10:35:04.684Z,1638614104.684 [Micromodem](INFO): Nmea in: $SNTTA,0.068546,,,,103504.90*43

2021-12-04T10:35:04.685Z,1638614104.685 [Micromodem](INFO): Nmea in: $CAREV,103505,AUV,2.1.4000*28

2021-12-04T10:35:05.068Z,1638614105.068 [Micromodem](INFO): Nmea in: $CAREV,103505,COPROC,0.20.0.39330*79

2021-12-04T10:35:07.093Z,1638614107.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:07.889Z,1638614107.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:08.287Z,1638614108.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:08.707Z,1638614108.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 225.146872 deg, deltaT: 4.432464 s, deltaX: 0.959999 m, approachRate: 0.216584 m/s, LOS rate: 0.247451 deg/s, posRepo size: 4
2021-12-04T10:35:09.116Z,1638614109.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103509.35*56

2021-12-04T10:35:09.117Z,1638614109.117 [Micromodem](INFO): Nmea in: $CAREV,103510,AUV,2.1.4000*2C

2021-12-04T10:35:09.504Z,1638614109.504 [Micromodem](INFO): Nmea in: $CAREV,103510,COPROC,0.20.0.39330*7D

2021-12-04T10:35:11.567Z,1638614111.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:12.317Z,1638614112.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:12.732Z,1638614112.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:13.191Z,1638614113.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 223.632346 deg, deltaT: 4.478482 s, deltaX: 0.599998 m, approachRate: 0.133974 m/s, LOS rate: -0.338178 deg/s, posRepo size: 4
2021-12-04T10:35:13.572Z,1638614113.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103513.78*54

2021-12-04T10:35:13.573Z,1638614113.573 [Micromodem](INFO): Nmea in: $CAREV,103514,AUV,2.1.4000*28

2021-12-04T10:35:13.972Z,1638614113.972 [Micromodem](INFO): Nmea in: $CAREV,103514,COPROC,0.20.0.39330*79

2021-12-04T10:35:16.009Z,1638614116.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:16.769Z,1638614116.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:17.167Z,1638614117.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:17.624Z,1638614117.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.559998 m, bearing: 223.949677 deg, deltaT: 4.425990 s, deltaX: 1.019997 m, approachRate: 0.230456 m/s, LOS rate: 0.071697 deg/s, posRepo size: 4
2021-12-04T10:35:18.004Z,1638614118.004 [Micromodem](INFO): Nmea in: $SNTTA,0.073435,,,,103518.23*49

2021-12-04T10:35:18.005Z,1638614118.005 [Micromodem](INFO): Nmea in: $CAREV,103519,AUV,2.1.4000*25

2021-12-04T10:35:18.404Z,1638614118.404 [Micromodem](INFO): Nmea in: $CAREV,103519,COPROC,0.20.0.39330*74

2021-12-04T10:35:20.412Z,1638614120.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:21.216Z,1638614121.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:21.650Z,1638614121.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:22.065Z,1638614122.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.340004 m, bearing: 225.498231 deg, deltaT: 4.437087 s, deltaX: 0.780006 m, approachRate: 0.175792 m/s, LOS rate: 0.349002 deg/s, posRepo size: 4
2021-12-04T10:35:22.441Z,1638614122.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103522.70*5E

2021-12-04T10:35:22.443Z,1638614122.443 [Micromodem](INFO): Nmea in: $CAREV,103523,AUV,2.1.4000*2C

2021-12-04T10:35:22.836Z,1638614122.836 [Micromodem](INFO): Nmea in: $CAREV,103523,COPROC,0.20.0.39330*7D

2021-12-04T10:35:24.895Z,1638614124.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:25.690Z,1638614125.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:26.067Z,1638614126.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:26.491Z,1638614126.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.239998 m, bearing: 226.640403 deg, deltaT: 4.441656 s, deltaX: 0.899994 m, approachRate: 0.202626 m/s, LOS rate: 0.257150 deg/s, posRepo size: 4
2021-12-04T10:35:26.904Z,1638614126.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103527.15*58

2021-12-04T10:35:26.908Z,1638614126.908 [Micromodem](INFO): Nmea in: $CAREV,103528,AUV,2.1.4000*27

2021-12-04T10:35:27.284Z,1638614127.284 [Micromodem](INFO): Nmea in: $CAREV,103528,COPROC,0.20.0.39330*76

2021-12-04T10:35:29.310Z,1638614129.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:30.112Z,1638614130.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:30.508Z,1638614130.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:30.972Z,1638614130.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.019997 m, bearing: 226.967596 deg, deltaT: 4.480635 s, deltaX: 0.779999 m, approachRate: 0.174082 m/s, LOS rate: 0.073024 deg/s, posRepo size: 4
2021-12-04T10:35:31.344Z,1638614131.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103531.57*59

2021-12-04T10:35:31.345Z,1638614131.345 [Micromodem](INFO): Nmea in: $CAREV,103532,AUV,2.1.4000*2C

2021-12-04T10:35:31.740Z,1638614131.740 [Micromodem](INFO): Nmea in: $CAREV,103532,COPROC,0.20.0.39330*7D

2021-12-04T10:35:33.771Z,1638614133.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:34.545Z,1638614134.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:34.968Z,1638614134.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:35.395Z,1638614135.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 226.892956 deg, deltaT: 4.420187 s, deltaX: 0.960007 m, approachRate: 0.217187 m/s, LOS rate: -0.016886 deg/s, posRepo size: 4
2021-12-04T10:35:35.793Z,1638614135.793 [Micromodem](INFO): Nmea in: $SNTTA,0.065242,,,,103536.00*45

2021-12-04T10:35:35.794Z,1638614135.794 [Micromodem](INFO): Nmea in: $CAREV,103537,AUV,2.1.4000*29

2021-12-04T10:35:36.172Z,1638614136.172 [Micromodem](INFO): Nmea in: $CAREV,103537,COPROC,0.20.0.39330*78

2021-12-04T10:35:38.224Z,1638614138.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:38.985Z,1638614138.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:39.405Z,1638614139.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:39.910Z,1638614139.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 228.174026 deg, deltaT: 4.490164 s, deltaX: 0.899994 m, approachRate: 0.200437 m/s, LOS rate: 0.285306 deg/s, posRepo size: 4
2021-12-04T10:35:40.232Z,1638614140.232 [Micromodem](INFO): Nmea in: $SNTTA,0.071033,,,,103540.45*44

2021-12-04T10:35:40.234Z,1638614140.234 [Micromodem](INFO): Nmea in: $CAREV,103541,AUV,2.1.4000*28

2021-12-04T10:35:40.617Z,1638614140.617 [Micromodem](INFO): Nmea in: $CAREV,103541,COPROC,0.20.0.39330*79

2021-12-04T10:35:42.637Z,1638614142.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:43.429Z,1638614143.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:43.847Z,1638614143.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:44.279Z,1638614144.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.600006 m, bearing: 227.744093 deg, deltaT: 4.397366 s, deltaX: 0.720009 m, approachRate: 0.163736 m/s, LOS rate: -0.097771 deg/s, posRepo size: 4
2021-12-04T10:35:44.668Z,1638614144.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103544.89*58

2021-12-04T10:35:44.669Z,1638614144.669 [Micromodem](INFO): Nmea in: $CAREV,103545,AUV,2.1.4000*2C

2021-12-04T10:35:45.056Z,1638614145.056 [Micromodem](INFO): Nmea in: $CAREV,103545,COPROC,0.20.0.39330*7D

2021-12-04T10:35:47.101Z,1638614147.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:47.880Z,1638614147.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:48.279Z,1638614148.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:48.736Z,1638614148.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 228.951575 deg, deltaT: 4.452837 s, deltaX: 0.900002 m, approachRate: 0.202119 m/s, LOS rate: 0.271171 deg/s, posRepo size: 4
2021-12-04T10:35:49.119Z,1638614149.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103549.34*53

2021-12-04T10:35:49.120Z,1638614149.120 [Micromodem](INFO): Nmea in: $CAREV,103550,AUV,2.1.4000*28

2021-12-04T10:35:49.504Z,1638614149.504 [Micromodem](INFO): Nmea in: $CAREV,103550,COPROC,0.20.0.39330*79

2021-12-04T10:35:51.526Z,1638614151.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:52.325Z,1638614152.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:52.731Z,1638614152.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:53.165Z,1638614153.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.100006 m, bearing: 228.541900 deg, deltaT: 4.432831 s, deltaX: 0.599998 m, approachRate: 0.135353 m/s, LOS rate: -0.092418 deg/s, posRepo size: 4
2021-12-04T10:35:53.564Z,1638614153.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103553.79*51

2021-12-04T10:35:53.565Z,1638614153.565 [Micromodem](INFO): Nmea in: $CAREV,103554,AUV,2.1.4000*2C

2021-12-04T10:35:53.967Z,1638614153.967 [Micromodem](INFO): Nmea in: $CAREV,103554,COPROC,0.20.0.39330*7D

2021-12-04T10:35:56.021Z,1638614156.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:35:56.765Z,1638614156.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:35:57.171Z,1638614157.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:35:57.597Z,1638614157.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.880005 m, bearing: 227.989980 deg, deltaT: 4.428661 s, deltaX: 0.779999 m, approachRate: 0.176125 m/s, LOS rate: -0.124625 deg/s, posRepo size: 4
2021-12-04T10:35:58.004Z,1638614158.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103558.23*55

2021-12-04T10:35:58.005Z,1638614158.005 [Micromodem](INFO): Nmea in: $CAREV,103559,AUV,2.1.4000*21

2021-12-04T10:35:58.400Z,1638614158.400 [Micromodem](INFO): Nmea in: $CAREV,103559,COPROC,0.20.0.39330*70

2021-12-04T10:36:00.425Z,1638614160.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:01.213Z,1638614161.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:01.663Z,1638614161.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:02.074Z,1638614162.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.900002 m, bearing: 228.115450 deg, deltaT: 4.476184 s, deltaX: 1.019997 m, approachRate: 0.227872 m/s, LOS rate: 0.028031 deg/s, posRepo size: 4
2021-12-04T10:36:02.444Z,1638614162.444 [Micromodem](INFO): Nmea in: $SNTTA,0.099736,,,,103602.67*45

2021-12-04T10:36:02.445Z,1638614162.445 [Micromodem](INFO): Nmea in: $CAREV,103603,AUV,2.1.4000*2D

2021-12-04T10:36:02.836Z,1638614162.836 [Micromodem](INFO): Nmea in: $CAREV,103603,COPROC,0.20.0.39330*7C

2021-12-04T10:36:04.866Z,1638614164.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:05.687Z,1638614165.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:06.063Z,1638614166.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:06.492Z,1638614166.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 227.758545 deg, deltaT: 4.422933 s, deltaX: 0.959999 m, approachRate: 0.217050 m/s, LOS rate: -0.080694 deg/s, posRepo size: 4
2021-12-04T10:36:06.883Z,1638614166.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103607.15*59

2021-12-04T10:36:06.900Z,1638614166.900 [Micromodem](INFO): Nmea in: $CAREV,103608,AUV,2.1.4000*26

2021-12-04T10:36:07.280Z,1638614167.280 [Micromodem](INFO): Nmea in: $CAREV,103608,COPROC,0.20.0.39330*77

2021-12-04T10:36:09.308Z,1638614169.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:10.105Z,1638614170.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:10.512Z,1638614170.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:10.953Z,1638614170.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.760002 m, bearing: 228.658013 deg, deltaT: 4.460890 s, deltaX: 0.900002 m, approachRate: 0.201754 m/s, LOS rate: 0.201634 deg/s, posRepo size: 4
2021-12-04T10:36:11.343Z,1638614171.343 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103611.57*58

2021-12-04T10:36:11.344Z,1638614171.344 [Micromodem](INFO): Nmea in: $CAREV,103612,AUV,2.1.4000*2D

2021-12-04T10:36:11.740Z,1638614171.740 [Micromodem](INFO): Nmea in: $CAREV,103612,COPROC,0.20.0.39330*7C

2021-12-04T10:36:13.771Z,1638614173.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:14.537Z,1638614174.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:14.963Z,1638614174.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:15.375Z,1638614175.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 228.106912 deg, deltaT: 4.422032 s, deltaX: 0.719994 m, approachRate: 0.162820 m/s, LOS rate: -0.124626 deg/s, posRepo size: 4
2021-12-04T10:36:15.820Z,1638614175.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103616.00*5D

2021-12-04T10:36:15.821Z,1638614175.821 [Micromodem](INFO): Nmea in: $CAREV,103617,AUV,2.1.4000*28

2021-12-04T10:36:16.164Z,1638614176.164 [Micromodem](INFO): Nmea in: $CAREV,103617,COPROC,0.20.0.39330*79

2021-12-04T10:36:18.194Z,1638614178.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:18.997Z,1638614178.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:19.391Z,1638614179.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:19.859Z,1638614179.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.380005 m, bearing: 228.158303 deg, deltaT: 4.483232 s, deltaX: 0.900009 m, approachRate: 0.200750 m/s, LOS rate: 0.011463 deg/s, posRepo size: 4
2021-12-04T10:36:20.232Z,1638614180.232 [Micromodem](INFO): Nmea in: $SNTTA,0.077298,,,,103620.46*47

2021-12-04T10:36:20.233Z,1638614180.233 [Micromodem](INFO): Nmea in: $CAREV,103621,AUV,2.1.4000*2D

2021-12-04T10:36:20.620Z,1638614180.620 [Micromodem](INFO): Nmea in: $CAREV,103621,COPROC,0.20.0.39330*7C

2021-12-04T10:36:22.628Z,1638614182.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:23.425Z,1638614183.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:23.856Z,1638614183.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:24.255Z,1638614184.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 228.294415 deg, deltaT: 4.396492 s, deltaX: 0.720001 m, approachRate: 0.163767 m/s, LOS rate: 0.030959 deg/s, posRepo size: 4
2021-12-04T10:36:24.668Z,1638614184.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103624.89*5D

2021-12-04T10:36:24.669Z,1638614184.669 [Micromodem](INFO): Nmea in: $CAREV,103625,AUV,2.1.4000*29

2021-12-04T10:36:25.060Z,1638614185.060 [Micromodem](INFO): Nmea in: $CAREV,103625,COPROC,0.20.0.39330*78

2021-12-04T10:36:27.105Z,1638614187.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:27.898Z,1638614187.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:28.279Z,1638614188.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:28.721Z,1638614188.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.239998 m, bearing: 227.735323 deg, deltaT: 4.465970 s, deltaX: 1.139992 m, approachRate: 0.255262 m/s, LOS rate: -0.125189 deg/s, posRepo size: 4
2021-12-04T10:36:29.114Z,1638614189.114 [Micromodem](INFO): Nmea in: $SNTTA,0.083606,,,,103629.37*40

2021-12-04T10:36:29.116Z,1638614189.116 [Micromodem](INFO): Nmea in: $CAREV,103630,AUV,2.1.4000*2D

2021-12-04T10:36:29.500Z,1638614189.500 [Micromodem](INFO): Nmea in: $CAREV,103630,COPROC,0.20.0.39330*7C

2021-12-04T10:36:31.516Z,1638614191.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:32.313Z,1638614192.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:32.732Z,1638614192.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:33.165Z,1638614193.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.019997 m, bearing: 229.386111 deg, deltaT: 4.444450 s, deltaX: 0.779999 m, approachRate: 0.175499 m/s, LOS rate: 0.371427 deg/s, posRepo size: 4
2021-12-04T10:36:33.561Z,1638614193.561 [Micromodem](INFO): Nmea in: $SNTTA,0.076180,,,,103633.78*43

2021-12-04T10:36:33.571Z,1638614193.571 [Micromodem](INFO): Nmea in: $CAREV,103634,AUV,2.1.4000*29

2021-12-04T10:36:33.964Z,1638614193.964 [Micromodem](INFO): Nmea in: $CAREV,103634,COPROC,0.20.0.39330*78

2021-12-04T10:36:36.041Z,1638614196.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:36.753Z,1638614196.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:37.159Z,1638614197.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:37.661Z,1638614197.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.099998 m, bearing: 228.527857 deg, deltaT: 4.460223 s, deltaX: 1.080002 m, approachRate: 0.242141 m/s, LOS rate: -0.192424 deg/s, posRepo size: 4
2021-12-04T10:36:37.000Z,1638614198.000 [Micromodem](INFO): Nmea in: $SNTTA,0.096719,,,,103638.22*4F

2021-12-04T10:36:38.001Z,1638614198.001 [Micromodem](INFO): Nmea in: $CAREV,103639,AUV,2.1.4000*24

2021-12-04T10:36:38.384Z,1638614198.384 [Micromodem](INFO): Nmea in: $CAREV,103639,COPROC,0.20.0.39330*75

2021-12-04T10:36:40.412Z,1638614200.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:41.209Z,1638614201.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:41.638Z,1638614201.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:42.058Z,1638614202.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.400009 m, bearing: 228.193123 deg, deltaT: 4.427881 s, deltaX: 0.300011 m, approachRate: 0.067755 m/s, LOS rate: -0.075597 deg/s, posRepo size: 4
2021-12-04T10:36:42.448Z,1638614202.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103642.67*5D

2021-12-04T10:36:42.449Z,1638614202.449 [Micromodem](INFO): Nmea in: $CAREV,103643,AUV,2.1.4000*29

2021-12-04T10:36:42.828Z,1638614202.828 [Micromodem](INFO): Nmea in: $CAREV,103643,COPROC,0.20.0.39330*78

2021-12-04T10:36:44.848Z,1638614204.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:45.680Z,1638614205.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:46.120Z,1638614206.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:46.535Z,1638614206.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 228.818850 deg, deltaT: 4.480926 s, deltaX: 0.899994 m, approachRate: 0.200850 m/s, LOS rate: 0.139642 deg/s, posRepo size: 4
2021-12-04T10:36:46.960Z,1638614206.960 [Micromodem](INFO): Nmea in: $SNTTA,0.082016,,,,103647.14*4F

2021-12-04T10:36:46.961Z,1638614206.961 [Micromodem](INFO): Nmea in: $CAREV,103648,AUV,2.1.4000*22

2021-12-04T10:36:47.339Z,1638614207.339 [Micromodem](INFO): Nmea in: $CAREV,103648,COPROC,0.20.0.39330*73

2021-12-04T10:36:49.353Z,1638614209.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:50.153Z,1638614210.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:50.551Z,1638614210.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:51.009Z,1638614211.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 230.375915 deg, deltaT: 4.470843 s, deltaX: 1.019997 m, approachRate: 0.228144 m/s, LOS rate: 0.348271 deg/s, posRepo size: 4
2021-12-04T10:36:51.388Z,1638614211.388 [Micromodem](INFO): Nmea in: $SNTTA,0.118541,,,,103651.62*4C

2021-12-04T10:36:51.389Z,1638614211.389 [Micromodem](INFO): Nmea in: $CAREV,103652,AUV,2.1.4000*29

2021-12-04T10:36:51.772Z,1638614211.772 [Micromodem](INFO): Nmea in: $CAREV,103652,COPROC,0.20.0.39330*78

2021-12-04T10:36:53.833Z,1638614213.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:54.600Z,1638614214.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:54.999Z,1638614214.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:55.423Z,1638614215.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 227.561208 deg, deltaT: 4.417756 s, deltaX: 1.140007 m, approachRate: 0.258051 m/s, LOS rate: -0.637135 deg/s, posRepo size: 4
2021-12-04T10:36:55.963Z,1638614215.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103656.06*5F

2021-12-04T10:36:55.964Z,1638614215.964 [Micromodem](INFO): Nmea in: $CAREV,103657,AUV,2.1.4000*2C

2021-12-04T10:36:56.337Z,1638614216.337 [Micromodem](INFO): Nmea in: $CAREV,103657,COPROC,0.20.0.39330*7D

2021-12-04T10:36:58.024Z,1638614218.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:36:58.742Z,1638614218.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:36:59.163Z,1638614219.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:36:59.612Z,1638614219.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 230.855312 deg, deltaT: 4.166309 s, deltaX: 0.599998 m, approachRate: 0.144012 m/s, LOS rate: 0.790653 deg/s, posRepo size: 4
2021-12-04T10:36:59.984Z,1638614219.984 [Micromodem](INFO): Nmea in: $SNTTA,0.082361,,,,103700.20*49

2021-12-04T10:36:59.985Z,1638614219.985 [Micromodem](INFO): Nmea in: $CAREV,103701,AUV,2.1.4000*2E

2021-12-04T10:37:00.369Z,1638614220.369 [Micromodem](INFO): Nmea in: $CAREV,103701,COPROC,0.20.0.39330*7F

2021-12-04T10:37:02.396Z,1638614222.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:03.188Z,1638614223.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:03.588Z,1638614223.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:04.080Z,1638614224.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.080002 m, bearing: 232.867950 deg, deltaT: 4.486165 s, deltaX: 1.019997 m, approachRate: 0.227365 m/s, LOS rate: 0.448632 deg/s, posRepo size: 4
2021-12-04T10:37:04.428Z,1638614224.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103704.65*5C

2021-12-04T10:37:04.429Z,1638614224.429 [Micromodem](INFO): Nmea in: $CAREV,103705,AUV,2.1.4000*2A

2021-12-04T10:37:04.816Z,1638614224.816 [Micromodem](INFO): Nmea in: $CAREV,103705,COPROC,0.20.0.39330*7B

2021-12-04T10:37:06.842Z,1638614226.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:07.650Z,1638614227.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:08.038Z,1638614228.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:08.461Z,1638614228.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 228.205773 deg, deltaT: 4.385594 s, deltaX: 0.599998 m, approachRate: 0.136811 m/s, LOS rate: -1.063066 deg/s, posRepo size: 4
2021-12-04T10:37:08.879Z,1638614228.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103709.11*52

2021-12-04T10:37:08.888Z,1638614228.888 [Micromodem](INFO): Nmea in: $CAREV,103710,AUV,2.1.4000*2E

2021-12-04T10:37:09.261Z,1638614229.261 [Micromodem](INFO): Nmea in: $CAREV,103710,COPROC,0.20.0.39330*7F

2021-12-04T10:37:11.318Z,1638614231.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:12.089Z,1638614232.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:12.479Z,1638614232.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:12.952Z,1638614232.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.520004 m, bearing: 232.709955 deg, deltaT: 4.486425 s, deltaX: 0.840004 m, approachRate: 0.187232 m/s, LOS rate: 1.003958 deg/s, posRepo size: 4
2021-12-04T10:37:13.316Z,1638614233.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103713.55*59

2021-12-04T10:37:13.317Z,1638614233.317 [Micromodem](INFO): Nmea in: $CAREV,103714,AUV,2.1.4000*2A

2021-12-04T10:37:13.728Z,1638614233.728 [Micromodem](INFO): Nmea in: $CAREV,103714,COPROC,0.20.0.39330*7B

2021-12-04T10:37:15.761Z,1638614235.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:16.513Z,1638614236.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:16.959Z,1638614236.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:17.369Z,1638614237.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 230.029816 deg, deltaT: 4.405433 s, deltaX: 0.900002 m, approachRate: 0.204294 m/s, LOS rate: -0.608371 deg/s, posRepo size: 4
2021-12-04T10:37:17.764Z,1638614237.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103717.97*53

2021-12-04T10:37:17.765Z,1638614237.765 [Micromodem](INFO): Nmea in: $CAREV,103719,AUV,2.1.4000*27

2021-12-04T10:37:18.145Z,1638614238.145 [Micromodem](INFO): Nmea in: $CAREV,103719,COPROC,0.20.0.39330*76

2021-12-04T10:37:20.194Z,1638614240.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:20.969Z,1638614240.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:21.375Z,1638614241.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:21.789Z,1638614241.789 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T10:37:21.833Z,1638614241.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 230.575275 deg, deltaT: 4.472359 s, deltaX: 0.899994 m, approachRate: 0.201235 m/s, LOS rate: 0.121962 deg/s, posRepo size: 4
2021-12-04T10:37:22.208Z,1638614242.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103722.43*5C

2021-12-04T10:37:22.209Z,1638614242.209 [Micromodem](INFO): Nmea in: $CAREV,103723,AUV,2.1.4000*2E

2021-12-04T10:37:22.600Z,1638614242.600 [Micromodem](INFO): Nmea in: $CAREV,103723,COPROC,0.20.0.39330*7F

2021-12-04T10:37:24.628Z,1638614244.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:25.413Z,1638614245.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:25.819Z,1638614245.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:26.259Z,1638614246.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.400002 m, bearing: 229.557959 deg, deltaT: 4.433504 s, deltaX: 1.080002 m, approachRate: 0.243600 m/s, LOS rate: -0.229461 deg/s, posRepo size: 4
2021-12-04T10:37:26.669Z,1638614246.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103726.88*5F

2021-12-04T10:37:26.669Z,1638614246.669 [Micromodem](INFO): Nmea in: $CAREV,103727,AUV,2.1.4000*2A

2021-12-04T10:37:27.036Z,1638614247.036 [Micromodem](INFO): Nmea in: $CAREV,103727,COPROC,0.20.0.39330*7B

2021-12-04T10:37:29.063Z,1638614249.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:29.853Z,1638614249.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:30.256Z,1638614250.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:30.680Z,1638614250.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.119995 m, bearing: 227.222007 deg, deltaT: 4.420643 s, deltaX: 0.719994 m, approachRate: 0.162871 m/s, LOS rate: -0.528419 deg/s, posRepo size: 4
2021-12-04T10:37:31.092Z,1638614251.092 [Micromodem](INFO): Nmea in: $SNTTA,0.096105,,,,103731.32*4D

2021-12-04T10:37:31.093Z,1638614251.093 [Micromodem](INFO): Nmea in: $CAREV,103732,AUV,2.1.4000*2E

2021-12-04T10:37:31.476Z,1638614251.476 [Micromodem](INFO): Nmea in: $CAREV,103732,COPROC,0.20.0.39330*7F

2021-12-04T10:37:33.500Z,1638614253.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:34.301Z,1638614254.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:34.707Z,1638614254.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:35.153Z,1638614255.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.900009 m, bearing: 222.803093 deg, deltaT: 4.453516 s, deltaX: 0.780014 m, approachRate: 0.175146 m/s, LOS rate: -0.992230 deg/s, posRepo size: 4
2021-12-04T10:37:35.536Z,1638614255.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103735.76*5C

2021-12-04T10:37:35.537Z,1638614255.537 [Micromodem](INFO): Nmea in: $CAREV,103736,AUV,2.1.4000*2A

2021-12-04T10:37:35.956Z,1638614255.956 [Micromodem](INFO): Nmea in: $CAREV,103736,COPROC,0.20.0.39330*7B

2021-12-04T10:37:38.005Z,1638614258.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:38.752Z,1638614258.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:39.151Z,1638614259.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:39.576Z,1638614259.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.979996 m, bearing: 224.378148 deg, deltaT: 4.441955 s, deltaX: 1.079987 m, approachRate: 0.243133 m/s, LOS rate: 0.354586 deg/s, posRepo size: 4
2021-12-04T10:37:39.976Z,1638614259.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103740.21*5C

2021-12-04T10:37:39.977Z,1638614259.977 [Micromodem](INFO): Nmea in: $CAREV,103741,AUV,2.1.4000*2A

2021-12-04T10:37:40.374Z,1638614260.374 [Micromodem](INFO): Nmea in: $CAREV,103741,COPROC,0.20.0.39330*7B

2021-12-04T10:37:42.392Z,1638614262.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:43.177Z,1638614263.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:43.597Z,1638614263.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:44.065Z,1638614264.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.000008 m, bearing: 226.114615 deg, deltaT: 4.486029 s, deltaX: 1.020012 m, approachRate: 0.227375 m/s, LOS rate: 0.387083 deg/s, posRepo size: 4
2021-12-04T10:37:44.432Z,1638614264.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103744.64*59

2021-12-04T10:37:44.433Z,1638614264.433 [Micromodem](INFO): Nmea in: $CAREV,103745,AUV,2.1.4000*2E

2021-12-04T10:37:44.812Z,1638614264.812 [Micromodem](INFO): Nmea in: $CAREV,103745,COPROC,0.20.0.39330*7F

2021-12-04T10:37:46.837Z,1638614266.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:47.642Z,1638614267.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:48.036Z,1638614268.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:48.483Z,1638614268.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.839996 m, bearing: 227.821014 deg, deltaT: 4.399702 s, deltaX: 0.839989 m, approachRate: 0.190919 m/s, LOS rate: 0.387844 deg/s, posRepo size: 4
2021-12-04T10:37:48.889Z,1638614268.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103749.11*56

2021-12-04T10:37:48.894Z,1638614268.894 [Micromodem](INFO): Nmea in: $CAREV,103750,AUV,2.1.4000*2A

2021-12-04T10:37:49.261Z,1638614269.261 [Micromodem](INFO): Nmea in: $CAREV,103750,COPROC,0.20.0.39330*7B

2021-12-04T10:37:51.303Z,1638614271.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:51.770Z,1638614271.770 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T10:37:52.089Z,1638614272.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:52.489Z,1638614272.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:52.955Z,1638614272.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.380005 m, bearing: 229.659155 deg, deltaT: 4.486370 s, deltaX: 0.540009 m, approachRate: 0.120366 m/s, LOS rate: 0.409717 deg/s, posRepo size: 4
2021-12-04T10:37:53.304Z,1638614273.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103753.55*5D

2021-12-04T10:37:53.305Z,1638614273.305 [Micromodem](INFO): Nmea in: $CAREV,103754,AUV,2.1.4000*2E

2021-12-04T10:37:53.736Z,1638614273.736 [Micromodem](INFO): Nmea in: $CAREV,103754,COPROC,0.20.0.39330*7F

2021-12-04T10:37:55.838Z,1638614275.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:37:56.521Z,1638614276.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:37:56.948Z,1638614276.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:37:57.376Z,1638614277.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 231.083413 deg, deltaT: 4.424497 s, deltaX: 1.199997 m, approachRate: 0.271217 m/s, LOS rate: 0.321903 deg/s, posRepo size: 4
2021-12-04T10:37:57.760Z,1638614277.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103757.98*58

2021-12-04T10:37:57.761Z,1638614277.761 [Micromodem](INFO): Nmea in: $CAREV,103759,AUV,2.1.4000*23

2021-12-04T10:37:58.144Z,1638614278.144 [Micromodem](INFO): Nmea in: $CAREV,103759,COPROC,0.20.0.39330*72

2021-12-04T10:38:00.179Z,1638614280.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:00.965Z,1638614280.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:01.367Z,1638614281.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:01.822Z,1638614281.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.360001 m, bearing: 232.658837 deg, deltaT: 4.450158 s, deltaX: 0.779999 m, approachRate: 0.175274 m/s, LOS rate: 0.354015 deg/s, posRepo size: 4
2021-12-04T10:38:02.196Z,1638614282.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103802.43*51

2021-12-04T10:38:02.197Z,1638614282.197 [Micromodem](INFO): Nmea in: $CAREV,103803,AUV,2.1.4000*23

2021-12-04T10:38:02.592Z,1638614282.592 [Micromodem](INFO): Nmea in: $CAREV,103803,COPROC,0.20.0.39330*72

2021-12-04T10:38:04.608Z,1638614284.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:05.408Z,1638614285.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:05.811Z,1638614285.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:06.258Z,1638614286.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.440002 m, bearing: 234.108859 deg, deltaT: 4.435731 s, deltaX: 1.080002 m, approachRate: 0.243478 m/s, LOS rate: 0.326896 deg/s, posRepo size: 4
2021-12-04T10:38:06.632Z,1638614286.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103806.87*5D

2021-12-04T10:38:06.633Z,1638614286.633 [Micromodem](INFO): Nmea in: $CAREV,103807,AUV,2.1.4000*27

2021-12-04T10:38:07.036Z,1638614287.036 [Micromodem](INFO): Nmea in: $CAREV,103807,COPROC,0.20.0.39330*76

2021-12-04T10:38:09.068Z,1638614289.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:09.853Z,1638614289.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:10.259Z,1638614290.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:10.690Z,1638614290.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 235.122678 deg, deltaT: 4.432141 s, deltaX: 0.599998 m, approachRate: 0.135374 m/s, LOS rate: 0.228742 deg/s, posRepo size: 4
2021-12-04T10:38:11.084Z,1638614291.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103811.32*55

2021-12-04T10:38:11.085Z,1638614291.085 [Micromodem](INFO): Nmea in: $CAREV,103812,AUV,2.1.4000*23

2021-12-04T10:38:11.476Z,1638614291.476 [Micromodem](INFO): Nmea in: $CAREV,103812,COPROC,0.20.0.39330*72

2021-12-04T10:38:11.917Z,1638614291.917 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T10:38:13.505Z,1638614293.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:14.293Z,1638614294.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:14.703Z,1638614294.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:15.132Z,1638614295.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.940002 m, bearing: 236.229469 deg, deltaT: 4.442579 s, deltaX: 0.900002 m, approachRate: 0.202585 m/s, LOS rate: 0.249133 deg/s, posRepo size: 4
2021-12-04T10:38:15.536Z,1638614295.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103815.76*51

2021-12-04T10:38:15.537Z,1638614295.537 [Micromodem](INFO): Nmea in: $CAREV,103816,AUV,2.1.4000*27

2021-12-04T10:38:15.948Z,1638614295.948 [Micromodem](INFO): Nmea in: $CAREV,103816,COPROC,0.20.0.39330*76

2021-12-04T10:38:17.000Z,1638614298.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:18.737Z,1638614298.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:19.143Z,1638614299.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:19.563Z,1638614299.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.600006 m, bearing: 237.140452 deg, deltaT: 4.430411 s, deltaX: 0.660004 m, approachRate: 0.148971 m/s, LOS rate: 0.205620 deg/s, posRepo size: 4
2021-12-04T10:38:19.980Z,1638614299.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103820.20*54

2021-12-04T10:38:19.981Z,1638614299.981 [Micromodem](INFO): Nmea in: $CAREV,103821,AUV,2.1.4000*23

2021-12-04T10:38:20.368Z,1638614300.368 [Micromodem](INFO): Nmea in: $CAREV,103821,COPROC,0.20.0.39330*72

2021-12-04T10:38:22.387Z,1638614302.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:23.189Z,1638614303.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:23.593Z,1638614303.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:24.085Z,1638614304.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 238.786555 deg, deltaT: 4.518157 s, deltaX: 0.899994 m, approachRate: 0.199195 m/s, LOS rate: 0.364331 deg/s, posRepo size: 4
2021-12-04T10:38:24.416Z,1638614304.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103824.65*51

2021-12-04T10:38:24.417Z,1638614304.417 [Micromodem](INFO): Nmea in: $CAREV,103825,AUV,2.1.4000*27

2021-12-04T10:38:24.816Z,1638614304.816 [Micromodem](INFO): Nmea in: $CAREV,103825,COPROC,0.20.0.39330*76

2021-12-04T10:38:26.833Z,1638614306.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:27.665Z,1638614307.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:28.031Z,1638614308.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:28.463Z,1638614308.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.519997 m, bearing: 239.931869 deg, deltaT: 4.382639 s, deltaX: 1.019997 m, approachRate: 0.232736 m/s, LOS rate: 0.261330 deg/s, posRepo size: 4
2021-12-04T10:38:28.867Z,1638614308.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103829.13*5D

2021-12-04T10:38:28.871Z,1638614308.871 [Micromodem](INFO): Nmea in: $CAREV,103830,AUV,2.1.4000*23

2021-12-04T10:38:29.256Z,1638614309.256 [Micromodem](INFO): Nmea in: $CAREV,103830,COPROC,0.20.0.39330*72

2021-12-04T10:38:31.305Z,1638614311.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:32.076Z,1638614312.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:32.483Z,1638614312.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:32.940Z,1638614312.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.420006 m, bearing: 241.238265 deg, deltaT: 4.472204 s, deltaX: 0.900009 m, approachRate: 0.201245 m/s, LOS rate: 0.292115 deg/s, posRepo size: 4
2021-12-04T10:38:33.312Z,1638614313.312 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103833.54*55

2021-12-04T10:38:33.313Z,1638614313.313 [Micromodem](INFO): Nmea in: $CAREV,103834,AUV,2.1.4000*27

2021-12-04T10:38:33.724Z,1638614313.724 [Micromodem](INFO): Nmea in: $CAREV,103834,COPROC,0.20.0.39330*76

2021-12-04T10:38:35.758Z,1638614315.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:36.510Z,1638614316.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:36.935Z,1638614316.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:37.379Z,1638614317.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.320000 m, bearing: 241.948960 deg, deltaT: 4.434972 s, deltaX: 0.899994 m, approachRate: 0.202931 m/s, LOS rate: 0.160248 deg/s, posRepo size: 4
2021-12-04T10:38:37.756Z,1638614317.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103837.98*51

2021-12-04T10:38:37.757Z,1638614317.757 [Micromodem](INFO): Nmea in: $CAREV,103839,AUV,2.1.4000*2A

2021-12-04T10:38:38.137Z,1638614318.137 [Micromodem](INFO): Nmea in: $CAREV,103839,COPROC,0.20.0.39330*7B

2021-12-04T10:38:40.175Z,1638614320.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:40.961Z,1638614320.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:41.367Z,1638614321.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:41.809Z,1638614321.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.979996 m, bearing: 242.519582 deg, deltaT: 4.438218 s, deltaX: 0.659996 m, approachRate: 0.148707 m/s, LOS rate: 0.128570 deg/s, posRepo size: 4
2021-12-04T10:38:42.204Z,1638614322.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103842.42*54

2021-12-04T10:38:42.206Z,1638614322.206 [Micromodem](INFO): Nmea in: $CAREV,103843,AUV,2.1.4000*27

2021-12-04T10:38:42.576Z,1638614322.576 [Micromodem](INFO): Nmea in: $CAREV,103843,COPROC,0.20.0.39330*76

2021-12-04T10:38:44.615Z,1638614324.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:45.401Z,1638614325.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:45.844Z,1638614325.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:46.257Z,1638614326.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.700005 m, bearing: 243.224457 deg, deltaT: 4.446706 s, deltaX: 0.720009 m, approachRate: 0.161920 m/s, LOS rate: 0.158516 deg/s, posRepo size: 4
2021-12-04T10:38:46.652Z,1638614326.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103846.86*58

2021-12-04T10:38:46.653Z,1638614326.653 [Micromodem](INFO): Nmea in: $CAREV,103847,AUV,2.1.4000*23

2021-12-04T10:38:47.052Z,1638614327.052 [Micromodem](INFO): Nmea in: $CAREV,103847,COPROC,0.20.0.39330*72

2021-12-04T10:38:49.082Z,1638614329.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:49.865Z,1638614329.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:50.275Z,1638614330.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:50.702Z,1638614330.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.720001 m, bearing: 244.034435 deg, deltaT: 4.446059 s, deltaX: 1.019997 m, approachRate: 0.229416 m/s, LOS rate: 0.182179 deg/s, posRepo size: 4
2021-12-04T10:38:51.104Z,1638614331.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103851.33*50

2021-12-04T10:38:51.105Z,1638614331.105 [Micromodem](INFO): Nmea in: $CAREV,103852,AUV,2.1.4000*27

2021-12-04T10:38:51.504Z,1638614331.504 [Micromodem](INFO): Nmea in: $CAREV,103852,COPROC,0.20.0.39330*76

2021-12-04T10:38:53.516Z,1638614333.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:54.314Z,1638614334.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:54.719Z,1638614334.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:55.173Z,1638614335.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.439995 m, bearing: 244.812640 deg, deltaT: 4.467100 s, deltaX: 0.719994 m, approachRate: 0.161177 m/s, LOS rate: 0.174208 deg/s, posRepo size: 4
2021-12-04T10:38:55.548Z,1638614335.548 [Micromodem](INFO): Nmea in: $SNTTA,0.117845,,,,103855.78*4B

2021-12-04T10:38:55.549Z,1638614335.549 [Micromodem](INFO): Nmea in: $CAREV,103856,AUV,2.1.4000*23

2021-12-04T10:38:55.964Z,1638614335.964 [Micromodem](INFO): Nmea in: $CAREV,103856,COPROC,0.20.0.39330*72

2021-12-04T10:38:58.019Z,1638614338.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:38:58.757Z,1638614338.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:38:59.167Z,1638614339.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:38:59.613Z,1638614339.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.339996 m, bearing: 245.182153 deg, deltaT: 4.439325 s, deltaX: 0.900002 m, approachRate: 0.202734 m/s, LOS rate: 0.083236 deg/s, posRepo size: 4
2021-12-04T10:39:00.004Z,1638614340.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103900.22*55

2021-12-04T10:39:00.005Z,1638614340.005 [Micromodem](INFO): Nmea in: $CAREV,103901,AUV,2.1.4000*20

2021-12-04T10:39:00.388Z,1638614340.388 [Micromodem](INFO): Nmea in: $CAREV,103901,COPROC,0.20.0.39330*71

2021-12-04T10:39:02.412Z,1638614342.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:03.201Z,1638614343.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:03.630Z,1638614343.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:04.089Z,1638614344.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.240005 m, bearing: 246.428745 deg, deltaT: 4.477306 s, deltaX: 0.900009 m, approachRate: 0.201016 m/s, LOS rate: 0.278424 deg/s, posRepo size: 4
2021-12-04T10:39:04.444Z,1638614344.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103904.66*51

2021-12-04T10:39:04.445Z,1638614344.445 [Micromodem](INFO): Nmea in: $CAREV,103905,AUV,2.1.4000*24

2021-12-04T10:39:04.824Z,1638614344.824 [Micromodem](INFO): Nmea in: $CAREV,103905,COPROC,0.20.0.39330*75

2021-12-04T10:39:06.858Z,1638614346.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:07.659Z,1638614347.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:08.051Z,1638614348.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:08.475Z,1638614348.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.779999 m, bearing: 247.550152 deg, deltaT: 4.389042 s, deltaX: 0.539993 m, approachRate: 0.123032 m/s, LOS rate: 0.255502 deg/s, posRepo size: 4
2021-12-04T10:39:08.907Z,1638614348.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103909.12*5F

2021-12-04T10:39:08.910Z,1638614348.910 [Micromodem](INFO): Nmea in: $CAREV,103910,AUV,2.1.4000*20

2021-12-04T10:39:09.280Z,1638614349.280 [Micromodem](INFO): Nmea in: $CAREV,103910,COPROC,0.20.0.39330*71

2021-12-04T10:39:11.293Z,1638614351.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:12.089Z,1638614352.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:12.504Z,1638614352.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:12.948Z,1638614352.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 247.946631 deg, deltaT: 4.473252 s, deltaX: 1.020004 m, approachRate: 0.228023 m/s, LOS rate: 0.088633 deg/s, posRepo size: 4
2021-12-04T10:39:13.333Z,1638614353.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103913.55*57

2021-12-04T10:39:13.334Z,1638614353.334 [Micromodem](INFO): Nmea in: $CAREV,103914,AUV,2.1.4000*24

2021-12-04T10:39:13.732Z,1638614353.732 [Micromodem](INFO): Nmea in: $CAREV,103914,COPROC,0.20.0.39330*75

2021-12-04T10:39:15.763Z,1638614355.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:16.533Z,1638614356.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:16.951Z,1638614356.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:17.368Z,1638614357.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.339996 m, bearing: 248.031571 deg, deltaT: 4.420134 s, deltaX: 0.539993 m, approachRate: 0.122167 m/s, LOS rate: 0.019217 deg/s, posRepo size: 4
2021-12-04T10:39:17.772Z,1638614357.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103918.00*5C

2021-12-04T10:39:17.773Z,1638614357.773 [Micromodem](INFO): Nmea in: $CAREV,103919,AUV,2.1.4000*29

2021-12-04T10:39:18.152Z,1638614358.152 [Micromodem](INFO): Nmea in: $CAREV,103919,COPROC,0.20.0.39330*78

2021-12-04T10:39:20.196Z,1638614360.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:20.981Z,1638614360.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:21.383Z,1638614361.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:21.859Z,1638614361.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.240005 m, bearing: 248.146100 deg, deltaT: 4.467806 s, deltaX: 0.900009 m, approachRate: 0.201443 m/s, LOS rate: 0.025634 deg/s, posRepo size: 4
2021-12-04T10:39:22.216Z,1638614362.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103922.44*55

2021-12-04T10:39:22.217Z,1638614362.217 [Micromodem](INFO): Nmea in: $CAREV,103923,AUV,2.1.4000*20

2021-12-04T10:39:22.596Z,1638614362.596 [Micromodem](INFO): Nmea in: $CAREV,103923,COPROC,0.20.0.39330*71

2021-12-04T10:39:24.633Z,1638614364.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:25.425Z,1638614365.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:25.853Z,1638614365.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:26.355Z,1638614366.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.020004 m, bearing: 248.773221 deg, deltaT: 4.503352 s, deltaX: 0.779999 m, approachRate: 0.173204 m/s, LOS rate: 0.139256 deg/s, posRepo size: 4
2021-12-04T10:39:26.688Z,1638614366.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103926.89*50

2021-12-04T10:39:26.689Z,1638614366.689 [Micromodem](INFO): Nmea in: $CAREV,103927,AUV,2.1.4000*24

2021-12-04T10:39:27.096Z,1638614367.096 [Micromodem](INFO): Nmea in: $CAREV,103927,COPROC,0.20.0.39330*75

2021-12-04T10:39:29.133Z,1638614369.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:29.937Z,1638614369.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:30.328Z,1638614370.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:30.896Z,1638614370.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.980011 m, bearing: 318.868829 deg, deltaT: 4.542120 s, deltaX: 0.960007 m, approachRate: 0.211357 m/s, LOS rate: 15.432355 deg/s, posRepo size: 4
2021-12-04T10:39:31.152Z,1638614371.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103931.40*53

2021-12-04T10:39:31.153Z,1638614371.153 [Micromodem](INFO): Nmea in: $CAREV,103932,AUV,2.1.4000*20

2021-12-04T10:39:31.548Z,1638614371.548 [Micromodem](INFO): Nmea in: $CAREV,103932,COPROC,0.20.0.39330*71

2021-12-04T10:39:33.581Z,1638614373.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:34.365Z,1638614374.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:34.767Z,1638614374.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:35.214Z,1638614375.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.760010 m, bearing: 248.846878 deg, deltaT: 4.332637 s, deltaX: 0.779999 m, approachRate: 0.180029 m/s, LOS rate: -16.161508 deg/s, posRepo size: 4
2021-12-04T10:39:35.596Z,1638614375.596 [Micromodem](INFO): Nmea in: $SNTTA,0.097002,,,,103935.83*4A

2021-12-04T10:39:35.597Z,1638614375.597 [Micromodem](INFO): Nmea in: $CAREV,103936,AUV,2.1.4000*24

2021-12-04T10:39:35.988Z,1638614375.988 [Micromodem](INFO): Nmea in: $CAREV,103936,COPROC,0.20.0.39330*75

2021-12-04T10:39:38.054Z,1638614378.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:38.797Z,1638614378.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:39.212Z,1638614379.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:39.698Z,1638614379.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 248.546513 deg, deltaT: 4.478069 s, deltaX: 0.779999 m, approachRate: 0.174182 m/s, LOS rate: -0.067075 deg/s, posRepo size: 4
2021-12-04T10:39:40.032Z,1638614380.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103940.26*55

2021-12-04T10:39:40.033Z,1638614380.033 [Micromodem](INFO): Nmea in: $CAREV,103941,AUV,2.1.4000*24

2021-12-04T10:39:40.425Z,1638614380.425 [Micromodem](INFO): Nmea in: $CAREV,103941,COPROC,0.20.0.39330*75

2021-12-04T10:39:42.454Z,1638614382.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:43.256Z,1638614383.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:43.684Z,1638614383.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:44.123Z,1638614384.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 248.133751 deg, deltaT: 4.421733 s, deltaX: 0.839996 m, approachRate: 0.189970 m/s, LOS rate: -0.093348 deg/s, posRepo size: 4
2021-12-04T10:39:44.476Z,1638614384.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103944.72*50

2021-12-04T10:39:44.477Z,1638614384.477 [Micromodem](INFO): Nmea in: $CAREV,103945,AUV,2.1.4000*20

2021-12-04T10:39:44.883Z,1638614384.883 [Micromodem](INFO): Nmea in: $CAREV,103945,COPROC,0.20.0.39330*71

2021-12-04T10:39:46.925Z,1638614386.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:47.714Z,1638614387.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:48.091Z,1638614388.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:48.526Z,1638614388.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.160004 m, bearing: 248.223145 deg, deltaT: 4.412385 s, deltaX: 0.779999 m, approachRate: 0.176775 m/s, LOS rate: 0.020260 deg/s, posRepo size: 4
2021-12-04T10:39:48.936Z,1638614388.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103949.18*51

2021-12-04T10:39:48.938Z,1638614388.938 [Micromodem](INFO): Nmea in: $CAREV,103950,AUV,2.1.4000*24

2021-12-04T10:39:49.316Z,1638614389.316 [Micromodem](INFO): Nmea in: $CAREV,103950,COPROC,0.20.0.39330*75

2021-12-04T10:39:51.341Z,1638614391.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:52.141Z,1638614392.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:52.548Z,1638614392.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:52.993Z,1638614392.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.820007 m, bearing: 247.054499 deg, deltaT: 4.466672 s, deltaX: 0.660004 m, approachRate: 0.147762 m/s, LOS rate: -0.261637 deg/s, posRepo size: 4
2021-12-04T10:39:53.368Z,1638614393.368 [Micromodem](INFO): Nmea in: $SNTTA,0.101371,,,,103953.61*4F

2021-12-04T10:39:53.369Z,1638614393.369 [Micromodem](INFO): Nmea in: $CAREV,103954,AUV,2.1.4000*20

2021-12-04T10:39:53.764Z,1638614393.764 [Micromodem](INFO): Nmea in: $CAREV,103954,COPROC,0.20.0.39330*71

2021-12-04T10:39:55.807Z,1638614395.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:39:56.577Z,1638614396.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:39:56.983Z,1638614396.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:39:57.404Z,1638614397.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.720001 m, bearing: 246.956910 deg, deltaT: 4.411394 s, deltaX: 0.899994 m, approachRate: 0.204016 m/s, LOS rate: -0.022122 deg/s, posRepo size: 4
2021-12-04T10:39:57.812Z,1638614397.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103958.04*5C

2021-12-04T10:39:57.813Z,1638614397.813 [Micromodem](INFO): Nmea in: $CAREV,103959,AUV,2.1.4000*2D

2021-12-04T10:39:58.196Z,1638614398.196 [Micromodem](INFO): Nmea in: $CAREV,103959,COPROC,0.20.0.39330*7C

2021-12-04T10:40:00.251Z,1638614400.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:01.021Z,1638614401.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:01.433Z,1638614401.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:01.943Z,1638614401.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 245.439542 deg, deltaT: 4.530464 s, deltaX: 0.659988 m, approachRate: 0.145678 m/s, LOS rate: -0.334925 deg/s, posRepo size: 4
2021-12-04T10:40:02.264Z,1638614402.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104002.49*54

2021-12-04T10:40:02.265Z,1638614402.265 [Micromodem](INFO): Nmea in: $CAREV,104003,AUV,2.1.4000*2C

2021-12-04T10:40:02.648Z,1638614402.648 [Micromodem](INFO): Nmea in: $CAREV,104003,COPROC,0.20.0.39330*7D

2021-12-04T10:40:04.682Z,1638614404.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:05.466Z,1638614405.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:05.896Z,1638614405.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:06.317Z,1638614406.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.340012 m, bearing: 244.211884 deg, deltaT: 4.380247 s, deltaX: 0.960022 m, approachRate: 0.219171 m/s, LOS rate: -0.280271 deg/s, posRepo size: 4
2021-12-04T10:40:06.709Z,1638614406.709 [Micromodem](INFO): Nmea in: $SNTTA,0.025357,,,,104006.93*4F

2021-12-04T10:40:06.711Z,1638614406.711 [Micromodem](INFO): Nmea in: $CAREV,104007,AUV,2.1.4000*28

2021-12-04T10:40:07.092Z,1638614407.092 [Micromodem](INFO): Nmea in: $CAREV,104007,COPROC,0.20.0.39330*79

2021-12-04T10:40:09.130Z,1638614409.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:09.940Z,1638614409.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:10.316Z,1638614410.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:10.749Z,1638614410.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 242.433958 deg, deltaT: 4.434248 s, deltaX: 0.599991 m, approachRate: 0.135308 m/s, LOS rate: -0.400953 deg/s, posRepo size: 4
2021-12-04T10:40:11.142Z,1638614411.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104011.40*5F

2021-12-04T10:40:11.143Z,1638614411.143 [Micromodem](INFO): Nmea in: $CAREV,104012,AUV,2.1.4000*2C

2021-12-04T10:40:11.528Z,1638614411.528 [Micromodem](INFO): Nmea in: $CAREV,104012,COPROC,0.20.0.39330*7D

2021-12-04T10:40:13.560Z,1638614413.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:14.353Z,1638614414.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:14.756Z,1638614414.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:15.193Z,1638614415.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.660004 m, bearing: 240.783703 deg, deltaT: 4.444066 s, deltaX: 0.720001 m, approachRate: 0.162014 m/s, LOS rate: -0.371339 deg/s, posRepo size: 4
2021-12-04T10:40:15.593Z,1638614415.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104015.82*55

2021-12-04T10:40:15.595Z,1638614415.595 [Micromodem](INFO): Nmea in: $CAREV,104016,AUV,2.1.4000*28

2021-12-04T10:40:15.976Z,1638614415.976 [Micromodem](INFO): Nmea in: $CAREV,104016,COPROC,0.20.0.39330*79

2021-12-04T10:40:18.033Z,1638614418.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:18.793Z,1638614418.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:19.207Z,1638614419.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:19.691Z,1638614419.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.380005 m, bearing: 238.973293 deg, deltaT: 4.489662 s, deltaX: 0.720001 m, approachRate: 0.160369 m/s, LOS rate: -0.403240 deg/s, posRepo size: 4
2021-12-04T10:40:20.036Z,1638614420.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104020.26*5D

2021-12-04T10:40:20.037Z,1638614420.037 [Micromodem](INFO): Nmea in: $CAREV,104021,AUV,2.1.4000*2C

2021-12-04T10:40:20.424Z,1638614420.424 [Micromodem](INFO): Nmea in: $CAREV,104021,COPROC,0.20.0.39330*7D

2021-12-04T10:40:22.454Z,1638614422.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:23.237Z,1638614423.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:23.677Z,1638614423.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:24.090Z,1638614424.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.280014 m, bearing: 236.413993 deg, deltaT: 4.407442 s, deltaX: 0.900009 m, approachRate: 0.204202 m/s, LOS rate: -0.580677 deg/s, posRepo size: 4
2021-12-04T10:40:24.476Z,1638614424.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104024.70*5A

2021-12-04T10:40:24.477Z,1638614424.477 [Micromodem](INFO): Nmea in: $CAREV,104025,AUV,2.1.4000*28

2021-12-04T10:40:24.875Z,1638614424.875 [Micromodem](INFO): Nmea in: $CAREV,104025,COPROC,0.20.0.39330*79

2021-12-04T10:40:26.930Z,1638614426.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:27.713Z,1638614427.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:28.099Z,1638614428.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:28.520Z,1638614428.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.759995 m, bearing: 233.511327 deg, deltaT: 4.429420 s, deltaX: 0.479980 m, approachRate: 0.108362 m/s, LOS rate: -0.655315 deg/s, posRepo size: 4
2021-12-04T10:40:28.936Z,1638614428.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104029.18*59

2021-12-04T10:40:28.937Z,1638614428.937 [Micromodem](INFO): Nmea in: $CAREV,104030,AUV,2.1.4000*2C

2021-12-04T10:40:29.312Z,1638614429.312 [Micromodem](INFO): Nmea in: $CAREV,104030,COPROC,0.20.0.39330*7D

2021-12-04T10:40:31.344Z,1638614431.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:32.134Z,1638614432.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:32.535Z,1638614432.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:32.985Z,1638614432.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.720001 m, bearing: 230.695049 deg, deltaT: 4.465930 s, deltaX: 0.960007 m, approachRate: 0.214962 m/s, LOS rate: -0.630614 deg/s, posRepo size: 4
2021-12-04T10:40:33.368Z,1638614433.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104033.60*5D

2021-12-04T10:40:33.369Z,1638614433.369 [Micromodem](INFO): Nmea in: $CAREV,104034,AUV,2.1.4000*28

2021-12-04T10:40:33.760Z,1638614433.760 [Micromodem](INFO): Nmea in: $CAREV,104034,COPROC,0.20.0.39330*79

2021-12-04T10:40:35.795Z,1638614435.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:36.573Z,1638614436.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:36.992Z,1638614436.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:37.427Z,1638614437.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.619995 m, bearing: 228.111270 deg, deltaT: 4.440782 s, deltaX: 0.899994 m, approachRate: 0.202666 m/s, LOS rate: -0.581830 deg/s, posRepo size: 4
2021-12-04T10:40:37.825Z,1638614437.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104038.04*54

2021-12-04T10:40:37.826Z,1638614437.826 [Micromodem](INFO): Nmea in: $CAREV,104039,AUV,2.1.4000*25

2021-12-04T10:40:38.200Z,1638614438.200 [Micromodem](INFO): Nmea in: $CAREV,104039,COPROC,0.20.0.39330*74

2021-12-04T10:40:40.243Z,1638614440.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:41.025Z,1638614441.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:41.423Z,1638614441.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:41.941Z,1638614441.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.220001 m, bearing: 225.635695 deg, deltaT: 4.514617 s, deltaX: 0.600006 m, approachRate: 0.132903 m/s, LOS rate: -0.548347 deg/s, posRepo size: 4
2021-12-04T10:40:42.264Z,1638614442.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104042.49*50

2021-12-04T10:40:42.265Z,1638614442.265 [Micromodem](INFO): Nmea in: $CAREV,104043,AUV,2.1.4000*28

2021-12-04T10:40:42.652Z,1638614442.652 [Micromodem](INFO): Nmea in: $CAREV,104043,COPROC,0.20.0.39330*79

2021-12-04T10:40:44.665Z,1638614444.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:45.461Z,1638614445.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:45.889Z,1638614445.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:46.289Z,1638614446.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.880005 m, bearing: 227.553585 deg, deltaT: 4.348248 s, deltaX: 0.660004 m, approachRate: 0.151786 m/s, LOS rate: 0.441072 deg/s, posRepo size: 4
2021-12-04T10:40:46.696Z,1638614446.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104046.93*53

2021-12-04T10:40:46.697Z,1638614446.697 [Micromodem](INFO): Nmea in: $CAREV,104047,AUV,2.1.4000*2C

2021-12-04T10:40:47.084Z,1638614447.084 [Micromodem](INFO): Nmea in: $CAREV,104047,COPROC,0.20.0.39330*7D

2021-12-04T10:40:49.118Z,1638614449.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:49.922Z,1638614449.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:50.311Z,1638614450.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:50.737Z,1638614450.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.660004 m, bearing: 232.106822 deg, deltaT: 4.447300 s, deltaX: 0.779999 m, approachRate: 0.175387 m/s, LOS rate: 1.023820 deg/s, posRepo size: 4
2021-12-04T10:40:51.136Z,1638614451.136 [Micromodem](INFO): Nmea in: $SNTTA,0.116446,,,,104051.39*4B

2021-12-04T10:40:51.137Z,1638614451.137 [Micromodem](INFO): Nmea in: $CAREV,104052,AUV,2.1.4000*28

2021-12-04T10:40:51.528Z,1638614451.528 [Micromodem](INFO): Nmea in: $CAREV,104052,COPROC,0.20.0.39330*79

2021-12-04T10:40:53.554Z,1638614453.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:54.349Z,1638614454.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:54.756Z,1638614454.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:55.199Z,1638614455.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.259995 m, bearing: 233.082254 deg, deltaT: 4.462117 s, deltaX: 0.599991 m, approachRate: 0.134463 m/s, LOS rate: 0.218603 deg/s, posRepo size: 4
2021-12-04T10:40:55.596Z,1638614455.596 [Micromodem](INFO): Nmea in: $SNTTA,0.100870,,,,104055.81*42

2021-12-04T10:40:55.597Z,1638614455.597 [Micromodem](INFO): Nmea in: $CAREV,104056,AUV,2.1.4000*2C

2021-12-04T10:40:55.976Z,1638614455.976 [Micromodem](INFO): Nmea in: $CAREV,104056,COPROC,0.20.0.39330*7D

2021-12-04T10:40:58.034Z,1638614458.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:40:58.793Z,1638614458.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:40:59.207Z,1638614459.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:40:59.685Z,1638614459.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.919998 m, bearing: 235.329523 deg, deltaT: 4.482156 s, deltaX: 0.660004 m, approachRate: 0.147251 m/s, LOS rate: 0.501381 deg/s, posRepo size: 4
2021-12-04T10:41:00.027Z,1638614460.027 [Micromodem](INFO): Nmea in: $SNTTA,0.108365,,,,104100.26*49

2021-12-04T10:41:00.028Z,1638614460.028 [Micromodem](INFO): Nmea in: $CAREV,104101,AUV,2.1.4000*2F

2021-12-04T10:41:00.420Z,1638614460.420 [Micromodem](INFO): Nmea in: $CAREV,104101,COPROC,0.20.0.39330*7E

2021-12-04T10:41:02.445Z,1638614462.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:03.237Z,1638614463.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:03.677Z,1638614463.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:04.094Z,1638614464.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.639999 m, bearing: 234.030476 deg, deltaT: 4.413415 s, deltaX: 0.720001 m, approachRate: 0.163139 m/s, LOS rate: -0.294341 deg/s, posRepo size: 4
2021-12-04T10:41:04.468Z,1638614464.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104104.70*59

2021-12-04T10:41:04.469Z,1638614464.469 [Micromodem](INFO): Nmea in: $CAREV,104105,AUV,2.1.4000*2B

2021-12-04T10:41:04.860Z,1638614464.860 [Micromodem](INFO): Nmea in: $CAREV,104105,COPROC,0.20.0.39330*7A

2021-12-04T10:41:06.936Z,1638614466.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:07.716Z,1638614467.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:08.091Z,1638614468.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:08.528Z,1638614468.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.639999 m, bearing: 234.775622 deg, deltaT: 4.432196 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.168121 deg/s, posRepo size: 4
2021-12-04T10:41:08.920Z,1638614468.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104109.18*5A

2021-12-04T10:41:08.921Z,1638614468.921 [Micromodem](INFO): Nmea in: $CAREV,104110,AUV,2.1.4000*2F

2021-12-04T10:41:09.300Z,1638614469.300 [Micromodem](INFO): Nmea in: $CAREV,104110,COPROC,0.20.0.39330*7E

2021-12-04T10:41:11.329Z,1638614471.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:12.125Z,1638614472.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:12.171Z,1638614472.171 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:41:12.535Z,1638614472.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:12.984Z,1638614472.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.380005 m, bearing: 231.966775 deg, deltaT: 4.457537 s, deltaX: 1.740005 m, approachRate: 0.390351 m/s, LOS rate: -0.630134 deg/s, posRepo size: 4
2021-12-04T10:41:13.376Z,1638614473.376 [Micromodem](INFO): Nmea in: $SNTTA,0.120702,,,,104113.59*4C

2021-12-04T10:41:13.377Z,1638614473.377 [Micromodem](INFO): Nmea in: $CAREV,104114,AUV,2.1.4000*2B

2021-12-04T10:41:13.754Z,1638614473.754 [Micromodem](INFO): Nmea in: $CAREV,104114,COPROC,0.20.0.39330*7A

2021-12-04T10:41:15.795Z,1638614475.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:16.573Z,1638614476.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:16.975Z,1638614476.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:17.405Z,1638614477.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.800003 m, bearing: 230.740347 deg, deltaT: 4.421753 s, deltaX: 0.419998 m, approachRate: 0.094985 m/s, LOS rate: -0.277363 deg/s, posRepo size: 4
2021-12-04T10:41:17.808Z,1638614477.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104118.04*57

2021-12-04T10:41:17.809Z,1638614477.809 [Micromodem](INFO): Nmea in: $CAREV,104119,AUV,2.1.4000*26

2021-12-04T10:41:18.196Z,1638614478.196 [Micromodem](INFO): Nmea in: $CAREV,104119,COPROC,0.20.0.39330*77

2021-12-04T10:41:20.227Z,1638614480.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:21.022Z,1638614481.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:21.427Z,1638614481.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:21.937Z,1638614481.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.520004 m, bearing: 231.513333 deg, deltaT: 4.527816 s, deltaX: 0.720001 m, approachRate: 0.159017 m/s, LOS rate: 0.170719 deg/s, posRepo size: 4
2021-12-04T10:41:22.248Z,1638614482.248 [Micromodem](INFO): Nmea in: $SNTTA,0.118921,,,,104122.49*4B

2021-12-04T10:41:22.249Z,1638614482.249 [Micromodem](INFO): Nmea in: $CAREV,104123,AUV,2.1.4000*2F

2021-12-04T10:41:22.652Z,1638614482.652 [Micromodem](INFO): Nmea in: $CAREV,104123,COPROC,0.20.0.39330*7E

2021-12-04T10:41:24.660Z,1638614484.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:25.457Z,1638614485.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:25.902Z,1638614485.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:26.311Z,1638614486.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.180008 m, bearing: 234.293711 deg, deltaT: 4.369042 s, deltaX: 0.660004 m, approachRate: 0.151064 m/s, LOS rate: 0.636382 deg/s, posRepo size: 4
2021-12-04T10:41:27.098Z,1638614487.098 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:41:29.140Z,1638614489.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:29.916Z,1638614489.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:30.307Z,1638614490.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:30.766Z,1638614490.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.180008 m, bearing: 237.334402 deg, deltaT: 4.457514 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.682150 deg/s, posRepo size: 4
2021-12-04T10:41:31.136Z,1638614491.136 [Micromodem](INFO): Nmea in: $SNTTA,0.114502,,,,104131.38*4E

2021-12-04T10:41:31.137Z,1638614491.137 [Micromodem](INFO): Nmea in: $CAREV,104132,AUV,2.1.4000*2F

2021-12-04T10:41:31.532Z,1638614491.532 [Micromodem](INFO): Nmea in: $CAREV,104132,COPROC,0.20.0.39330*7E

2021-12-04T10:41:32.003Z,1638614492.003 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T10:41:33.560Z,1638614493.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:34.352Z,1638614494.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:34.751Z,1638614494.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:35.204Z,1638614495.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.799988 m, bearing: 233.955289 deg, deltaT: 4.439659 s, deltaX: 1.619980 m, approachRate: 0.364888 m/s, LOS rate: -0.761120 deg/s, posRepo size: 4
2021-12-04T10:41:35.591Z,1638614495.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104135.82*56

2021-12-04T10:41:35.592Z,1638614495.592 [Micromodem](INFO): Nmea in: $CAREV,104136,AUV,2.1.4000*2B

2021-12-04T10:41:35.972Z,1638614495.972 [Micromodem](INFO): Nmea in: $CAREV,104136,COPROC,0.20.0.39330*7A

2021-12-04T10:41:37.184Z,1638614497.184 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:41:38.049Z,1638614498.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:38.789Z,1638614498.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:39.195Z,1638614499.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:39.689Z,1638614499.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.700012 m, bearing: 233.456603 deg, deltaT: 4.483791 s, deltaX: 0.900024 m, approachRate: 0.200728 m/s, LOS rate: -0.111220 deg/s, posRepo size: 4
2021-12-04T10:41:40.036Z,1638614500.036 [Micromodem](INFO): Nmea in: $SNTTA,0.109786,,,,104140.25*46

2021-12-04T10:41:40.037Z,1638614500.037 [Micromodem](INFO): Nmea in: $CAREV,104141,AUV,2.1.4000*2B

2021-12-04T10:41:40.420Z,1638614500.420 [Micromodem](INFO): Nmea in: $CAREV,104141,COPROC,0.20.0.39330*7A

2021-12-04T10:41:42.436Z,1638614502.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:43.241Z,1638614503.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:43.673Z,1638614503.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:44.091Z,1638614504.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.419998 m, bearing: 233.628096 deg, deltaT: 4.407549 s, deltaX: 0.719986 m, approachRate: 0.163353 m/s, LOS rate: 0.038909 deg/s, posRepo size: 4
2021-12-04T10:41:44.483Z,1638614504.483 [Micromodem](INFO): Nmea in: $SNTTA,0.106437,,,,104144.71*45

2021-12-04T10:41:44.484Z,1638614504.484 [Micromodem](INFO): Nmea in: $CAREV,104145,AUV,2.1.4000*2F

2021-12-04T10:41:44.872Z,1638614504.872 [Micromodem](INFO): Nmea in: $CAREV,104145,COPROC,0.20.0.39330*7E

2021-12-04T10:41:46.927Z,1638614506.927 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T10:41:46.938Z,1638614506.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:47.709Z,1638614507.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:48.087Z,1638614508.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:48.913Z,1638614508.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104149.18*5E

2021-12-04T10:41:48.915Z,1638614508.915 [Micromodem](INFO): Nmea in: $CAREV,104150,AUV,2.1.4000*2B

2021-12-04T10:41:48.978Z,1638614508.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 232.983572 deg, deltaT: 4.882817 s, deltaX: 0.840012 m, approachRate: 0.172034 m/s, LOS rate: -0.131998 deg/s, posRepo size: 4
2021-12-04T10:41:49.316Z,1638614509.316 [Micromodem](INFO): Nmea in: $CAREV,104150,COPROC,0.20.0.39330*7A

2021-12-04T10:41:51.764Z,1638614511.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:52.154Z,1638614512.154 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T10:41:52.154Z,1638614512.154 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T10:41:52.154Z,1638614512.154 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T10:41:52.215Z,1638614512.215 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T10:41:52.537Z,1638614512.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:52.611Z,1638614512.611 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T10:41:52.943Z,1638614512.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:53.374Z,1638614513.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.859985 m, bearing: 233.693556 deg, deltaT: 4.396228 s, deltaX: 0.599976 m, approachRate: 0.136475 m/s, LOS rate: 0.161499 deg/s, posRepo size: 4
2021-12-04T10:41:53.463Z,1638614513.463 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T10:41:53.463Z,1638614513.463 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T10:41:53.756Z,1638614513.756 [Micromodem](INFO): Nmea in: $SNTTA,0.121971,0.448403,,,104154.00*59

2021-12-04T10:41:53.757Z,1638614513.757 [Micromodem](INFO): Nmea in: $CAREV,104154,AUV,2.1.4000*2F

2021-12-04T10:41:54.160Z,1638614514.160 [Micromodem](INFO): Nmea in: $CAREV,104154,COPROC,0.20.0.39330*7E

2021-12-04T10:41:55.875Z,1638614515.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:41:56.569Z,1638614516.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:41:56.983Z,1638614516.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:41:57.419Z,1638614517.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.580002 m, bearing: 234.336769 deg, deltaT: 4.033037 s, deltaX: 0.720016 m, approachRate: 0.178530 m/s, LOS rate: 0.159486 deg/s, posRepo size: 4
2021-12-04T10:41:57.808Z,1638614517.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104158.03*54

2021-12-04T10:41:57.809Z,1638614517.809 [Micromodem](INFO): Nmea in: $CAREV,104159,AUV,2.1.4000*22

2021-12-04T10:41:58.192Z,1638614518.192 [Micromodem](INFO): Nmea in: $CAREV,104159,COPROC,0.20.0.39330*73

2021-12-04T10:42:00.216Z,1638614520.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:01.013Z,1638614521.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:01.411Z,1638614521.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:01.870Z,1638614521.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.760010 m, bearing: 233.917313 deg, deltaT: 4.467070 s, deltaX: 0.180008 m, approachRate: 0.040297 m/s, LOS rate: -0.093899 deg/s, posRepo size: 4
2021-12-04T10:42:02.258Z,1638614522.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104202.48*57

2021-12-04T10:42:02.259Z,1638614522.259 [Micromodem](INFO): Nmea in: $CAREV,104203,AUV,2.1.4000*2E

2021-12-04T10:42:02.640Z,1638614522.640 [Micromodem](INFO): Nmea in: $CAREV,104203,COPROC,0.20.0.39330*7F

2021-12-04T10:42:04.668Z,1638614524.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:05.457Z,1638614525.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:05.867Z,1638614525.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:06.301Z,1638614526.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.960007 m, bearing: 235.610900 deg, deltaT: 4.430716 s, deltaX: 1.199997 m, approachRate: 0.270836 m/s, LOS rate: 0.382238 deg/s, posRepo size: 4
2021-12-04T10:42:06.704Z,1638614526.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104206.92*54

2021-12-04T10:42:06.705Z,1638614526.705 [Micromodem](INFO): Nmea in: $CAREV,104207,AUV,2.1.4000*2A

2021-12-04T10:42:07.092Z,1638614527.092 [Micromodem](INFO): Nmea in: $CAREV,104207,COPROC,0.20.0.39330*7B

2021-12-04T10:42:09.121Z,1638614529.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:09.929Z,1638614529.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:10.307Z,1638614530.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:10.751Z,1638614530.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.960007 m, bearing: 234.107275 deg, deltaT: 4.449000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.337969 deg/s, posRepo size: 4
2021-12-04T10:42:11.135Z,1638614531.135 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104211.39*53

2021-12-04T10:42:11.136Z,1638614531.136 [Micromodem](INFO): Nmea in: $CAREV,104212,AUV,2.1.4000*2E

2021-12-04T10:42:11.528Z,1638614531.528 [Micromodem](INFO): Nmea in: $CAREV,104212,COPROC,0.20.0.39330*7F

2021-12-04T10:42:12.023Z,1638614532.023 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:42:13.548Z,1638614533.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:14.342Z,1638614534.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:14.752Z,1638614534.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:15.192Z,1638614535.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.460007 m, bearing: 234.327507 deg, deltaT: 4.442714 s, deltaX: 1.500000 m, approachRate: 0.337631 m/s, LOS rate: 0.049572 deg/s, posRepo size: 4
2021-12-04T10:42:15.591Z,1638614535.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104215.81*54

2021-12-04T10:42:15.592Z,1638614535.592 [Micromodem](INFO): Nmea in: $CAREV,104216,AUV,2.1.4000*2A

2021-12-04T10:42:15.972Z,1638614535.972 [Micromodem](INFO): Nmea in: $CAREV,104216,COPROC,0.20.0.39330*7B

2021-12-04T10:42:17.222Z,1638614537.222 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T10:42:17.222Z,1638614537.222 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T10:42:17.223Z,1638614537.223 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T10:42:17.398Z,1638614537.398 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T10:42:17.652Z,1638614537.652 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T10:42:18.047Z,1638614538.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:18.562Z,1638614538.562 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T10:42:18.562Z,1638614538.562 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T10:42:18.794Z,1638614538.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:19.191Z,1638614539.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:19.693Z,1638614539.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.539993 m, bearing: 233.604955 deg, deltaT: 4.500666 s, deltaX: 1.079987 m, approachRate: 0.239962 m/s, LOS rate: -0.160543 deg/s, posRepo size: 4
2021-12-04T10:42:20.043Z,1638614540.043 [Micromodem](INFO): Nmea in: $SNTTA,0.118514,,,,104220.26*49

2021-12-04T10:42:20.044Z,1638614540.044 [Micromodem](INFO): Nmea in: $CAREV,104221,AUV,2.1.4000*2E

2021-12-04T10:42:20.456Z,1638614540.456 [Micromodem](INFO): Nmea in: $CAREV,104221,COPROC,0.20.0.39330*7F

2021-12-04T10:42:22.448Z,1638614542.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:23.238Z,1638614543.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:23.673Z,1638614543.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:24.079Z,1638614544.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.199997 m, bearing: 233.846334 deg, deltaT: 4.386231 s, deltaX: 0.660004 m, approachRate: 0.150472 m/s, LOS rate: 0.055031 deg/s, posRepo size: 4
2021-12-04T10:42:24.472Z,1638614544.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104224.70*58

2021-12-04T10:42:24.474Z,1638614544.474 [Micromodem](INFO): Nmea in: $CAREV,104225,AUV,2.1.4000*2A

2021-12-04T10:42:24.860Z,1638614544.860 [Micromodem](INFO): Nmea in: $CAREV,104225,COPROC,0.20.0.39330*7B

2021-12-04T10:42:26.884Z,1638614546.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:27.719Z,1638614547.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:28.092Z,1638614548.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:28.895Z,1638614548.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104229.18*5B

2021-12-04T10:42:28.952Z,1638614548.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.919998 m, bearing: 234.021761 deg, deltaT: 4.868358 s, deltaX: 0.720001 m, approachRate: 0.147894 m/s, LOS rate: 0.036034 deg/s, posRepo size: 4
2021-12-04T10:42:29.304Z,1638614549.304 [Micromodem](INFO): Nmea in: $CAREV,104230,AUV,2.1.4000*2E

2021-12-04T10:42:29.305Z,1638614549.305 [Micromodem](INFO): Nmea in: $CAREV,104230,COPROC,0.20.0.39330*7F

2021-12-04T10:42:31.757Z,1638614551.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:32.525Z,1638614552.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:32.952Z,1638614552.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:33.379Z,1638614553.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.820007 m, bearing: 233.953076 deg, deltaT: 4.422620 s, deltaX: 0.900009 m, approachRate: 0.203501 m/s, LOS rate: -0.015530 deg/s, posRepo size: 4
2021-12-04T10:42:33.768Z,1638614553.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104233.99*59

2021-12-04T10:42:33.769Z,1638614553.769 [Micromodem](INFO): Nmea in: $CAREV,104235,AUV,2.1.4000*2B

2021-12-04T10:42:34.152Z,1638614554.152 [Micromodem](INFO): Nmea in: $CAREV,104235,COPROC,0.20.0.39330*7A

2021-12-04T10:42:36.191Z,1638614556.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:36.993Z,1638614556.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:37.061Z,1638614557.061 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:42:37.387Z,1638614557.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:37.851Z,1638614557.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.820007 m, bearing: 234.126454 deg, deltaT: 4.460172 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.038872 deg/s, posRepo size: 4
2021-12-04T10:42:38.203Z,1638614558.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104238.46*50

2021-12-04T10:42:38.204Z,1638614558.204 [Micromodem](INFO): Nmea in: $CAREV,104239,AUV,2.1.4000*27

2021-12-04T10:42:38.592Z,1638614558.592 [Micromodem](INFO): Nmea in: $CAREV,104239,COPROC,0.20.0.39330*76

2021-12-04T10:42:40.612Z,1638614560.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:41.413Z,1638614561.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:41.831Z,1638614561.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:42.255Z,1638614562.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.080002 m, bearing: 235.113471 deg, deltaT: 4.424092 s, deltaX: 1.259995 m, approachRate: 0.284803 m/s, LOS rate: 0.223100 deg/s, posRepo size: 4
2021-12-04T10:42:42.648Z,1638614562.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104242.88*5F

2021-12-04T10:42:42.649Z,1638614562.649 [Micromodem](INFO): Nmea in: $CAREV,104243,AUV,2.1.4000*2A

2021-12-04T10:42:43.040Z,1638614563.040 [Micromodem](INFO): Nmea in: $CAREV,104243,COPROC,0.20.0.39330*7B

2021-12-04T10:42:45.066Z,1638614565.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:45.865Z,1638614565.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:46.263Z,1638614566.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:46.688Z,1638614566.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.080002 m, bearing: 234.018154 deg, deltaT: 4.432534 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.247108 deg/s, posRepo size: 4
2021-12-04T10:42:47.092Z,1638614567.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104247.33*5A

2021-12-04T10:42:47.093Z,1638614567.093 [Micromodem](INFO): Nmea in: $CAREV,104248,AUV,2.1.4000*21

2021-12-04T10:42:47.103Z,1638614567.103 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:42:47.480Z,1638614567.480 [Micromodem](INFO): Nmea in: $CAREV,104248,COPROC,0.20.0.39330*70

2021-12-04T10:42:49.505Z,1638614569.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:50.305Z,1638614570.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:50.716Z,1638614570.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:51.157Z,1638614571.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.080002 m, bearing: 234.477689 deg, deltaT: 4.469502 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.102816 deg/s, posRepo size: 4
2021-12-04T10:42:51.548Z,1638614571.548 [Micromodem](INFO): Nmea in: $SNTTA,0.111488,,,,104251.77*46

2021-12-04T10:42:51.549Z,1638614571.549 [Micromodem](INFO): Nmea in: $CAREV,104252,AUV,2.1.4000*2A

2021-12-04T10:42:51.956Z,1638614571.956 [Micromodem](INFO): Nmea in: $CAREV,104252,COPROC,0.20.0.39330*7B

2021-12-04T10:42:54.041Z,1638614574.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:54.741Z,1638614574.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:55.147Z,1638614575.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:42:55.597Z,1638614575.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 234.493918 deg, deltaT: 4.423959 s, deltaX: 2.160004 m, approachRate: 0.488251 m/s, LOS rate: 0.003668 deg/s, posRepo size: 4
2021-12-04T10:42:55.988Z,1638614575.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104256.21*59

2021-12-04T10:42:55.989Z,1638614575.989 [Micromodem](INFO): Nmea in: $CAREV,104257,AUV,2.1.4000*2F

2021-12-04T10:42:56.372Z,1638614576.372 [Micromodem](INFO): Nmea in: $CAREV,104257,COPROC,0.20.0.39330*7E

2021-12-04T10:42:58.392Z,1638614578.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:42:59.193Z,1638614579.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:42:59.614Z,1638614579.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:00.059Z,1638614580.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.240005 m, bearing: 235.703353 deg, deltaT: 4.478416 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.270059 deg/s, posRepo size: 4
2021-12-04T10:43:00.436Z,1638614580.436 [Micromodem](INFO): Nmea in: $SNTTA,0.123730,,,,104300.66*42

2021-12-04T10:43:00.437Z,1638614580.437 [Micromodem](INFO): Nmea in: $CAREV,104301,AUV,2.1.4000*2D

2021-12-04T10:43:00.824Z,1638614580.824 [Micromodem](INFO): Nmea in: $CAREV,104301,COPROC,0.20.0.39330*7C

2021-12-04T10:43:02.849Z,1638614582.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:03.659Z,1638614583.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:04.049Z,1638614584.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:04.855Z,1638614584.855 [Micromodem](INFO): Nmea in: $SNTTA,0.115412,,,,104305.12*42

2021-12-04T10:43:04.857Z,1638614584.857 [Micromodem](INFO): Nmea in: $CAREV,104306,AUV,2.1.4000*2A

2021-12-04T10:43:04.944Z,1638614584.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.800003 m, bearing: 235.109619 deg, deltaT: 4.853868 s, deltaX: 1.559998 m, approachRate: 0.321393 m/s, LOS rate: -0.122322 deg/s, posRepo size: 4
2021-12-04T10:43:05.272Z,1638614585.272 [Micromodem](INFO): Nmea in: $CAREV,104306,COPROC,0.20.0.39330*7B

2021-12-04T10:43:07.736Z,1638614587.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:08.485Z,1638614588.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:08.918Z,1638614588.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:09.336Z,1638614589.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.800003 m, bearing: 235.101286 deg, deltaT: 4.423568 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.001884 deg/s, posRepo size: 4
2021-12-04T10:43:09.740Z,1638614589.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104309.95*5D

2021-12-04T10:43:09.741Z,1638614589.741 [Micromodem](INFO): Nmea in: $CAREV,104311,AUV,2.1.4000*2C

2021-12-04T10:43:10.116Z,1638614590.116 [Micromodem](INFO): Nmea in: $CAREV,104311,COPROC,0.20.0.39330*7D

2021-12-04T10:43:12.148Z,1638614592.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:12.937Z,1638614592.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:13.340Z,1638614593.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:13.969Z,1638614593.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.800003 m, bearing: 234.939902 deg, deltaT: 4.628163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.034870 deg/s, posRepo size: 4
2021-12-04T10:43:14.177Z,1638614594.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104314.41*58

2021-12-04T10:43:14.179Z,1638614594.179 [Micromodem](INFO): Nmea in: $CAREV,104315,AUV,2.1.4000*28

2021-12-04T10:43:14.552Z,1638614594.552 [Micromodem](INFO): Nmea in: $CAREV,104315,COPROC,0.20.0.39330*79

2021-12-04T10:43:16.581Z,1638614596.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:17.369Z,1638614597.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:17.776Z,1638614597.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:18.246Z,1638614598.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 235.178713 deg, deltaT: 4.262897 s, deltaX: 2.099991 m, approachRate: 0.492621 m/s, LOS rate: 0.056021 deg/s, posRepo size: 4
2021-12-04T10:43:18.612Z,1638614598.612 [Micromodem](INFO): Nmea in: $SNTTA,0.135026,,,,104318.83*47

2021-12-04T10:43:18.614Z,1638614598.614 [Micromodem](INFO): Nmea in: $CAREV,104319,AUV,2.1.4000*24

2021-12-04T10:43:18.988Z,1638614598.988 [Micromodem](INFO): Nmea in: $CAREV,104319,COPROC,0.20.0.39330*75

2021-12-04T10:43:21.026Z,1638614601.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:21.813Z,1638614601.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:22.219Z,1638614602.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:22.641Z,1638614602.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 235.187647 deg, deltaT: 4.412660 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.002025 deg/s, posRepo size: 4
2021-12-04T10:43:23.048Z,1638614603.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104323.28*53

2021-12-04T10:43:23.049Z,1638614603.049 [Micromodem](INFO): Nmea in: $CAREV,104324,AUV,2.1.4000*2A

2021-12-04T10:43:23.443Z,1638614603.443 [Micromodem](INFO): Nmea in: $CAREV,104324,COPROC,0.20.0.39330*7B

2021-12-04T10:43:25.453Z,1638614605.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:26.261Z,1638614606.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:26.659Z,1638614606.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:27.117Z,1638614607.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 234.969928 deg, deltaT: 4.476900 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.048632 deg/s, posRepo size: 4
2021-12-04T10:43:27.503Z,1638614607.503 [Micromodem](INFO): Nmea in: $SNTTA,0.118357,,,,104327.73*4E

2021-12-04T10:43:27.504Z,1638614607.504 [Micromodem](INFO): Nmea in: $CAREV,104328,AUV,2.1.4000*26

2021-12-04T10:43:27.897Z,1638614607.897 [Micromodem](INFO): Nmea in: $CAREV,104328,COPROC,0.20.0.39330*77

2021-12-04T10:43:29.981Z,1638614609.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:30.701Z,1638614610.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:31.107Z,1638614611.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:31.533Z,1638614611.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 235.073200 deg, deltaT: 4.414460 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.023394 deg/s, posRepo size: 4
2021-12-04T10:43:31.948Z,1638614611.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104332.17*5F

2021-12-04T10:43:31.949Z,1638614611.949 [Micromodem](INFO): Nmea in: $CAREV,104333,AUV,2.1.4000*2C

2021-12-04T10:43:32.340Z,1638614612.340 [Micromodem](INFO): Nmea in: $CAREV,104333,COPROC,0.20.0.39330*7D

2021-12-04T10:43:34.029Z,1638614614.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:34.742Z,1638614614.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:35.147Z,1638614615.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:35.584Z,1638614615.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 233.932640 deg, deltaT: 4.049951 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.281623 deg/s, posRepo size: 4
2021-12-04T10:43:35.996Z,1638614615.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104336.21*5E

2021-12-04T10:43:35.997Z,1638614615.997 [Micromodem](INFO): Nmea in: $CAREV,104337,AUV,2.1.4000*28

2021-12-04T10:43:36.372Z,1638614616.372 [Micromodem](INFO): Nmea in: $CAREV,104337,COPROC,0.20.0.39330*79

2021-12-04T10:43:38.396Z,1638614618.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:39.185Z,1638614619.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:39.599Z,1638614619.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:40.075Z,1638614620.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.899994 m, bearing: 234.322016 deg, deltaT: 4.492910 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.086664 deg/s, posRepo size: 4
2021-12-04T10:43:40.432Z,1638614620.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104340.65*5F

2021-12-04T10:43:40.433Z,1638614620.433 [Micromodem](INFO): Nmea in: $CAREV,104341,AUV,2.1.4000*29

2021-12-04T10:43:40.808Z,1638614620.808 [Micromodem](INFO): Nmea in: $CAREV,104341,COPROC,0.20.0.39330*78

2021-12-04T10:43:42.844Z,1638614622.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:43.642Z,1638614623.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:44.041Z,1638614624.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:44.859Z,1638614624.859 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104345.11*59

2021-12-04T10:43:44.860Z,1638614624.860 [Micromodem](INFO): Nmea in: $CAREV,104346,AUV,2.1.4000*2E

2021-12-04T10:43:44.955Z,1638614624.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.520004 m, bearing: 234.235546 deg, deltaT: 4.871934 s, deltaX: 4.620010 m, approachRate: 0.948291 m/s, LOS rate: -0.017749 deg/s, posRepo size: 4
2021-12-04T10:43:45.264Z,1638614625.264 [Micromodem](INFO): Nmea in: $CAREV,104346,COPROC,0.20.0.39330*7F

2021-12-04T10:43:47.839Z,1638614627.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:48.617Z,1638614628.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:49.008Z,1638614629.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:49.839Z,1638614629.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104350.08*55

2021-12-04T10:43:49.840Z,1638614629.840 [Micromodem](INFO): Nmea in: $CAREV,104351,AUV,2.1.4000*28

2021-12-04T10:43:49.965Z,1638614629.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.600006 m, bearing: 234.654619 deg, deltaT: 5.007456 s, deltaX: 1.080002 m, approachRate: 0.215679 m/s, LOS rate: 0.083690 deg/s, posRepo size: 4
2021-12-04T10:43:50.239Z,1638614630.239 [Micromodem](INFO): Nmea in: $CAREV,104351,COPROC,0.20.0.39330*79

2021-12-04T10:43:52.656Z,1638614632.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:53.469Z,1638614633.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:53.859Z,1638614633.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:54.679Z,1638614634.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104354.93*53

2021-12-04T10:43:54.681Z,1638614634.681 [Micromodem](INFO): Nmea in: $CAREV,104355,AUV,2.1.4000*2C

2021-12-04T10:43:54.703Z,1638614634.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.380005 m, bearing: 235.637893 deg, deltaT: 4.748636 s, deltaX: 0.779999 m, approachRate: 0.164257 m/s, LOS rate: 0.207065 deg/s, posRepo size: 4
2021-12-04T10:43:55.100Z,1638614635.100 [Micromodem](INFO): Nmea in: $CAREV,104355,COPROC,0.20.0.39330*7D

2021-12-04T10:43:57.504Z,1638614637.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:43:58.304Z,1638614638.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:43:58.707Z,1638614638.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:43:59.547Z,1638614639.547 [Micromodem](INFO): Nmea in: $SNTTA,0.122106,,,,104359.77*4C

2021-12-04T10:43:59.549Z,1638614639.549 [Micromodem](INFO): Nmea in: $CAREV,104400,AUV,2.1.4000*2B

2021-12-04T10:43:59.597Z,1638614639.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.400009 m, bearing: 233.719593 deg, deltaT: 4.894208 s, deltaX: 1.020004 m, approachRate: 0.208410 m/s, LOS rate: -0.391953 deg/s, posRepo size: 4
2021-12-04T10:43:59.960Z,1638614639.960 [Micromodem](INFO): Nmea in: $CAREV,104400,COPROC,0.20.0.39330*7A

2021-12-04T10:44:02.355Z,1638614642.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:03.153Z,1638614643.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:03.555Z,1638614643.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:04.058Z,1638614644.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.400009 m, bearing: 233.635800 deg, deltaT: 4.456718 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.018801 deg/s, posRepo size: 4
2021-12-04T10:44:04.388Z,1638614644.388 [Micromodem](INFO): Nmea in: $SNTTA,0.122543,,,,104404.62*42

2021-12-04T10:44:04.389Z,1638614644.389 [Micromodem](INFO): Nmea in: $CAREV,104405,AUV,2.1.4000*2E

2021-12-04T10:44:04.788Z,1638614644.788 [Micromodem](INFO): Nmea in: $CAREV,104405,COPROC,0.20.0.39330*7F

2021-12-04T10:44:06.820Z,1638614646.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:07.590Z,1638614647.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:07.999Z,1638614647.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:08.823Z,1638614648.823 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104409.06*50

2021-12-04T10:44:08.824Z,1638614648.824 [Micromodem](INFO): Nmea in: $CAREV,104410,AUV,2.1.4000*2A

2021-12-04T10:44:08.841Z,1638614648.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 180.720016 m, bearing: 235.993145 deg, deltaT: 4.787786 s, deltaX: 1.320007 m, approachRate: 0.275703 m/s, LOS rate: 0.492366 deg/s, posRepo size: 4
2021-12-04T10:44:09.228Z,1638614649.228 [Micromodem](INFO): Nmea in: $CAREV,104410,COPROC,0.20.0.39330*7B

2021-12-04T10:44:11.678Z,1638614651.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:12.441Z,1638614652.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:12.852Z,1638614652.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:13.705Z,1638614653.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104413.91*55

2021-12-04T10:44:13.706Z,1638614653.706 [Micromodem](INFO): Nmea in: $CAREV,104414,AUV,2.1.4000*2E

2021-12-04T10:44:13.773Z,1638614653.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 234.824690 deg, deltaT: 4.903715 s, deltaX: 0.839981 m, approachRate: 0.171295 m/s, LOS rate: -0.238279 deg/s, posRepo size: 4
2021-12-04T10:44:14.065Z,1638614654.065 [Micromodem](INFO): Nmea in: $CAREV,104414,COPROC,0.20.0.39330*7F

2021-12-04T10:44:16.488Z,1638614656.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:17.296Z,1638614657.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:17.727Z,1638614657.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:18.522Z,1638614658.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104418.76*57

2021-12-04T10:44:18.523Z,1638614658.523 [Micromodem](INFO): Nmea in: $CAREV,104419,AUV,2.1.4000*23

2021-12-04T10:44:18.560Z,1638614658.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.399994 m, bearing: 234.497688 deg, deltaT: 4.795354 s, deltaX: 0.839996 m, approachRate: 0.175169 m/s, LOS rate: -0.068191 deg/s, posRepo size: 4
2021-12-04T10:44:18.940Z,1638614658.940 [Micromodem](INFO): Nmea in: $CAREV,104419,COPROC,0.20.0.39330*72

2021-12-04T10:44:21.337Z,1638614661.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:22.140Z,1638614662.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:22.545Z,1638614662.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:23.011Z,1638614663.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.399994 m, bearing: 232.255091 deg, deltaT: 4.470245 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.501672 deg/s, posRepo size: 4
2021-12-04T10:44:23.383Z,1638614663.383 [Micromodem](INFO): Nmea in: $SNTTA,0.148004,,,,104423.61*4E

2021-12-04T10:44:23.385Z,1638614663.385 [Micromodem](INFO): Nmea in: $CAREV,104424,AUV,2.1.4000*2D

2021-12-04T10:44:23.761Z,1638614663.761 [Micromodem](INFO): Nmea in: $CAREV,104424,COPROC,0.20.0.39330*7C

2021-12-04T10:44:26.014Z,1638614666.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:26.582Z,1638614666.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:26.995Z,1638614666.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:27.806Z,1638614667.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104428.05*50

2021-12-04T10:44:27.807Z,1638614667.807 [Micromodem](INFO): Nmea in: $CAREV,104429,AUV,2.1.4000*20

2021-12-04T10:44:27.901Z,1638614667.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.199997 m, bearing: 232.865710 deg, deltaT: 4.864130 s, deltaX: 1.800003 m, approachRate: 0.370057 m/s, LOS rate: 0.125535 deg/s, posRepo size: 4
2021-12-04T10:44:28.214Z,1638614668.214 [Micromodem](INFO): Nmea in: $CAREV,104429,COPROC,0.20.0.39330*71

2021-12-04T10:44:30.659Z,1638614670.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:31.433Z,1638614671.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:31.842Z,1638614671.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:32.677Z,1638614672.677 [Micromodem](INFO): Nmea in: $SNTTA,0.132595,,,,104432.90*40

2021-12-04T10:44:32.678Z,1638614672.678 [Micromodem](INFO): Nmea in: $CAREV,104433,AUV,2.1.4000*2B

2021-12-04T10:44:32.699Z,1638614672.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.220001 m, bearing: 233.884583 deg, deltaT: 4.824700 s, deltaX: 1.020004 m, approachRate: 0.211413 m/s, LOS rate: 0.211179 deg/s, posRepo size: 4
2021-12-04T10:44:33.068Z,1638614673.068 [Micromodem](INFO): Nmea in: $CAREV,104433,COPROC,0.20.0.39330*7A

2021-12-04T10:44:35.498Z,1638614675.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:36.277Z,1638614676.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:36.686Z,1638614676.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:37.136Z,1638614677.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.220001 m, bearing: 233.702463 deg, deltaT: 4.435133 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.041063 deg/s, posRepo size: 4
2021-12-04T10:44:37.519Z,1638614677.519 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104437.74*58

2021-12-04T10:44:37.520Z,1638614677.520 [Micromodem](INFO): Nmea in: $CAREV,104438,AUV,2.1.4000*20

2021-12-04T10:44:37.913Z,1638614677.913 [Micromodem](INFO): Nmea in: $CAREV,104438,COPROC,0.20.0.39330*71

2021-12-04T10:44:39.992Z,1638614679.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:40.722Z,1638614680.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:41.127Z,1638614681.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:41.959Z,1638614681.959 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104442.19*51

2021-12-04T10:44:41.960Z,1638614681.960 [Micromodem](INFO): Nmea in: $CAREV,104443,AUV,2.1.4000*2C

2021-12-04T10:44:42.103Z,1638614682.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.840012 m, bearing: 234.940804 deg, deltaT: 4.941969 s, deltaX: 1.620010 m, approachRate: 0.327807 m/s, LOS rate: 0.250576 deg/s, posRepo size: 4
2021-12-04T10:44:42.356Z,1638614682.356 [Micromodem](INFO): Nmea in: $CAREV,104443,COPROC,0.20.0.39330*7D

2021-12-04T10:44:44.776Z,1638614684.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:45.577Z,1638614685.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:45.976Z,1638614685.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:46.799Z,1638614686.799 [Micromodem](INFO): Nmea in: $SNTTA,0.130903,,,,104447.04*4E

2021-12-04T10:44:46.800Z,1638614686.800 [Micromodem](INFO): Nmea in: $CAREV,104448,AUV,2.1.4000*27

2021-12-04T10:44:46.841Z,1638614686.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.739990 m, bearing: 235.012712 deg, deltaT: 4.740897 s, deltaX: 0.899979 m, approachRate: 0.189833 m/s, LOS rate: 0.015168 deg/s, posRepo size: 4
2021-12-04T10:44:47.200Z,1638614687.200 [Micromodem](INFO): Nmea in: $CAREV,104448,COPROC,0.20.0.39330*76

2021-12-04T10:44:49.665Z,1638614689.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:50.417Z,1638614690.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:50.826Z,1638614690.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:51.676Z,1638614691.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104451.89*5A

2021-12-04T10:44:51.677Z,1638614691.677 [Micromodem](INFO): Nmea in: $CAREV,104452,AUV,2.1.4000*2C

2021-12-04T10:44:51.741Z,1638614691.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.339996 m, bearing: 234.974217 deg, deltaT: 4.896555 s, deltaX: 0.600006 m, approachRate: 0.122536 m/s, LOS rate: -0.007862 deg/s, posRepo size: 4
2021-12-04T10:44:52.056Z,1638614692.056 [Micromodem](INFO): Nmea in: $CAREV,104452,COPROC,0.20.0.39330*7D

2021-12-04T10:44:54.465Z,1638614694.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:44:55.265Z,1638614695.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:44:55.758Z,1638614695.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:44:56.487Z,1638614696.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104456.73*58

2021-12-04T10:44:56.488Z,1638614696.488 [Micromodem](INFO): Nmea in: $CAREV,104457,AUV,2.1.4000*29

2021-12-04T10:44:56.505Z,1638614696.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.119980 m, bearing: 234.951377 deg, deltaT: 4.791389 s, deltaX: 0.779984 m, approachRate: 0.162789 m/s, LOS rate: -0.004767 deg/s, posRepo size: 4
2021-12-04T10:44:56.905Z,1638614696.905 [Micromodem](INFO): Nmea in: $CAREV,104457,COPROC,0.20.0.39330*78

2021-12-04T10:44:59.313Z,1638614699.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:00.121Z,1638614700.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:00.519Z,1638614700.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:01.029Z,1638614701.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.899994 m, bearing: 231.264085 deg, deltaT: 4.519440 s, deltaX: 0.780014 m, approachRate: 0.172591 m/s, LOS rate: -0.815874 deg/s, posRepo size: 4
2021-12-04T10:45:01.352Z,1638614701.352 [Micromodem](INFO): Nmea in: $SNTTA,0.136668,,,,104501.59*41

2021-12-04T10:45:01.353Z,1638614701.353 [Micromodem](INFO): Nmea in: $CAREV,104502,AUV,2.1.4000*28

2021-12-04T10:45:01.736Z,1638614701.736 [Micromodem](INFO): Nmea in: $CAREV,104502,COPROC,0.20.0.39330*79

2021-12-04T10:45:03.793Z,1638614703.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:04.557Z,1638614704.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:04.979Z,1638614704.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:05.791Z,1638614705.791 [Micromodem](INFO): Nmea in: $SNTTA,0.131830,,,,104506.02*4C

2021-12-04T10:45:05.791Z,1638614705.791 [Micromodem](INFO): Nmea in: $CAREV,104507,AUV,2.1.4000*2D

2021-12-04T10:45:05.873Z,1638614705.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.979980 m, bearing: 227.422145 deg, deltaT: 4.824883 s, deltaX: 1.079987 m, approachRate: 0.223837 m/s, LOS rate: -0.796276 deg/s, posRepo size: 4
2021-12-04T10:45:06.192Z,1638614706.192 [Micromodem](INFO): Nmea in: $CAREV,104507,COPROC,0.20.0.39330*7C

2021-12-04T10:45:08.629Z,1638614708.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:09.409Z,1638614709.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:09.828Z,1638614709.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:10.634Z,1638614710.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104510.88*5F

2021-12-04T10:45:10.635Z,1638614710.635 [Micromodem](INFO): Nmea in: $CAREV,104511,AUV,2.1.4000*2A

2021-12-04T10:45:10.685Z,1638614710.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.999985 m, bearing: 229.125772 deg, deltaT: 4.803222 s, deltaX: 1.020004 m, approachRate: 0.212358 m/s, LOS rate: 0.354684 deg/s, posRepo size: 4
2021-12-04T10:45:11.040Z,1638614711.040 [Micromodem](INFO): Nmea in: $CAREV,104511,COPROC,0.20.0.39330*7B

2021-12-04T10:45:13.457Z,1638614713.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:14.253Z,1638614714.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:14.669Z,1638614714.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:15.494Z,1638614715.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104515.72*5F

2021-12-04T10:45:15.495Z,1638614715.495 [Micromodem](INFO): Nmea in: $CAREV,104516,AUV,2.1.4000*2D

2021-12-04T10:45:15.512Z,1638614715.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.779999 m, bearing: 231.918281 deg, deltaT: 4.859327 s, deltaX: 0.780014 m, approachRate: 0.160519 m/s, LOS rate: 0.574670 deg/s, posRepo size: 4
2021-12-04T10:45:15.887Z,1638614715.887 [Micromodem](INFO): Nmea in: $CAREV,104516,COPROC,0.20.0.39330*7C

2021-12-04T10:45:18.313Z,1638614718.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:19.101Z,1638614719.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:19.513Z,1638614719.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:19.997Z,1638614719.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.779999 m, bearing: 235.006701 deg, deltaT: 4.484178 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.688737 deg/s, posRepo size: 4
2021-12-04T10:45:20.377Z,1638614720.377 [Micromodem](INFO): Nmea in: $SNTTA,0.135215,,,,104520.57*41

2021-12-04T10:45:20.405Z,1638614720.405 [Micromodem](INFO): Nmea in: $CAREV,104521,AUV,2.1.4000*29

2021-12-04T10:45:20.728Z,1638614720.728 [Micromodem](INFO): Nmea in: $CAREV,104521,COPROC,0.20.0.39330*78

2021-12-04T10:45:22.749Z,1638614722.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:23.541Z,1638614723.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:23.971Z,1638614723.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:24.771Z,1638614724.771 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104525.01*58

2021-12-04T10:45:24.772Z,1638614724.772 [Micromodem](INFO): Nmea in: $CAREV,104526,AUV,2.1.4000*2E

2021-12-04T10:45:24.789Z,1638614724.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.639999 m, bearing: 238.604380 deg, deltaT: 4.793013 s, deltaX: 1.860001 m, approachRate: 0.388065 m/s, LOS rate: 0.750609 deg/s, posRepo size: 4
2021-12-04T10:45:25.164Z,1638614725.164 [Micromodem](INFO): Nmea in: $CAREV,104526,COPROC,0.20.0.39330*7F

2021-12-04T10:45:27.597Z,1638614727.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:28.393Z,1638614728.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:28.799Z,1638614728.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:29.636Z,1638614729.636 [Micromodem](INFO): Nmea in: $SNTTA,0.141100,,,,104529.86*40

2021-12-04T10:45:29.641Z,1638614729.641 [Micromodem](INFO): Nmea in: $CAREV,104530,AUV,2.1.4000*29

2021-12-04T10:45:29.720Z,1638614729.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.300003 m, bearing: 242.862539 deg, deltaT: 4.928534 s, deltaX: 0.660004 m, approachRate: 0.133915 m/s, LOS rate: 0.863981 deg/s, posRepo size: 4
2021-12-04T10:45:30.016Z,1638614730.016 [Micromodem](INFO): Nmea in: $CAREV,104530,COPROC,0.20.0.39330*78

2021-12-04T10:45:32.441Z,1638614732.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:33.241Z,1638614733.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:33.680Z,1638614733.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:34.480Z,1638614734.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.259979 m, bearing: 247.699925 deg, deltaT: 4.761717 s, deltaX: 0.959976 m, approachRate: 0.201603 m/s, LOS rate: 1.015891 deg/s, posRepo size: 4
2021-12-04T10:45:37.292Z,1638614737.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:38.085Z,1638614738.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:38.495Z,1638614738.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:39.307Z,1638614739.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104539.55*54

2021-12-04T10:45:39.311Z,1638614739.311 [Micromodem](INFO): Nmea in: $CAREV,104540,AUV,2.1.4000*2E

2021-12-04T10:45:39.330Z,1638614739.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.279984 m, bearing: 346.357172 deg, deltaT: 4.849952 s, deltaX: 1.020004 m, approachRate: 0.210312 m/s, LOS rate: 20.341902 deg/s, posRepo size: 4
2021-12-04T10:45:39.728Z,1638614739.728 [Micromodem](INFO): Nmea in: $CAREV,104540,COPROC,0.20.0.39330*7F

2021-12-04T10:45:42.153Z,1638614742.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:42.961Z,1638614742.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:43.347Z,1638614743.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:44.164Z,1638614744.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104544.43*59

2021-12-04T10:45:44.165Z,1638614744.165 [Micromodem](INFO): Nmea in: $CAREV,104545,AUV,2.1.4000*2B

2021-12-04T10:45:44.220Z,1638614744.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.419983 m, bearing: 290.672060 deg, deltaT: 4.886716 s, deltaX: 1.139999 m, approachRate: 0.233285 m/s, LOS rate: -11.395201 deg/s, posRepo size: 4
2021-12-04T10:45:44.564Z,1638614744.564 [Micromodem](INFO): Nmea in: $CAREV,104545,COPROC,0.20.0.39330*7A

2021-12-04T10:45:46.997Z,1638614746.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:47.785Z,1638614747.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:48.183Z,1638614748.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:49.007Z,1638614749.007 [Micromodem](INFO): Nmea in: $SNTTA,0.135205,,,,104549.25*4A

2021-12-04T10:45:49.008Z,1638614749.008 [Micromodem](INFO): Nmea in: $CAREV,104550,AUV,2.1.4000*2F

2021-12-04T10:45:49.035Z,1638614749.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.199997 m, bearing: 306.878159 deg, deltaT: 4.819045 s, deltaX: 0.780014 m, approachRate: 0.161861 m/s, LOS rate: 3.362928 deg/s, posRepo size: 4
2021-12-04T10:45:49.412Z,1638614749.412 [Micromodem](INFO): Nmea in: $CAREV,104550,COPROC,0.20.0.39330*7E

2021-12-04T10:45:51.872Z,1638614751.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:52.641Z,1638614752.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:53.043Z,1638614753.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:53.873Z,1638614753.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104554.11*5F

2021-12-04T10:45:53.874Z,1638614753.874 [Micromodem](INFO): Nmea in: $CAREV,104555,AUV,2.1.4000*2A

2021-12-04T10:45:54.001Z,1638614754.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.039993 m, bearing: 307.799470 deg, deltaT: 4.957380 s, deltaX: 0.839996 m, approachRate: 0.169444 m/s, LOS rate: 0.185846 deg/s, posRepo size: 4
2021-12-04T10:45:54.272Z,1638614754.272 [Micromodem](INFO): Nmea in: $CAREV,104555,COPROC,0.20.0.39330*7B

2021-12-04T10:45:56.696Z,1638614756.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:45:57.496Z,1638614757.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:45:57.896Z,1638614757.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:45:58.715Z,1638614758.715 [Micromodem](INFO): Nmea in: $SNTTA,0.140208,,,,104558.97*4C

2021-12-04T10:45:58.716Z,1638614758.716 [Micromodem](INFO): Nmea in: $CAREV,104600,AUV,2.1.4000*29

2021-12-04T10:45:58.733Z,1638614758.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.999985 m, bearing: 296.759261 deg, deltaT: 4.740698 s, deltaX: 0.959991 m, approachRate: 0.202500 m/s, LOS rate: -2.328815 deg/s, posRepo size: 4
2021-12-04T10:45:59.116Z,1638614759.116 [Micromodem](INFO): Nmea in: $CAREV,104600,COPROC,0.20.0.39330*78

2021-12-04T10:46:01.541Z,1638614761.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:02.330Z,1638614762.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:02.747Z,1638614762.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:03.569Z,1638614763.569 [Micromodem](INFO): Nmea in: $SNTTA,0.148368,,,,104603.80*48

2021-12-04T10:46:03.570Z,1638614763.570 [Micromodem](INFO): Nmea in: $CAREV,104604,AUV,2.1.4000*2D

2021-12-04T10:46:03.594Z,1638614763.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.959991 m, bearing: 288.796108 deg, deltaT: 4.860677 s, deltaX: 0.960007 m, approachRate: 0.197505 m/s, LOS rate: -1.638281 deg/s, posRepo size: 4
2021-12-04T10:46:03.976Z,1638614763.976 [Micromodem](INFO): Nmea in: $CAREV,104604,COPROC,0.20.0.39330*7C

2021-12-04T10:46:06.397Z,1638614766.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:07.181Z,1638614767.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:07.593Z,1638614767.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:08.426Z,1638614768.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104608.65*56

2021-12-04T10:46:08.427Z,1638614768.427 [Micromodem](INFO): Nmea in: $CAREV,104609,AUV,2.1.4000*20

2021-12-04T10:46:08.446Z,1638614768.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.679977 m, bearing: 295.468219 deg, deltaT: 4.851208 s, deltaX: 0.719986 m, approachRate: 0.148414 m/s, LOS rate: 1.375350 deg/s, posRepo size: 4
2021-12-04T10:46:08.808Z,1638614768.808 [Micromodem](INFO): Nmea in: $CAREV,104609,COPROC,0.20.0.39330*71

2021-12-04T10:46:11.263Z,1638614771.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:12.041Z,1638614772.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:12.450Z,1638614772.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:13.268Z,1638614773.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104613.51*5B

2021-12-04T10:46:13.270Z,1638614773.270 [Micromodem](INFO): Nmea in: $CAREV,104614,AUV,2.1.4000*2C

2021-12-04T10:46:13.355Z,1638614773.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.519989 m, bearing: 298.692587 deg, deltaT: 4.897430 s, deltaX: 0.840012 m, approachRate: 0.171521 m/s, LOS rate: 0.658380 deg/s, posRepo size: 4
2021-12-04T10:46:13.708Z,1638614773.708 [Micromodem](INFO): Nmea in: $CAREV,104614,COPROC,0.20.0.39330*7D

2021-12-04T10:46:16.111Z,1638614776.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:16.889Z,1638614776.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:17.294Z,1638614777.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:18.111Z,1638614778.111 [Micromodem](INFO): Nmea in: $SNTTA,0.154307,,,,104618.36*4B

2021-12-04T10:46:18.112Z,1638614778.112 [Micromodem](INFO): Nmea in: $CAREV,104619,AUV,2.1.4000*21

2021-12-04T10:46:18.213Z,1638614778.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.419998 m, bearing: 314.162091 deg, deltaT: 4.865921 s, deltaX: 0.900009 m, approachRate: 0.184962 m/s, LOS rate: 3.179152 deg/s, posRepo size: 4
2021-12-04T10:46:18.508Z,1638614778.508 [Micromodem](INFO): Nmea in: $CAREV,104619,COPROC,0.20.0.39330*70

2021-12-04T10:46:20.970Z,1638614780.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:21.733Z,1638614781.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:22.163Z,1638614782.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:22.966Z,1638614782.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104623.20*5E

2021-12-04T10:46:22.967Z,1638614782.967 [Micromodem](INFO): Nmea in: $CAREV,104624,AUV,2.1.4000*2F

2021-12-04T10:46:23.036Z,1638614783.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.839996 m, bearing: 323.796538 deg, deltaT: 4.817053 s, deltaX: 0.419998 m, approachRate: 0.087190 m/s, LOS rate: 2.000071 deg/s, posRepo size: 4
2021-12-04T10:46:23.363Z,1638614783.363 [Micromodem](INFO): Nmea in: $CAREV,104624,COPROC,0.20.0.39330*7E

2021-12-04T10:46:25.799Z,1638614785.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:26.577Z,1638614786.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:26.984Z,1638614786.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:27.807Z,1638614787.807 [Micromodem](INFO): Nmea in: $SNTTA,,0.151212,,,104628.05*48

2021-12-04T10:46:27.808Z,1638614787.808 [Micromodem](INFO): Nmea in: $CAREV,104629,AUV,2.1.4000*22

2021-12-04T10:46:27.924Z,1638614787.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.279999 m, bearing: 331.040472 deg, deltaT: 4.843722 s, deltaX: 1.440002 m, approachRate: 0.297293 m/s, LOS rate: 1.495531 deg/s, posRepo size: 4
2021-12-04T10:46:28.204Z,1638614788.204 [Micromodem](INFO): Nmea in: $CAREV,104629,COPROC,0.20.0.39330*73

2021-12-04T10:46:30.628Z,1638614790.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:31.424Z,1638614791.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:31.836Z,1638614791.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:32.659Z,1638614792.659 [Micromodem](INFO): Nmea in: $SNTTA,0.140115,,,,104632.89*43

2021-12-04T10:46:32.660Z,1638614792.660 [Micromodem](INFO): Nmea in: $CAREV,104633,AUV,2.1.4000*29

2021-12-04T10:46:32.700Z,1638614792.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 327.217288 deg, deltaT: 4.830699 s, deltaX: 0.720001 m, approachRate: 0.149047 m/s, LOS rate: -0.791435 deg/s, posRepo size: 4
2021-12-04T10:46:33.052Z,1638614793.052 [Micromodem](INFO): Nmea in: $CAREV,104633,COPROC,0.20.0.39330*78

2021-12-04T10:46:35.473Z,1638614795.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:36.272Z,1638614796.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:36.679Z,1638614796.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:37.503Z,1638614797.503 [Micromodem](INFO): Nmea in: $SNTTA,0.140963,,,,104637.74*4D

2021-12-04T10:46:37.504Z,1638614797.504 [Micromodem](INFO): Nmea in: $CAREV,104638,AUV,2.1.4000*22

2021-12-04T10:46:37.521Z,1638614797.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.019989 m, bearing: 325.584326 deg, deltaT: 4.821399 s, deltaX: 1.019989 m, approachRate: 0.211555 m/s, LOS rate: -0.338690 deg/s, posRepo size: 4
2021-12-04T10:46:37.908Z,1638614797.908 [Micromodem](INFO): Nmea in: $CAREV,104638,COPROC,0.20.0.39330*73

2021-12-04T10:46:40.321Z,1638614800.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:41.121Z,1638614801.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:41.536Z,1638614801.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:42.359Z,1638614802.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104642.59*57

2021-12-04T10:46:42.360Z,1638614802.360 [Micromodem](INFO): Nmea in: $CAREV,104643,AUV,2.1.4000*2E

2021-12-04T10:46:42.378Z,1638614802.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.979996 m, bearing: 329.494582 deg, deltaT: 4.856357 s, deltaX: 0.960007 m, approachRate: 0.197680 m/s, LOS rate: 0.805183 deg/s, posRepo size: 4
2021-12-04T10:46:42.744Z,1638614802.744 [Micromodem](INFO): Nmea in: $CAREV,104643,COPROC,0.20.0.39330*7F

2021-12-04T10:46:45.190Z,1638614805.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:45.969Z,1638614805.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:46.375Z,1638614806.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:47.223Z,1638614807.223 [Micromodem](INFO): Nmea in: $SNTTA,0.142378,,,,104647.44*4B

2021-12-04T10:46:47.224Z,1638614807.224 [Micromodem](INFO): Nmea in: $CAREV,104648,AUV,2.1.4000*25

2021-12-04T10:46:47.279Z,1638614807.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.639984 m, bearing: 333.521771 deg, deltaT: 4.892703 s, deltaX: 0.659988 m, approachRate: 0.134892 m/s, LOS rate: 0.823101 deg/s, posRepo size: 4
2021-12-04T10:46:47.588Z,1638614807.588 [Micromodem](INFO): Nmea in: $CAREV,104648,COPROC,0.20.0.39330*74

2021-12-04T10:46:50.057Z,1638614810.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:50.829Z,1638614810.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:51.223Z,1638614811.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:52.050Z,1638614812.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104652.30*59

2021-12-04T10:46:52.051Z,1638614812.051 [Micromodem](INFO): Nmea in: $CAREV,104653,AUV,2.1.4000*2F

2021-12-04T10:46:52.111Z,1638614812.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.659973 m, bearing: 335.118833 deg, deltaT: 4.836019 s, deltaX: 1.019989 m, approachRate: 0.210915 m/s, LOS rate: 0.330243 deg/s, posRepo size: 4
2021-12-04T10:46:52.452Z,1638614812.452 [Micromodem](INFO): Nmea in: $CAREV,104653,COPROC,0.20.0.39330*7E

2021-12-04T10:46:54.876Z,1638614814.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:46:55.705Z,1638614815.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:46:56.071Z,1638614816.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:46:56.906Z,1638614816.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104657.17*59

2021-12-04T10:46:56.915Z,1638614816.915 [Micromodem](INFO): Nmea in: $CAREV,104658,AUV,2.1.4000*24

2021-12-04T10:46:56.983Z,1638614816.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.559998 m, bearing: 31.257483 deg, deltaT: 4.867905 s, deltaX: 0.900024 m, approachRate: 0.184889 m/s, LOS rate: 11.532406 deg/s, posRepo size: 4
2021-12-04T10:46:57.300Z,1638614817.300 [Micromodem](INFO): Nmea in: $CAREV,104658,COPROC,0.20.0.39330*75

2021-12-04T10:46:59.758Z,1638614819.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:00.530Z,1638614820.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:00.931Z,1638614820.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:01.740Z,1638614821.740 [Micromodem](INFO): Nmea in: $SNTTA,0.157781,,,,104702.00*4D

2021-12-04T10:47:01.742Z,1638614821.742 [Micromodem](INFO): Nmea in: $CAREV,104703,AUV,2.1.4000*2B

2021-12-04T10:47:01.814Z,1638614821.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.279984 m, bearing: 34.569872 deg, deltaT: 4.835336 s, deltaX: 0.719986 m, approachRate: 0.148901 m/s, LOS rate: 0.685038 deg/s, posRepo size: 4
2021-12-04T10:47:02.169Z,1638614822.169 [Micromodem](INFO): Nmea in: $CAREV,104703,COPROC,0.20.0.39330*7A

2021-12-04T10:47:04.569Z,1638614824.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:05.376Z,1638614825.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:05.768Z,1638614825.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:06.596Z,1638614826.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.239990 m, bearing: 42.839100 deg, deltaT: 4.785883 s, deltaX: 0.960007 m, approachRate: 0.200591 m/s, LOS rate: 1.727837 deg/s, posRepo size: 4
2021-12-04T10:47:09.412Z,1638614829.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:10.209Z,1638614830.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:10.615Z,1638614830.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:11.437Z,1638614831.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104711.68*52

2021-12-04T10:47:11.438Z,1638614831.438 [Micromodem](INFO): Nmea in: $CAREV,104712,AUV,2.1.4000*2B

2021-12-04T10:47:11.832Z,1638614831.832 [Micromodem](INFO): Nmea in: $CAREV,104712,COPROC,0.20.0.39330*7A

2021-12-04T10:47:12.261Z,1638614832.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:13.844Z,1638614833.844 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T10:47:15.086Z,1638614835.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:15.866Z,1638614835.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:16.280Z,1638614836.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:17.112Z,1638614837.112 [Micromodem](INFO): Nmea in: $SNTTA,0.150905,,,,104717.33*4C

2021-12-04T10:47:17.113Z,1638614837.113 [Micromodem](INFO): Nmea in: $CAREV,104718,AUV,2.1.4000*21

2021-12-04T10:47:17.141Z,1638614837.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.979996 m, bearing: 60.453321 deg, deltaT: 10.545445 s, deltaX: 1.740005 m, approachRate: 0.165001 m/s, LOS rate: 1.670316 deg/s, posRepo size: 4
2021-12-04T10:47:17.496Z,1638614837.496 [Micromodem](INFO): Nmea in: $CAREV,104718,COPROC,0.20.0.39330*70

2021-12-04T10:47:19.965Z,1638614839.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:20.721Z,1638614840.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:21.115Z,1638614841.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:21.958Z,1638614841.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104722.19*54

2021-12-04T10:47:21.959Z,1638614841.959 [Micromodem](INFO): Nmea in: $CAREV,104723,AUV,2.1.4000*29

2021-12-04T10:47:22.042Z,1638614842.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.459991 m, bearing: 23.411713 deg, deltaT: 4.900727 s, deltaX: 0.479996 m, approachRate: 0.097944 m/s, LOS rate: -7.558391 deg/s, posRepo size: 4
2021-12-04T10:47:22.348Z,1638614842.348 [Micromodem](INFO): Nmea in: $CAREV,104723,COPROC,0.20.0.39330*78

2021-12-04T10:47:24.764Z,1638614844.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:25.569Z,1638614845.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:25.988Z,1638614845.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:26.795Z,1638614846.795 [Micromodem](INFO): Nmea in: $SNTTA,0.146173,,,,104727.04*45

2021-12-04T10:47:26.796Z,1638614846.796 [Micromodem](INFO): Nmea in: $CAREV,104728,AUV,2.1.4000*22

2021-12-04T10:47:26.841Z,1638614846.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.419983 m, bearing: 28.484397 deg, deltaT: 4.771328 s, deltaX: 0.959991 m, approachRate: 0.201200 m/s, LOS rate: 1.063160 deg/s, posRepo size: 4
2021-12-04T10:47:27.208Z,1638614847.208 [Micromodem](INFO): Nmea in: $CAREV,104728,COPROC,0.20.0.39330*73

2021-12-04T10:47:29.661Z,1638614849.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:30.405Z,1638614850.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:30.844Z,1638614850.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:31.656Z,1638614851.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104731.87*51

2021-12-04T10:47:31.667Z,1638614851.667 [Micromodem](INFO): Nmea in: $CAREV,104732,AUV,2.1.4000*29

2021-12-04T10:47:31.739Z,1638614851.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.379990 m, bearing: 52.574790 deg, deltaT: 4.917516 s, deltaX: 0.960007 m, approachRate: 0.195222 m/s, LOS rate: 4.898895 deg/s, posRepo size: 4
2021-12-04T10:47:32.032Z,1638614852.032 [Micromodem](INFO): Nmea in: $CAREV,104732,COPROC,0.20.0.39330*78

2021-12-04T10:47:34.457Z,1638614854.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:35.253Z,1638614855.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:35.691Z,1638614855.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:36.481Z,1638614856.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104736.72*5C

2021-12-04T10:47:36.482Z,1638614856.482 [Micromodem](INFO): Nmea in: $CAREV,104737,AUV,2.1.4000*2C

2021-12-04T10:47:36.880Z,1638614856.880 [Micromodem](INFO): Nmea in: $CAREV,104737,COPROC,0.20.0.39330*7D

2021-12-04T10:47:37.309Z,1638614857.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:38.891Z,1638614858.891 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T10:47:40.134Z,1638614860.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:40.923Z,1638614860.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:41.319Z,1638614861.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:42.145Z,1638614862.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104742.39*50

2021-12-04T10:47:42.146Z,1638614862.146 [Micromodem](INFO): Nmea in: $CAREV,104743,AUV,2.1.4000*2F

2021-12-04T10:47:42.215Z,1638614862.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.300003 m, bearing: 44.916700 deg, deltaT: 10.442247 s, deltaX: 1.920013 m, approachRate: 0.183870 m/s, LOS rate: -0.733376 deg/s, posRepo size: 4
2021-12-04T10:47:42.544Z,1638614862.544 [Micromodem](INFO): Nmea in: $CAREV,104743,COPROC,0.20.0.39330*7E

2021-12-04T10:47:44.994Z,1638614864.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:45.753Z,1638614865.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:46.179Z,1638614866.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:46.990Z,1638614866.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104747.22*5F

2021-12-04T10:47:46.991Z,1638614866.991 [Micromodem](INFO): Nmea in: $CAREV,104748,AUV,2.1.4000*24

2021-12-04T10:47:47.055Z,1638614867.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.079987 m, bearing: 57.638525 deg, deltaT: 4.873753 s, deltaX: 0.779984 m, approachRate: 0.160038 m/s, LOS rate: 2.610273 deg/s, posRepo size: 4
2021-12-04T10:47:47.384Z,1638614867.384 [Micromodem](INFO): Nmea in: $CAREV,104748,COPROC,0.20.0.39330*75

2021-12-04T10:47:49.840Z,1638614869.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:50.609Z,1638614870.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:51.028Z,1638614871.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:51.843Z,1638614871.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104752.08*53

2021-12-04T10:47:51.844Z,1638614871.844 [Micromodem](INFO): Nmea in: $CAREV,104753,AUV,2.1.4000*2E

2021-12-04T10:47:51.945Z,1638614871.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.099991 m, bearing: 64.941452 deg, deltaT: 4.898697 s, deltaX: 1.020004 m, approachRate: 0.208220 m/s, LOS rate: 1.490790 deg/s, posRepo size: 4
2021-12-04T10:47:52.256Z,1638614872.256 [Micromodem](INFO): Nmea in: $CAREV,104753,COPROC,0.20.0.39330*7F

2021-12-04T10:47:54.660Z,1638614874.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:47:55.465Z,1638614875.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:47:55.892Z,1638614875.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:47:56.683Z,1638614876.683 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104756.94*52

2021-12-04T10:47:56.686Z,1638614876.686 [Micromodem](INFO): Nmea in: $CAREV,104757,AUV,2.1.4000*2A

2021-12-04T10:47:56.709Z,1638614876.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.599991 m, bearing: 69.073833 deg, deltaT: 4.763454 s, deltaX: 1.500000 m, approachRate: 0.314898 m/s, LOS rate: 0.867518 deg/s, posRepo size: 4
2021-12-04T10:47:57.085Z,1638614877.085 [Micromodem](INFO): Nmea in: $CAREV,104757,COPROC,0.20.0.39330*7B

2021-12-04T10:47:59.508Z,1638614879.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:00.297Z,1638614880.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:00.713Z,1638614880.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:01.536Z,1638614881.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104801.77*52

2021-12-04T10:48:01.537Z,1638614881.537 [Micromodem](INFO): Nmea in: $CAREV,104802,AUV,2.1.4000*25

2021-12-04T10:48:01.564Z,1638614881.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.720001 m, bearing: 78.774252 deg, deltaT: 4.852885 s, deltaX: 0.120010 m, approachRate: 0.024730 m/s, LOS rate: 1.998897 deg/s, posRepo size: 4
2021-12-04T10:48:01.965Z,1638614881.965 [Micromodem](INFO): Nmea in: $CAREV,104802,COPROC,0.20.0.39330*74

2021-12-04T10:48:04.357Z,1638614884.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:05.153Z,1638614885.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:05.567Z,1638614885.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:06.374Z,1638614886.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104806.62*51

2021-12-04T10:48:06.375Z,1638614886.375 [Micromodem](INFO): Nmea in: $CAREV,104807,AUV,2.1.4000*20

2021-12-04T10:48:06.393Z,1638614886.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.559998 m, bearing: 86.653025 deg, deltaT: 4.831129 s, deltaX: 0.839996 m, approachRate: 0.173872 m/s, LOS rate: 1.630835 deg/s, posRepo size: 4
2021-12-04T10:48:06.781Z,1638614886.781 [Micromodem](INFO): Nmea in: $CAREV,104807,COPROC,0.20.0.39330*71

2021-12-04T10:48:09.211Z,1638614889.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:09.997Z,1638614889.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:10.411Z,1638614890.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:11.225Z,1638614891.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104811.47*50

2021-12-04T10:48:11.226Z,1638614891.226 [Micromodem](INFO): Nmea in: $CAREV,104812,AUV,2.1.4000*24

2021-12-04T10:48:11.632Z,1638614891.632 [Micromodem](INFO): Nmea in: $CAREV,104812,COPROC,0.20.0.39330*75

2021-12-04T10:48:12.081Z,1638614892.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:13.662Z,1638614893.662 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T10:48:14.865Z,1638614894.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:15.686Z,1638614895.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:16.063Z,1638614896.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:16.887Z,1638614896.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104817.16*52

2021-12-04T10:48:16.895Z,1638614896.895 [Micromodem](INFO): Nmea in: $CAREV,104818,AUV,2.1.4000*2E

2021-12-04T10:48:17.277Z,1638614897.277 [Micromodem](INFO): Nmea in: $CAREV,104818,COPROC,0.20.0.39330*7F

2021-12-04T10:48:17.741Z,1638614897.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:19.292Z,1638614899.292 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T10:48:20.512Z,1638614900.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:21.318Z,1638614901.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:21.726Z,1638614901.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:22.547Z,1638614902.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104822.79*5D

2021-12-04T10:48:22.548Z,1638614902.548 [Micromodem](INFO): Nmea in: $CAREV,104823,AUV,2.1.4000*26

2021-12-04T10:48:22.601Z,1638614902.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.559982 m, bearing: 136.704884 deg, deltaT: 16.200492 s, deltaX: 2.999985 m, approachRate: 0.185179 m/s, LOS rate: 3.089527 deg/s, posRepo size: 4
2021-12-04T10:48:22.960Z,1638614902.960 [Micromodem](INFO): Nmea in: $CAREV,104823,COPROC,0.20.0.39330*77

2021-12-04T10:48:25.014Z,1638614905.014 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:48:25.393Z,1638614905.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:26.161Z,1638614906.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:26.571Z,1638614906.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:27.395Z,1638614907.395 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104827.63*53

2021-12-04T10:48:27.396Z,1638614907.396 [Micromodem](INFO): Nmea in: $CAREV,104828,AUV,2.1.4000*2D

2021-12-04T10:48:27.452Z,1638614907.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.519989 m, bearing: 28.300764 deg, deltaT: 4.854225 s, deltaX: 0.960007 m, approachRate: 0.197767 m/s, LOS rate: -22.331910 deg/s, posRepo size: 4
2021-12-04T10:48:27.788Z,1638614907.788 [Micromodem](INFO): Nmea in: $CAREV,104828,COPROC,0.20.0.39330*7C

2021-12-04T10:48:30.242Z,1638614910.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:31.013Z,1638614911.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:31.415Z,1638614911.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:32.255Z,1638614912.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104832.48*5E

2021-12-04T10:48:32.256Z,1638614912.256 [Micromodem](INFO): Nmea in: $CAREV,104833,AUV,2.1.4000*27

2021-12-04T10:48:32.320Z,1638614912.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.479996 m, bearing: 38.735700 deg, deltaT: 4.868288 s, deltaX: 0.960007 m, approachRate: 0.197196 m/s, LOS rate: 2.143451 deg/s, posRepo size: 4
2021-12-04T10:48:32.644Z,1638614912.644 [Micromodem](INFO): Nmea in: $CAREV,104833,COPROC,0.20.0.39330*76

2021-12-04T10:48:35.063Z,1638614915.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:35.861Z,1638614915.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:36.267Z,1638614916.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:37.087Z,1638614917.087 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104837.33*57

2021-12-04T10:48:37.088Z,1638614917.088 [Micromodem](INFO): Nmea in: $CAREV,104838,AUV,2.1.4000*2C

2021-12-04T10:48:37.150Z,1638614917.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.439987 m, bearing: 67.020173 deg, deltaT: 4.826340 s, deltaX: 0.959991 m, approachRate: 0.198907 m/s, LOS rate: 5.860439 deg/s, posRepo size: 4
2021-12-04T10:48:37.492Z,1638614917.492 [Micromodem](INFO): Nmea in: $CAREV,104838,COPROC,0.20.0.39330*7D

2021-12-04T10:48:39.967Z,1638614919.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:40.774Z,1638614920.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:41.232Z,1638614921.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:42.035Z,1638614922.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104842.24*53

2021-12-04T10:48:42.036Z,1638614922.036 [Micromodem](INFO): Nmea in: $CAREV,104843,AUV,2.1.4000*20

2021-12-04T10:48:42.125Z,1638614922.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.459976 m, bearing: 63.384695 deg, deltaT: 4.966634 s, deltaX: 1.019989 m, approachRate: 0.205368 m/s, LOS rate: -0.731980 deg/s, posRepo size: 4
2021-12-04T10:48:42.448Z,1638614922.448 [Micromodem](INFO): Nmea in: $CAREV,104843,COPROC,0.20.0.39330*71

2021-12-04T10:48:44.868Z,1638614924.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:45.701Z,1638614925.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:46.079Z,1638614926.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:46.892Z,1638614926.892 [Micromodem](INFO): Nmea in: $SNTTA,0.156241,,,,104847.17*4D

2021-12-04T10:48:46.896Z,1638614926.896 [Micromodem](INFO): Nmea in: $CAREV,104848,AUV,2.1.4000*2B

2021-12-04T10:48:46.981Z,1638614926.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.299988 m, bearing: 66.273565 deg, deltaT: 4.867771 s, deltaX: 0.840012 m, approachRate: 0.172566 m/s, LOS rate: 0.593469 deg/s, posRepo size: 4
2021-12-04T10:48:47.307Z,1638614927.307 [Micromodem](INFO): Nmea in: $CAREV,104848,COPROC,0.20.0.39330*7A

2021-12-04T10:48:49.752Z,1638614929.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:50.513Z,1638614930.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:50.936Z,1638614930.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:51.745Z,1638614931.745 [Micromodem](INFO): Nmea in: $SNTTA,0.157082,,,,104851.98*41

2021-12-04T10:48:51.746Z,1638614931.746 [Micromodem](INFO): Nmea in: $CAREV,104853,AUV,2.1.4000*21

2021-12-04T10:48:51.826Z,1638614931.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.079987 m, bearing: 67.613463 deg, deltaT: 4.849073 s, deltaX: 0.779999 m, approachRate: 0.160855 m/s, LOS rate: 0.276321 deg/s, posRepo size: 4
2021-12-04T10:48:52.148Z,1638614932.148 [Micromodem](INFO): Nmea in: $CAREV,104853,COPROC,0.20.0.39330*70

2021-12-04T10:48:54.572Z,1638614934.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:48:55.373Z,1638614935.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:48:55.775Z,1638614935.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:48:56.588Z,1638614936.588 [Micromodem](INFO): Nmea in: $SNTTA,0.157370,,,,104856.84*45

2021-12-04T10:48:56.589Z,1638614936.589 [Micromodem](INFO): Nmea in: $CAREV,104857,AUV,2.1.4000*25

2021-12-04T10:48:56.607Z,1638614936.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.099991 m, bearing: 72.282765 deg, deltaT: 4.781665 s, deltaX: 1.020004 m, approachRate: 0.213316 m/s, LOS rate: 0.976501 deg/s, posRepo size: 4
2021-12-04T10:48:57.000Z,1638614937.000 [Micromodem](INFO): Nmea in: $CAREV,104857,COPROC,0.20.0.39330*74

2021-12-04T10:48:59.416Z,1638614939.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:00.217Z,1638614940.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:00.627Z,1638614940.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:01.441Z,1638614941.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104901.69*5C

2021-12-04T10:49:01.442Z,1638614941.442 [Micromodem](INFO): Nmea in: $CAREV,104902,AUV,2.1.4000*24

2021-12-04T10:49:01.462Z,1638614941.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.939987 m, bearing: 136.598729 deg, deltaT: 4.854062 s, deltaX: 0.839996 m, approachRate: 0.173050 m/s, LOS rate: 13.249927 deg/s, posRepo size: 4
2021-12-04T10:49:01.852Z,1638614941.852 [Micromodem](INFO): Nmea in: $CAREV,104902,COPROC,0.20.0.39330*75

2021-12-04T10:49:04.288Z,1638614944.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:05.062Z,1638614945.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:05.463Z,1638614945.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:06.286Z,1638614946.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104906.53*52

2021-12-04T10:49:06.287Z,1638614946.287 [Micromodem](INFO): Nmea in: $CAREV,104907,AUV,2.1.4000*21

2021-12-04T10:49:06.326Z,1638614946.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.899994 m, bearing: 135.240013 deg, deltaT: 4.844082 s, deltaX: 0.960007 m, approachRate: 0.198181 m/s, LOS rate: -0.280490 deg/s, posRepo size: 4
2021-12-04T10:49:06.680Z,1638614946.680 [Micromodem](INFO): Nmea in: $CAREV,104907,COPROC,0.20.0.39330*70

2021-12-04T10:49:09.152Z,1638614949.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:09.931Z,1638614949.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:10.307Z,1638614950.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:11.132Z,1638614951.132 [Micromodem](INFO): Nmea in: $SNTTA,0.159625,,,,104911.40*44

2021-12-04T10:49:11.138Z,1638614951.138 [Micromodem](INFO): Nmea in: $CAREV,104912,AUV,2.1.4000*25

2021-12-04T10:49:11.191Z,1638614951.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.679977 m, bearing: 81.999556 deg, deltaT: 4.877162 s, deltaX: 0.779984 m, approachRate: 0.159926 m/s, LOS rate: -10.916278 deg/s, posRepo size: 4
2021-12-04T10:49:11.532Z,1638614951.532 [Micromodem](INFO): Nmea in: $CAREV,104912,COPROC,0.20.0.39330*74

2021-12-04T10:49:14.032Z,1638614954.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:14.753Z,1638614954.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:15.159Z,1638614955.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:15.986Z,1638614955.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104916.22*55

2021-12-04T10:49:15.987Z,1638614955.987 [Micromodem](INFO): Nmea in: $CAREV,104917,AUV,2.1.4000*20

2021-12-04T10:49:16.069Z,1638614956.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.459991 m, bearing: 128.156479 deg, deltaT: 4.882639 s, deltaX: 0.780014 m, approachRate: 0.159753 m/s, LOS rate: 9.453274 deg/s, posRepo size: 4
2021-12-04T10:49:16.372Z,1638614956.372 [Micromodem](INFO): Nmea in: $CAREV,104917,COPROC,0.20.0.39330*71

2021-12-04T10:49:18.824Z,1638614958.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:19.612Z,1638614959.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:20.003Z,1638614960.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:20.869Z,1638614960.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104921.08*59

2021-12-04T10:49:20.871Z,1638614960.871 [Micromodem](INFO): Nmea in: $CAREV,104922,AUV,2.1.4000*26

2021-12-04T10:49:20.960Z,1638614960.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.539978 m, bearing: 121.071728 deg, deltaT: 4.890653 s, deltaX: 1.079987 m, approachRate: 0.220827 m/s, LOS rate: -1.448631 deg/s, posRepo size: 4
2021-12-04T10:49:21.228Z,1638614961.228 [Micromodem](INFO): Nmea in: $CAREV,104922,COPROC,0.20.0.39330*77

2021-12-04T10:49:23.703Z,1638614963.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:24.449Z,1638614964.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:24.847Z,1638614964.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:25.696Z,1638614965.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104925.92*5E

2021-12-04T10:49:25.697Z,1638614965.697 [Micromodem](INFO): Nmea in: $CAREV,104926,AUV,2.1.4000*22

2021-12-04T10:49:25.789Z,1638614965.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.559982 m, bearing: 114.022024 deg, deltaT: 4.829285 s, deltaX: 1.020004 m, approachRate: 0.211212 m/s, LOS rate: -1.459782 deg/s, posRepo size: 4
2021-12-04T10:49:26.076Z,1638614966.076 [Micromodem](INFO): Nmea in: $CAREV,104926,COPROC,0.20.0.39330*73

2021-12-04T10:49:28.500Z,1638614968.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:29.305Z,1638614969.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:29.710Z,1638614969.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:30.531Z,1638614970.531 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104930.78*5E

2021-12-04T10:49:30.532Z,1638614970.532 [Micromodem](INFO): Nmea in: $CAREV,104931,AUV,2.1.4000*24

2021-12-04T10:49:30.577Z,1638614970.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.639999 m, bearing: 113.387028 deg, deltaT: 4.792269 s, deltaX: 1.080017 m, approachRate: 0.225367 m/s, LOS rate: -0.132504 deg/s, posRepo size: 4
2021-12-04T10:49:30.940Z,1638614970.940 [Micromodem](INFO): Nmea in: $CAREV,104931,COPROC,0.20.0.39330*75

2021-12-04T10:49:33.360Z,1638614973.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:34.157Z,1638614974.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:34.559Z,1638614974.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:35.396Z,1638614975.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104935.63*51

2021-12-04T10:49:35.397Z,1638614975.397 [Micromodem](INFO): Nmea in: $CAREV,104936,AUV,2.1.4000*23

2021-12-04T10:49:35.416Z,1638614975.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.539993 m, bearing: 113.269412 deg, deltaT: 4.837583 s, deltaX: 0.899994 m, approachRate: 0.186042 m/s, LOS rate: -0.024313 deg/s, posRepo size: 4
2021-12-04T10:49:35.776Z,1638614975.776 [Micromodem](INFO): Nmea in: $CAREV,104936,COPROC,0.20.0.39330*72

2021-12-04T10:49:38.198Z,1638614978.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:38.997Z,1638614978.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:39.399Z,1638614979.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:40.212Z,1638614980.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104940.47*55

2021-12-04T10:49:40.213Z,1638614980.213 [Micromodem](INFO): Nmea in: $CAREV,104941,AUV,2.1.4000*23

2021-12-04T10:49:40.265Z,1638614980.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.379990 m, bearing: 110.510746 deg, deltaT: 4.825672 s, deltaX: 0.839996 m, approachRate: 0.174068 m/s, LOS rate: -0.571665 deg/s, posRepo size: 4
2021-12-04T10:49:40.628Z,1638614980.628 [Micromodem](INFO): Nmea in: $CAREV,104941,COPROC,0.20.0.39330*72

2021-12-04T10:49:43.054Z,1638614983.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:43.849Z,1638614983.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:44.243Z,1638614984.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:45.074Z,1638614985.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104945.32*52

2021-12-04T10:49:45.075Z,1638614985.075 [Micromodem](INFO): Nmea in: $CAREV,104946,AUV,2.1.4000*24

2021-12-04T10:49:45.138Z,1638614985.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.219986 m, bearing: 111.204837 deg, deltaT: 4.889380 s, deltaX: 0.839996 m, approachRate: 0.171800 m/s, LOS rate: 0.141959 deg/s, posRepo size: 4
2021-12-04T10:49:45.476Z,1638614985.476 [Micromodem](INFO): Nmea in: $CAREV,104946,COPROC,0.20.0.39330*75

2021-12-04T10:49:47.951Z,1638614987.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:48.689Z,1638614988.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:49.107Z,1638614989.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:49.938Z,1638614989.938 [Micromodem](INFO): Nmea in: $SNTTA,0.164114,,,,104950.16*49

2021-12-04T10:49:49.939Z,1638614989.939 [Micromodem](INFO): Nmea in: $CAREV,104951,AUV,2.1.4000*22

2021-12-04T10:49:50.012Z,1638614990.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.179993 m, bearing: 112.803231 deg, deltaT: 4.855505 s, deltaX: 0.960007 m, approachRate: 0.197715 m/s, LOS rate: 0.329192 deg/s, posRepo size: 4
2021-12-04T10:49:50.324Z,1638614990.324 [Micromodem](INFO): Nmea in: $CAREV,104951,COPROC,0.20.0.39330*73

2021-12-04T10:49:52.736Z,1638614992.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:53.537Z,1638614993.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:53.971Z,1638614993.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:54.770Z,1638614994.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104955.01*53

2021-12-04T10:49:54.771Z,1638614994.771 [Micromodem](INFO): Nmea in: $CAREV,104956,AUV,2.1.4000*25

2021-12-04T10:49:54.817Z,1638614994.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.020004 m, bearing: 112.099039 deg, deltaT: 4.830996 s, deltaX: 0.840012 m, approachRate: 0.173880 m/s, LOS rate: -0.145765 deg/s, posRepo size: 4
2021-12-04T10:49:55.164Z,1638614995.164 [Micromodem](INFO): Nmea in: $CAREV,104956,COPROC,0.20.0.39330*74

2021-12-04T10:49:57.648Z,1638614997.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:49:58.385Z,1638614998.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:49:58.804Z,1638614998.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:49:59.630Z,1638614999.630 [Micromodem](INFO): Nmea in: $SNTTA,0.165960,,,,104959.86*43

2021-12-04T10:49:59.656Z,1638614999.656 [Micromodem](INFO): Nmea in: $CAREV,105000,AUV,2.1.4000*2E

2021-12-04T10:49:59.727Z,1638614999.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.099991 m, bearing: 112.387334 deg, deltaT: 4.910762 s, deltaX: 1.079987 m, approachRate: 0.219922 m/s, LOS rate: 0.058707 deg/s, posRepo size: 4
2021-12-04T10:49:59.728Z,1638614999.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 245.10 m. Resuming terminal guidance.
2021-12-04T10:49:59.728Z,1638614999.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T10:50:00.020Z,1638615000.020 [Micromodem](INFO): Nmea in: $CAREV,105000,COPROC,0.20.0.39330*7F

2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T10:50:00.044Z,1638615000.044 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T10:50:02.437Z,1638615002.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:03.225Z,1638615003.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:03.680Z,1638615003.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:04.459Z,1638615004.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105004.69*51

2021-12-04T10:50:04.462Z,1638615004.462 [Micromodem](INFO): Nmea in: $CAREV,105005,AUV,2.1.4000*2B

2021-12-04T10:50:04.552Z,1638615004.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.059998 m, bearing: 117.506547 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T10:50:04.553Z,1638615004.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 117.506547deg and heading rate command to 0 deg/s.
2021-12-04T10:50:04.856Z,1638615004.856 [Micromodem](INFO): Nmea in: $CAREV,105005,COPROC,0.20.0.39330*7A

2021-12-04T10:50:07.324Z,1638615007.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:08.085Z,1638615008.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:08.483Z,1638615008.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:09.318Z,1638615009.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105009.55*53

2021-12-04T10:50:09.320Z,1638615009.320 [Micromodem](INFO): Nmea in: $CAREV,105010,AUV,2.1.4000*2F

2021-12-04T10:50:09.394Z,1638615009.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.559998 m, bearing: 121.409249 deg, deltaT: 4.839788 s, deltaX: 1.500000 m, approachRate: 0.309931 m/s, LOS rate: 0.806379 deg/s, posRepo size: 2
2021-12-04T10:50:09.402Z,1638615009.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.559998 m,
      bearing: 121.409249 deg,
      approachRate: 0.309931 m/s,
      LOS rate: 0.806379 deg/s,
      cmd update: 2.419136 deg/s,
      cmd heading: 117.506547 deg,
      new cmd heading: 117.506547 deg.

2021-12-04T10:50:09.716Z,1638615009.716 [Micromodem](INFO): Nmea in: $CAREV,105010,COPROC,0.20.0.39330*7E

2021-12-04T10:50:12.138Z,1638615012.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:12.957Z,1638615012.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:13.335Z,1638615013.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:14.160Z,1638615014.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105014.43*58

2021-12-04T10:50:14.161Z,1638615014.161 [Micromodem](INFO): Nmea in: $CAREV,105015,AUV,2.1.4000*2A

2021-12-04T10:50:14.213Z,1638615014.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.779999 m, bearing: 100.364009 deg, deltaT: 4.827881 s, deltaX: 2.220001 m, approachRate: 0.459829 m/s, LOS rate: -4.359105 deg/s, posRepo size: 3
2021-12-04T10:50:14.219Z,1638615014.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.779999 m,
      bearing: 100.364009 deg,
      approachRate: 0.459829 m/s,
      LOS rate: -4.359105 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 129.210243 deg,
      new cmd heading: 130.242836 deg.

2021-12-04T10:50:14.552Z,1638615014.552 [Micromodem](INFO): Nmea in: $CAREV,105015,COPROC,0.20.0.39330*7B

2021-12-04T10:50:17.001Z,1638615017.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:17.773Z,1638615017.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:18.223Z,1638615018.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:19.026Z,1638615019.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105019.24*54

2021-12-04T10:50:19.027Z,1638615019.027 [Micromodem](INFO): Nmea in: $CAREV,105020,AUV,2.1.4000*2C

2021-12-04T10:50:19.057Z,1638615019.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.059982 m, bearing: 159.964205 deg, deltaT: 4.848388 s, deltaX: 2.279984 m, approachRate: 0.470256 m/s, LOS rate: 12.292786 deg/s, posRepo size: 4
2021-12-04T10:50:19.058Z,1638615019.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.292786 deg/s. Setting heading cmd to target bearing of 159.964205deg and heading rate command to 0 deg/s.
2021-12-04T10:50:19.448Z,1638615019.448 [Micromodem](INFO): Nmea in: $CAREV,105020,COPROC,0.20.0.39330*7D

2021-12-04T10:50:21.925Z,1638615021.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:22.665Z,1638615022.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:23.063Z,1638615023.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:23.905Z,1638615023.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105024.13*5E

2021-12-04T10:50:23.909Z,1638615023.909 [Micromodem](INFO): Nmea in: $CAREV,105025,AUV,2.1.4000*29

2021-12-04T10:50:23.999Z,1638615023.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.339996 m, bearing: 172.525073 deg, deltaT: 4.939683 s, deltaX: 2.280014 m, approachRate: 0.461571 m/s, LOS rate: 2.542849 deg/s, posRepo size: 4
2021-12-04T10:50:24.003Z,1638615024.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.339996 m,
      bearing: 172.525073 deg,
      approachRate: 0.461571 m/s,
      LOS rate: 2.542849 deg/s,
      cmd update: 7.628548 deg/s,
      cmd heading: 159.964205 deg,
      new cmd heading: 159.964205 deg.

2021-12-04T10:50:24.296Z,1638615024.296 [Micromodem](INFO): Nmea in: $CAREV,105025,COPROC,0.20.0.39330*78

2021-12-04T10:50:26.712Z,1638615026.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:27.517Z,1638615027.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:27.927Z,1638615027.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:28.743Z,1638615028.743 [Micromodem](INFO): Nmea in: $SNTTA,0.170810,,,,105028.99*41

2021-12-04T10:50:28.744Z,1638615028.744 [Micromodem](INFO): Nmea in: $CAREV,105030,AUV,2.1.4000*2D

2021-12-04T10:50:28.765Z,1638615028.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.799988 m, bearing: 153.117268 deg, deltaT: 4.768717 s, deltaX: 2.459991 m, approachRate: 0.515860 m/s, LOS rate: -4.069817 deg/s, posRepo size: 4
2021-12-04T10:50:28.799Z,1638615028.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.799988 m,
      bearing: 153.117268 deg,
      approachRate: 0.515860 m/s,
      LOS rate: -4.069817 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 196.949053 deg,
      new cmd heading: 200.264053 deg.

2021-12-04T10:50:29.132Z,1638615029.132 [Micromodem](INFO): Nmea in: $CAREV,105030,COPROC,0.20.0.39330*7C

2021-12-04T10:50:31.564Z,1638615031.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:32.382Z,1638615032.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:32.755Z,1638615032.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:33.589Z,1638615033.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105033.85*57

2021-12-04T10:50:33.590Z,1638615033.590 [Micromodem](INFO): Nmea in: $CAREV,105034,AUV,2.1.4000*29

2021-12-04T10:50:33.687Z,1638615033.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.199982 m, bearing: 190.025903 deg, deltaT: 4.918036 s, deltaX: 2.399994 m, approachRate: 0.487998 m/s, LOS rate: 7.504751 deg/s, posRepo size: 4
2021-12-04T10:50:33.689Z,1638615033.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.199982 m,
      bearing: 190.025903 deg,
      approachRate: 0.487998 m/s,
      LOS rate: 7.504751 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.673991 deg,
      new cmd heading: 132.720815 deg.

2021-12-04T10:50:33.996Z,1638615033.996 [Micromodem](INFO): Nmea in: $CAREV,105034,COPROC,0.20.0.39330*78

2021-12-04T10:50:36.457Z,1638615036.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:37.205Z,1638615037.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:37.620Z,1638615037.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:38.436Z,1638615038.436 [Micromodem](INFO): Nmea in: $SNTTA,0.177692,,,,105038.68*4D

2021-12-04T10:50:38.437Z,1638615038.437 [Micromodem](INFO): Nmea in: $CAREV,105039,AUV,2.1.4000*24

2021-12-04T10:50:38.455Z,1638615038.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.820007 m, bearing: 177.620435 deg, deltaT: 4.771193 s, deltaX: 1.620026 m, approachRate: 0.339543 m/s, LOS rate: -2.600077 deg/s, posRepo size: 4
2021-12-04T10:50:38.457Z,1638615038.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.820007 m,
      bearing: 177.620435 deg,
      approachRate: 0.339543 m/s,
      LOS rate: -2.600077 deg/s,
      cmd update: -7.800230 deg/s,
      cmd heading: 196.915753 deg,
      new cmd heading: 201.883921 deg.

2021-12-04T10:50:38.839Z,1638615038.839 [Micromodem](INFO): Nmea in: $CAREV,105039,COPROC,0.20.0.39330*75

2021-12-04T10:50:41.278Z,1638615041.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:42.057Z,1638615042.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:42.459Z,1638615042.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:43.291Z,1638615043.291 [Micromodem](INFO): Nmea in: $SNTTA,0.176753,,,,105043.53*44

2021-12-04T10:50:43.292Z,1638615043.292 [Micromodem](INFO): Nmea in: $CAREV,105044,AUV,2.1.4000*2E

2021-12-04T10:50:43.320Z,1638615043.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.359985 m, bearing: 226.108303 deg, deltaT: 4.865068 s, deltaX: 0.539978 m, approachRate: 0.110991 m/s, LOS rate: 9.966534 deg/s, posRepo size: 4
2021-12-04T10:50:43.321Z,1638615043.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.359985 m,
      bearing: 226.108303 deg,
      approachRate: 0.110991 m/s,
      LOS rate: 9.966534 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 159.013126 deg,
      new cmd heading: 155.739541 deg.

2021-12-04T10:50:43.712Z,1638615043.712 [Micromodem](INFO): Nmea in: $CAREV,105044,COPROC,0.20.0.39330*7F

2021-12-04T10:50:46.119Z,1638615046.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:46.913Z,1638615046.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:47.299Z,1638615047.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:48.126Z,1638615048.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105048.38*5D

2021-12-04T10:50:48.127Z,1638615048.127 [Micromodem](INFO): Nmea in: $CAREV,105049,AUV,2.1.4000*23

2021-12-04T10:50:48.179Z,1638615048.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.000000 m, bearing: 177.410339 deg, deltaT: 4.834896 s, deltaX: -0.359985 m, approachRate: -0.074456 m/s, LOS rate: -10.072185 deg/s, posRepo size: 4
2021-12-04T10:50:48.181Z,1638615048.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.000000 m,
      bearing: 177.410339 deg,
      approachRate: -0.074456 m/s,
      LOS rate: -10.072185 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 217.310640 deg,
      new cmd heading: 222.070980 deg.

2021-12-04T10:50:48.351Z,1638615048.351 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2021-12-04T10:50:48.351Z,1638615048.351 [ThrusterHE](INFO): Powering down
2021-12-04T10:50:48.536Z,1638615048.536 [Micromodem](INFO): Nmea in: $CAREV,105049,COPROC,0.20.0.39330*72

2021-12-04T10:50:49.072Z,1638615049.072 [ThrusterHE](DEBUG): Initializing EZServoServo.
2021-12-04T10:50:49.191Z,1638615049.191 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2021-12-04T10:50:50.994Z,1638615050.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:51.757Z,1638615051.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:52.152Z,1638615052.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:52.983Z,1638615052.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105053.23*5D

2021-12-04T10:50:52.984Z,1638615052.984 [Micromodem](INFO): Nmea in: $CAREV,105054,AUV,2.1.4000*2F

2021-12-04T10:50:53.011Z,1638615053.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.760010 m, bearing: 181.362218 deg, deltaT: 4.855990 s, deltaX: -0.239990 m, approachRate: -0.049421 m/s, LOS rate: 0.813815 deg/s, posRepo size: 4
2021-12-04T10:50:53.013Z,1638615053.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.760010 m,
      bearing: 181.362218 deg,
      approachRate: -0.049421 m/s,
      LOS rate: 0.813815 deg/s,
      cmd update: 2.441446 deg/s,
      cmd heading: 159.455974 deg,
      new cmd heading: 154.278574 deg.

2021-12-04T10:50:53.387Z,1638615053.387 [Micromodem](INFO): Nmea in: $CAREV,105054,COPROC,0.20.0.39330*7E

2021-12-04T10:50:55.847Z,1638615055.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:50:56.617Z,1638615056.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:50:57.003Z,1638615057.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:50:57.822Z,1638615057.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105058.09*5E

2021-12-04T10:50:57.823Z,1638615057.823 [Micromodem](INFO): Nmea in: $CAREV,105059,AUV,2.1.4000*22

2021-12-04T10:50:57.921Z,1638615057.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.579987 m, bearing: 251.733315 deg, deltaT: 4.877509 s, deltaX: -0.180023 m, approachRate: -0.036909 m/s, LOS rate: 14.427672 deg/s, posRepo size: 4
2021-12-04T10:50:57.921Z,1638615057.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.427672 deg/s. Setting heading cmd to target bearing of 251.733315deg and heading rate command to 0 deg/s.
2021-12-04T10:50:58.234Z,1638615058.234 [Micromodem](INFO): Nmea in: $CAREV,105059,COPROC,0.20.0.39330*73

2021-12-04T10:51:00.657Z,1638615060.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:01.447Z,1638615061.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:01.851Z,1638615061.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:02.686Z,1638615062.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105102.92*52

2021-12-04T10:51:02.687Z,1638615062.687 [Micromodem](INFO): Nmea in: $CAREV,105103,AUV,2.1.4000*2C

2021-12-04T10:51:02.705Z,1638615062.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.339996 m, bearing: 245.970876 deg, deltaT: 4.817206 s, deltaX: -0.239990 m, approachRate: -0.049819 m/s, LOS rate: -1.196220 deg/s, posRepo size: 4
2021-12-04T10:51:02.707Z,1638615062.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.339996 m,
      bearing: 245.970876 deg,
      approachRate: -0.049819 m/s,
      LOS rate: -1.196220 deg/s,
      cmd update: -3.588661 deg/s,
      cmd heading: 251.733315 deg,
      new cmd heading: 251.733315 deg.

2021-12-04T10:51:03.064Z,1638615063.064 [Micromodem](INFO): Nmea in: $CAREV,105103,COPROC,0.20.0.39330*7D

2021-12-04T10:51:05.496Z,1638615065.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:06.297Z,1638615066.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:06.699Z,1638615066.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:07.526Z,1638615067.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105107.77*5C

2021-12-04T10:51:07.527Z,1638615067.527 [Micromodem](INFO): Nmea in: $CAREV,105108,AUV,2.1.4000*27

2021-12-04T10:51:07.573Z,1638615067.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.859985 m, bearing: 251.486855 deg, deltaT: 4.839722 s, deltaX: -0.480011 m, approachRate: -0.099182 m/s, LOS rate: 1.139731 deg/s, posRepo size: 4
2021-12-04T10:51:07.580Z,1638615067.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.859985 m,
      bearing: 251.486855 deg,
      approachRate: -0.099182 m/s,
      LOS rate: 1.139731 deg/s,
      cmd update: 3.419191 deg/s,
      cmd heading: 234.371497 deg,
      new cmd heading: 232.760985 deg.

2021-12-04T10:51:07.932Z,1638615067.932 [Micromodem](INFO): Nmea in: $CAREV,105108,COPROC,0.20.0.39330*76

2021-12-04T10:51:10.352Z,1638615070.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:11.141Z,1638615071.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:11.543Z,1638615071.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:12.380Z,1638615072.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105112.61*5F

2021-12-04T10:51:12.381Z,1638615072.381 [Micromodem](INFO): Nmea in: $CAREV,105113,AUV,2.1.4000*2D

2021-12-04T10:51:12.399Z,1638615072.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.779999 m, bearing: 239.398595 deg, deltaT: 4.853331 s, deltaX: -1.079987 m, approachRate: -0.222525 m/s, LOS rate: -2.490714 deg/s, posRepo size: 4
2021-12-04T10:51:12.401Z,1638615072.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.779999 m,
      bearing: 239.398595 deg,
      approachRate: -0.222525 m/s,
      LOS rate: -2.490714 deg/s,
      cmd update: -7.472142 deg/s,
      cmd heading: 251.123589 deg,
      new cmd heading: 252.406480 deg.

2021-12-04T10:51:12.776Z,1638615072.776 [Micromodem](INFO): Nmea in: $CAREV,105113,COPROC,0.20.0.39330*7C

2021-12-04T10:51:15.198Z,1638615075.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:16.001Z,1638615076.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:16.399Z,1638615076.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:17.226Z,1638615077.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105117.47*5E

2021-12-04T10:51:17.227Z,1638615077.227 [Micromodem](INFO): Nmea in: $CAREV,105118,AUV,2.1.4000*26

2021-12-04T10:51:17.294Z,1638615077.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.919983 m, bearing: 244.527302 deg, deltaT: 4.884093 s, deltaX: -1.860016 m, approachRate: -0.380831 m/s, LOS rate: 1.050084 deg/s, posRepo size: 4
2021-12-04T10:51:17.300Z,1638615077.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.919983 m,
      bearing: 244.527302 deg,
      approachRate: -0.380831 m/s,
      LOS rate: 1.050084 deg/s,
      cmd update: 3.150251 deg/s,
      cmd heading: 215.324106 deg,
      new cmd heading: 211.799168 deg.

2021-12-04T10:51:17.635Z,1638615077.635 [Micromodem](INFO): Nmea in: $CAREV,105118,COPROC,0.20.0.39330*77

2021-12-04T10:51:20.042Z,1638615080.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:20.837Z,1638615080.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:21.251Z,1638615081.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:22.074Z,1638615082.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105122.31*59

2021-12-04T10:51:22.076Z,1638615082.076 [Micromodem](INFO): Nmea in: $CAREV,105123,AUV,2.1.4000*2E

2021-12-04T10:51:22.127Z,1638615082.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.999985 m, bearing: 238.981981 deg, deltaT: 4.845023 s, deltaX: -1.919998 m, approachRate: -0.396283 m/s, LOS rate: -1.144540 deg/s, posRepo size: 4
2021-12-04T10:51:22.129Z,1638615082.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.999985 m,
      bearing: 238.981981 deg,
      approachRate: -0.396283 m/s,
      LOS rate: -1.144540 deg/s,
      cmd update: -3.433619 deg/s,
      cmd heading: 230.807431 deg,
      new cmd heading: 232.059874 deg.

2021-12-04T10:51:22.460Z,1638615082.460 [Micromodem](INFO): Nmea in: $CAREV,105123,COPROC,0.20.0.39330*7F

2021-12-04T10:51:24.938Z,1638615084.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:25.697Z,1638615085.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:26.087Z,1638615086.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:26.931Z,1638615086.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105127.17*58

2021-12-04T10:51:26.932Z,1638615086.932 [Micromodem](INFO): Nmea in: $CAREV,105128,AUV,2.1.4000*25

2021-12-04T10:51:26.960Z,1638615086.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.019989 m, bearing: 240.883014 deg, deltaT: 4.832367 s, deltaX: -1.979996 m, approachRate: -0.409736 m/s, LOS rate: 0.393396 deg/s, posRepo size: 4
2021-12-04T10:51:26.962Z,1638615086.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.019989 m,
      bearing: 240.883014 deg,
      approachRate: -0.409736 m/s,
      LOS rate: 0.393396 deg/s,
      cmd update: 1.180187 deg/s,
      cmd heading: 214.379291 deg,
      new cmd heading: 212.849844 deg.

2021-12-04T10:51:27.304Z,1638615087.304 [Micromodem](INFO): Nmea in: $CAREV,105128,COPROC,0.20.0.39330*74

2021-12-04T10:51:29.763Z,1638615089.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:30.533Z,1638615090.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:30.959Z,1638615090.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:31.766Z,1638615091.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105132.00*5A

2021-12-04T10:51:31.767Z,1638615091.767 [Micromodem](INFO): Nmea in: $CAREV,105133,AUV,2.1.4000*2F

2021-12-04T10:51:31.843Z,1638615091.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.099976 m, bearing: 239.005340 deg, deltaT: 4.878500 s, deltaX: -1.920013 m, approachRate: -0.393566 m/s, LOS rate: -0.384887 deg/s, posRepo size: 4
2021-12-04T10:51:31.845Z,1638615091.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.099976 m,
      bearing: 239.005340 deg,
      approachRate: -0.393566 m/s,
      LOS rate: -0.384887 deg/s,
      cmd update: -1.154662 deg/s,
      cmd heading: 220.111436 deg,
      new cmd heading: 220.663598 deg.

2021-12-04T10:51:32.156Z,1638615092.156 [Micromodem](INFO): Nmea in: $CAREV,105133,COPROC,0.20.0.39330*7E

2021-12-04T10:51:34.588Z,1638615094.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:35.381Z,1638615095.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:35.794Z,1638615095.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:36.610Z,1638615096.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105136.85*53

2021-12-04T10:51:36.612Z,1638615096.612 [Micromodem](INFO): Nmea in: $CAREV,105137,AUV,2.1.4000*2B

2021-12-04T10:51:36.664Z,1638615096.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.879990 m, bearing: 243.109163 deg, deltaT: 4.815497 s, deltaX: -2.219986 m, approachRate: -0.461009 m/s, LOS rate: 0.852212 deg/s, posRepo size: 4
2021-12-04T10:51:36.666Z,1638615096.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.879990 m,
      bearing: 243.109163 deg,
      approachRate: -0.461009 m/s,
      LOS rate: 0.852212 deg/s,
      cmd update: 2.556635 deg/s,
      cmd heading: 214.502851 deg,
      new cmd heading: 213.999532 deg.

2021-12-04T10:51:37.004Z,1638615097.004 [Micromodem](INFO): Nmea in: $CAREV,105137,COPROC,0.20.0.39330*7A

2021-12-04T10:51:39.429Z,1638615099.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:40.237Z,1638615100.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:40.635Z,1638615100.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:41.470Z,1638615101.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105141.71*58

2021-12-04T10:51:41.471Z,1638615101.471 [Micromodem](INFO): Nmea in: $CAREV,105142,AUV,2.1.4000*29

2021-12-04T10:51:41.519Z,1638615101.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.139984 m, bearing: 244.209562 deg, deltaT: 4.865179 s, deltaX: -1.740005 m, approachRate: -0.357645 m/s, LOS rate: 0.226178 deg/s, posRepo size: 4
2021-12-04T10:51:41.521Z,1638615101.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.139984 m,
      bearing: 244.209562 deg,
      approachRate: -0.357645 m/s,
      LOS rate: 0.226178 deg/s,
      cmd update: 0.678535 deg/s,
      cmd heading: 226.846663 deg,
      new cmd heading: 228.028322 deg.

2021-12-04T10:51:41.870Z,1638615101.870 [Micromodem](INFO): Nmea in: $CAREV,105142,COPROC,0.20.0.39330*78

2021-12-04T10:51:44.292Z,1638615104.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:45.073Z,1638615105.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:45.499Z,1638615105.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:46.308Z,1638615106.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105146.54*58

2021-12-04T10:51:46.309Z,1638615106.309 [Micromodem](INFO): Nmea in: $CAREV,105147,AUV,2.1.4000*2C

2021-12-04T10:51:46.355Z,1638615106.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.099991 m, bearing: 244.851627 deg, deltaT: 4.807404 s, deltaX: -2.039993 m, approachRate: -0.424344 m/s, LOS rate: 0.133558 deg/s, posRepo size: 4
2021-12-04T10:51:46.357Z,1638615106.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.099991 m,
      bearing: 244.851627 deg,
      approachRate: -0.424344 m/s,
      LOS rate: 0.133558 deg/s,
      cmd update: 0.400673 deg/s,
      cmd heading: 230.168900 deg,
      new cmd heading: 230.441812 deg.

2021-12-04T10:51:46.716Z,1638615106.716 [Micromodem](INFO): Nmea in: $CAREV,105147,COPROC,0.20.0.39330*7D

2021-12-04T10:51:49.137Z,1638615109.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:49.953Z,1638615109.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:50.067Z,1638615110.067 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T10:51:50.342Z,1638615110.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:51.210Z,1638615111.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105151.43*58

2021-12-04T10:51:51.211Z,1638615111.211 [Micromodem](INFO): Nmea in: $CAREV,105152,AUV,2.1.4000*28

2021-12-04T10:51:51.283Z,1638615111.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.820007 m, bearing: 242.776752 deg, deltaT: 4.942913 s, deltaX: -2.279984 m, approachRate: -0.461263 m/s, LOS rate: -0.419768 deg/s, posRepo size: 4
2021-12-04T10:51:51.285Z,1638615111.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.820007 m,
      bearing: 242.776752 deg,
      approachRate: -0.461263 m/s,
      LOS rate: -0.419768 deg/s,
      cmd update: -1.259303 deg/s,
      cmd heading: 232.129585 deg,
      new cmd heading: 232.299772 deg.

2021-12-04T10:51:51.617Z,1638615111.617 [Micromodem](INFO): Nmea in: $CAREV,105152,COPROC,0.20.0.39330*79

2021-12-04T10:51:54.057Z,1638615114.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:54.829Z,1638615114.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:51:55.249Z,1638615115.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:51:56.066Z,1638615116.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105156.30*5B

2021-12-04T10:51:56.067Z,1638615116.067 [Micromodem](INFO): Nmea in: $CAREV,105157,AUV,2.1.4000*2D

2021-12-04T10:51:56.121Z,1638615116.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.479996 m, bearing: 242.378224 deg, deltaT: 4.852225 s, deltaX: -2.340012 m, approachRate: -0.482255 m/s, LOS rate: -0.082133 deg/s, posRepo size: 4
2021-12-04T10:51:56.140Z,1638615116.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.479996 m,
      bearing: 242.378224 deg,
      approachRate: -0.482255 m/s,
      LOS rate: -0.082133 deg/s,
      cmd update: -0.246399 deg/s,
      cmd heading: 225.914695 deg,
      new cmd heading: 225.486406 deg.

2021-12-04T10:51:56.460Z,1638615116.460 [Micromodem](INFO): Nmea in: $CAREV,105157,COPROC,0.20.0.39330*7C

2021-12-04T10:51:58.923Z,1638615118.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:51:59.701Z,1638615119.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:00.092Z,1638615120.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:00.910Z,1638615120.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105201.17*5F

2021-12-04T10:52:00.913Z,1638615120.913 [Micromodem](INFO): Nmea in: $CAREV,105202,AUV,2.1.4000*2E

2021-12-04T10:52:00.997Z,1638615120.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.019989 m, bearing: 243.738661 deg, deltaT: 4.871153 s, deltaX: -2.460007 m, approachRate: -0.505015 m/s, LOS rate: 0.279284 deg/s, posRepo size: 4
2021-12-04T10:52:01.003Z,1638615121.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.019989 m,
      bearing: 243.738661 deg,
      approachRate: -0.505015 m/s,
      LOS rate: 0.279284 deg/s,
      cmd update: 0.837853 deg/s,
      cmd heading: 224.753366 deg,
      new cmd heading: 224.629553 deg.

2021-12-04T10:52:01.304Z,1638615121.304 [Micromodem](INFO): Nmea in: $CAREV,105202,COPROC,0.20.0.39330*7F

2021-12-04T10:52:03.748Z,1638615123.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:04.525Z,1638615124.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:04.970Z,1638615124.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:05.751Z,1638615125.751 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105206.00*5E

2021-12-04T10:52:05.752Z,1638615125.752 [Micromodem](INFO): Nmea in: $CAREV,105207,AUV,2.1.4000*2B

2021-12-04T10:52:05.846Z,1638615125.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.740005 m, bearing: 244.187596 deg, deltaT: 4.852662 s, deltaX: -2.279984 m, approachRate: -0.469842 m/s, LOS rate: 0.092513 deg/s, posRepo size: 4
2021-12-04T10:52:05.856Z,1638615125.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.740005 m,
      bearing: 244.187596 deg,
      approachRate: -0.469842 m/s,
      LOS rate: 0.092513 deg/s,
      cmd update: 0.277539 deg/s,
      cmd heading: 228.819105 deg,
      new cmd heading: 229.236907 deg.

2021-12-04T10:52:06.152Z,1638615126.152 [Micromodem](INFO): Nmea in: $CAREV,105207,COPROC,0.20.0.39330*7A

2021-12-04T10:52:08.576Z,1638615128.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:09.370Z,1638615129.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:09.779Z,1638615129.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:09.987Z,1638615129.987 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-04T10:52:10.602Z,1638615130.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105210.84*55

2021-12-04T10:52:10.603Z,1638615130.603 [Micromodem](INFO): Nmea in: $CAREV,105211,AUV,2.1.4000*2C

2021-12-04T10:52:10.621Z,1638615130.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.339981 m, bearing: 244.959571 deg, deltaT: 4.775722 s, deltaX: -2.400024 m, approachRate: -0.502547 m/s, LOS rate: 0.161646 deg/s, posRepo size: 4
2021-12-04T10:52:10.646Z,1638615130.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.339981 m,
      bearing: 244.959571 deg,
      approachRate: -0.502547 m/s,
      LOS rate: 0.161646 deg/s,
      cmd update: 0.484937 deg/s,
      cmd heading: 230.172951 deg,
      new cmd heading: 230.282801 deg.

2021-12-04T10:52:10.000Z,1638615131.000 [Micromodem](INFO): Nmea in: $CAREV,105211,COPROC,0.20.0.39330*7D

2021-12-04T10:52:13.428Z,1638615133.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:14.221Z,1638615134.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:14.627Z,1638615134.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:15.446Z,1638615135.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105215.70*5B

2021-12-04T10:52:15.447Z,1638615135.447 [Micromodem](INFO): Nmea in: $CAREV,105216,AUV,2.1.4000*2B

2021-12-04T10:52:15.470Z,1638615135.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.000000 m, bearing: 245.075466 deg, deltaT: 4.848562 s, deltaX: -2.339981 m, approachRate: -0.482613 m/s, LOS rate: 0.023903 deg/s, posRepo size: 4
2021-12-04T10:52:15.472Z,1638615135.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.000000 m,
      bearing: 245.075466 deg,
      approachRate: -0.482613 m/s,
      LOS rate: 0.023903 deg/s,
      cmd update: 0.071709 deg/s,
      cmd heading: 232.513502 deg,
      new cmd heading: 232.716131 deg.

2021-12-04T10:52:15.844Z,1638615135.844 [Micromodem](INFO): Nmea in: $CAREV,105216,COPROC,0.20.0.39330*7A

2021-12-04T10:52:18.272Z,1638615138.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:19.065Z,1638615139.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:19.484Z,1638615139.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:20.303Z,1638615140.303 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105220.54*5B

2021-12-04T10:52:20.304Z,1638615140.304 [Micromodem](INFO): Nmea in: $CAREV,105221,AUV,2.1.4000*2F

2021-12-04T10:52:20.452Z,1638615140.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.659988 m, bearing: 246.421914 deg, deltaT: 4.966341 s, deltaX: -2.340012 m, approachRate: -0.471174 m/s, LOS rate: 0.271115 deg/s, posRepo size: 4
2021-12-04T10:52:20.460Z,1638615140.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.659988 m,
      bearing: 246.421914 deg,
      approachRate: -0.471174 m/s,
      LOS rate: 0.271115 deg/s,
      cmd update: 0.813345 deg/s,
      cmd heading: 232.867428 deg,
      new cmd heading: 232.899867 deg.

2021-12-04T10:52:20.704Z,1638615140.704 [Micromodem](INFO): Nmea in: $CAREV,105221,COPROC,0.20.0.39330*7E

2021-12-04T10:52:20.772Z,1638615140.772 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005350
CHAN A1 (24V): -0.021618
CHAN A2 (12V): -0.004785
CHAN A3 (5V): -0.001124
CHAN B0 (3.3V): 0.000476
CHAN B1 (3.15aV): 0.000037
CHAN B2 (3.15bV): 0.000787
CHAN B3 (GND): 0.001965
OPEN: 0.006236
Full Scale: +/- 1 mA
2021-12-04T10:52:23.147Z,1638615143.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:23.957Z,1638615143.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:24.332Z,1638615144.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:25.158Z,1638615145.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105225.43*58

2021-12-04T10:52:25.163Z,1638615145.163 [Micromodem](INFO): Nmea in: $CAREV,105226,AUV,2.1.4000*28

2021-12-04T10:52:25.219Z,1638615145.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.199982 m, bearing: 245.571009 deg, deltaT: 4.774210 s, deltaX: -2.460007 m, approachRate: -0.515270 m/s, LOS rate: -0.178229 deg/s, posRepo size: 4
2021-12-04T10:52:25.221Z,1638615145.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.199982 m,
      bearing: 245.571009 deg,
      approachRate: -0.515270 m/s,
      LOS rate: -0.178229 deg/s,
      cmd update: -0.534688 deg/s,
      cmd heading: 236.745672 deg,
      new cmd heading: 237.118614 deg.

2021-12-04T10:52:25.548Z,1638615145.548 [Micromodem](INFO): Nmea in: $CAREV,105226,COPROC,0.20.0.39330*79

2021-12-04T10:52:28.018Z,1638615148.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:28.777Z,1638615148.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:29.188Z,1638615149.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:30.007Z,1638615150.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105230.25*5C

2021-12-04T10:52:30.008Z,1638615150.008 [Micromodem](INFO): Nmea in: $CAREV,105231,AUV,2.1.4000*2E

2021-12-04T10:52:30.142Z,1638615150.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.040009 m, bearing: 244.636558 deg, deltaT: 4.931882 s, deltaX: -2.159973 m, approachRate: -0.437961 m/s, LOS rate: -0.189472 deg/s, posRepo size: 4
2021-12-04T10:52:30.144Z,1638615150.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.040009 m,
      bearing: 244.636558 deg,
      approachRate: -0.437961 m/s,
      LOS rate: -0.189472 deg/s,
      cmd update: -0.568415 deg/s,
      cmd heading: 234.118728 deg,
      new cmd heading: 233.865601 deg.

2021-12-04T10:52:30.408Z,1638615150.408 [Micromodem](INFO): Nmea in: $CAREV,105231,COPROC,0.20.0.39330*7F

2021-12-04T10:52:32.828Z,1638615152.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:33.646Z,1638615153.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:34.031Z,1638615154.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:34.849Z,1638615154.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105235.12*5D

2021-12-04T10:52:34.850Z,1638615154.850 [Micromodem](INFO): Nmea in: $CAREV,105236,AUV,2.1.4000*29

2021-12-04T10:52:35.249Z,1638615155.249 [Micromodem](INFO): Nmea in: $CAREV,105236,COPROC,0.20.0.39330*78

2021-12-04T10:52:35.714Z,1638615155.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:37.256Z,1638615157.256 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T10:52:38.488Z,1638615158.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:39.273Z,1638615159.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:39.707Z,1638615159.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:40.523Z,1638615160.523 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105240.75*5E

2021-12-04T10:52:40.524Z,1638615160.524 [Micromodem](INFO): Nmea in: $CAREV,105241,AUV,2.1.4000*29

2021-12-04T10:52:40.541Z,1638615160.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.119980 m, bearing: 247.887072 deg, deltaT: 10.399394 s, deltaX: -4.920029 m, approachRate: -0.473107 m/s, LOS rate: 0.312568 deg/s, posRepo size: 4
2021-12-04T10:52:40.543Z,1638615160.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.119980 m,
      bearing: 247.887072 deg,
      approachRate: -0.473107 m/s,
      LOS rate: 0.312568 deg/s,
      cmd update: 0.937703 deg/s,
      cmd heading: 228.177145 deg,
      new cmd heading: 227.938482 deg.

2021-12-04T10:52:40.917Z,1638615160.917 [Micromodem](INFO): Nmea in: $CAREV,105241,COPROC,0.20.0.39330*78

2021-12-04T10:52:43.342Z,1638615163.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:44.129Z,1638615164.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:44.535Z,1638615164.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:45.367Z,1638615165.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105245.60*5F

2021-12-04T10:52:45.368Z,1638615165.368 [Micromodem](INFO): Nmea in: $CAREV,105246,AUV,2.1.4000*2E

2021-12-04T10:52:45.414Z,1638615165.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.959991 m, bearing: 246.607614 deg, deltaT: 4.872202 s, deltaX: -2.159988 m, approachRate: -0.443329 m/s, LOS rate: -0.262604 deg/s, posRepo size: 4
2021-12-04T10:52:45.417Z,1638615165.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.959991 m,
      bearing: 246.607614 deg,
      approachRate: -0.443329 m/s,
      LOS rate: -0.262604 deg/s,
      cmd update: -0.787811 deg/s,
      cmd heading: 232.739672 deg,
      new cmd heading: 233.139543 deg.

2021-12-04T10:52:45.764Z,1638615165.764 [Micromodem](INFO): Nmea in: $CAREV,105246,COPROC,0.20.0.39330*7F

2021-12-04T10:52:48.210Z,1638615168.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:48.977Z,1638615168.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:49.379Z,1638615169.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:50.207Z,1638615170.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105250.45*5C

2021-12-04T10:52:50.208Z,1638615170.208 [Micromodem](INFO): Nmea in: $CAREV,105251,AUV,2.1.4000*28

2021-12-04T10:52:50.272Z,1638615170.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.499985 m, bearing: 248.161454 deg, deltaT: 4.854338 s, deltaX: -2.460007 m, approachRate: -0.506765 m/s, LOS rate: 0.320093 deg/s, posRepo size: 4
2021-12-04T10:52:50.274Z,1638615170.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.499985 m,
      bearing: 248.161454 deg,
      approachRate: -0.506765 m/s,
      LOS rate: 0.320093 deg/s,
      cmd update: 0.960280 deg/s,
      cmd heading: 228.921475 deg,
      new cmd heading: 228.579605 deg.

2021-12-04T10:52:50.612Z,1638615170.612 [Micromodem](INFO): Nmea in: $CAREV,105251,COPROC,0.20.0.39330*79

2021-12-04T10:52:53.045Z,1638615173.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:53.844Z,1638615173.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:54.235Z,1638615174.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:55.055Z,1638615175.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105255.31*5A

2021-12-04T10:52:55.056Z,1638615175.056 [Micromodem](INFO): Nmea in: $CAREV,105256,AUV,2.1.4000*2F

2021-12-04T10:52:55.082Z,1638615175.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.279984 m, bearing: 248.580036 deg, deltaT: 4.814151 s, deltaX: -2.220001 m, approachRate: -0.461141 m/s, LOS rate: 0.086948 deg/s, posRepo size: 4
2021-12-04T10:52:55.084Z,1638615175.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.279984 m,
      bearing: 248.580036 deg,
      approachRate: -0.461141 m/s,
      LOS rate: 0.086948 deg/s,
      cmd update: 0.260844 deg/s,
      cmd heading: 233.551181 deg,
      new cmd heading: 233.961336 deg.

2021-12-04T10:52:55.453Z,1638615175.453 [Micromodem](INFO): Nmea in: $CAREV,105256,COPROC,0.20.0.39330*7E

2021-12-04T10:52:57.948Z,1638615177.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:52:58.676Z,1638615178.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:52:59.083Z,1638615179.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:52:59.922Z,1638615179.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105300.15*5D

2021-12-04T10:52:59.923Z,1638615179.923 [Micromodem](INFO): Nmea in: $CAREV,105301,AUV,2.1.4000*2C

2021-12-04T10:53:00.011Z,1638615180.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.059998 m, bearing: 248.977717 deg, deltaT: 4.912170 s, deltaX: -2.219986 m, approachRate: -0.451936 m/s, LOS rate: 0.080958 deg/s, posRepo size: 4
2021-12-04T10:53:00.012Z,1638615180.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.059998 m,
      bearing: 248.977717 deg,
      approachRate: -0.451936 m/s,
      LOS rate: 0.080958 deg/s,
      cmd update: 0.242875 deg/s,
      cmd heading: 234.816422 deg,
      new cmd heading: 234.948088 deg.

2021-12-04T10:53:00.301Z,1638615180.301 [Micromodem](INFO): Nmea in: $CAREV,105301,COPROC,0.20.0.39330*7D

2021-12-04T10:53:02.732Z,1638615182.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:03.521Z,1638615183.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:03.955Z,1638615183.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:04.762Z,1638615184.762 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105304.99*5D

2021-12-04T10:53:04.763Z,1638615184.763 [Micromodem](INFO): Nmea in: $CAREV,105306,AUV,2.1.4000*2B

2021-12-04T10:53:04.781Z,1638615184.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.899994 m, bearing: 249.823075 deg, deltaT: 4.786475 s, deltaX: -2.160004 m, approachRate: -0.451272 m/s, LOS rate: 0.176614 deg/s, posRepo size: 4
2021-12-04T10:53:04.783Z,1638615184.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.899994 m,
      bearing: 249.823075 deg,
      approachRate: -0.451272 m/s,
      LOS rate: 0.176614 deg/s,
      cmd update: 0.529842 deg/s,
      cmd heading: 235.991406 deg,
      new cmd heading: 236.097633 deg.

2021-12-04T10:53:05.160Z,1638615185.160 [Micromodem](INFO): Nmea in: $CAREV,105306,COPROC,0.20.0.39330*7A

2021-12-04T10:53:07.562Z,1638615187.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:08.377Z,1638615188.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:08.775Z,1638615188.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:09.604Z,1638615189.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105309.85*5D

2021-12-04T10:53:09.608Z,1638615189.608 [Micromodem](INFO): Nmea in: $CAREV,105310,AUV,2.1.4000*2C

2021-12-04T10:53:09.682Z,1638615189.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.559982 m, bearing: 249.437306 deg, deltaT: 4.895302 s, deltaX: -2.340012 m, approachRate: -0.478012 m/s, LOS rate: -0.078804 deg/s, posRepo size: 4
2021-12-04T10:53:09.689Z,1638615189.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.559982 m,
      bearing: 249.437306 deg,
      approachRate: -0.478012 m/s,
      LOS rate: -0.078804 deg/s,
      cmd update: -0.236412 deg/s,
      cmd heading: 238.563152 deg,
      new cmd heading: 238.819904 deg.

2021-12-04T10:53:09.996Z,1638615189.996 [Micromodem](INFO): Nmea in: $CAREV,105310,COPROC,0.20.0.39330*7D

2021-12-04T10:53:12.428Z,1638615192.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:13.213Z,1638615193.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:13.657Z,1638615193.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:14.446Z,1638615194.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105314.69*53

2021-12-04T10:53:14.447Z,1638615194.447 [Micromodem](INFO): Nmea in: $CAREV,105315,AUV,2.1.4000*29

2021-12-04T10:53:14.464Z,1638615194.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.219986 m, bearing: 248.817316 deg, deltaT: 4.788476 s, deltaX: -2.339996 m, approachRate: -0.488672 m/s, LOS rate: -0.129475 deg/s, posRepo size: 4
2021-12-04T10:53:14.494Z,1638615194.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.219986 m,
      bearing: 248.817316 deg,
      approachRate: -0.488672 m/s,
      LOS rate: -0.129475 deg/s,
      cmd update: -0.388426 deg/s,
      cmd heading: 237.409522 deg,
      new cmd heading: 237.317886 deg.

2021-12-04T10:53:14.852Z,1638615194.852 [Micromodem](INFO): Nmea in: $CAREV,105315,COPROC,0.20.0.39330*78

2021-12-04T10:53:17.278Z,1638615197.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:18.072Z,1638615198.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:18.471Z,1638615198.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:19.298Z,1638615199.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105319.55*51

2021-12-04T10:53:19.299Z,1638615199.299 [Micromodem](INFO): Nmea in: $CAREV,105320,AUV,2.1.4000*2F

2021-12-04T10:53:19.361Z,1638615199.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.459991 m, bearing: 249.203167 deg, deltaT: 4.892706 s, deltaX: -2.759995 m, approachRate: -0.564104 m/s, LOS rate: 0.078863 deg/s, posRepo size: 4
2021-12-04T10:53:19.367Z,1638615199.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.459991 m,
      bearing: 249.203167 deg,
      approachRate: -0.564104 m/s,
      LOS rate: 0.078863 deg/s,
      cmd update: 0.236588 deg/s,
      cmd heading: 235.527121 deg,
      new cmd heading: 235.356946 deg.

2021-12-04T10:53:19.704Z,1638615199.704 [Micromodem](INFO): Nmea in: $CAREV,105320,COPROC,0.20.0.39330*7E

2021-12-04T10:53:22.138Z,1638615202.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:22.931Z,1638615202.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:23.327Z,1638615203.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:24.143Z,1638615204.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105324.40*5B

2021-12-04T10:53:24.144Z,1638615204.144 [Micromodem](INFO): Nmea in: $CAREV,105325,AUV,2.1.4000*2A

2021-12-04T10:53:24.195Z,1638615204.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.000000 m, bearing: 250.049756 deg, deltaT: 4.814079 s, deltaX: -2.459991 m, approachRate: -0.510999 m/s, LOS rate: 0.175857 deg/s, posRepo size: 4
2021-12-04T10:53:24.197Z,1638615204.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.000000 m,
      bearing: 250.049756 deg,
      approachRate: -0.510999 m/s,
      LOS rate: 0.175857 deg/s,
      cmd update: 0.527570 deg/s,
      cmd heading: 236.678207 deg,
      new cmd heading: 236.768712 deg.

2021-12-04T10:53:24.551Z,1638615204.551 [Micromodem](INFO): Nmea in: $CAREV,105325,COPROC,0.20.0.39330*7B

2021-12-04T10:53:26.974Z,1638615206.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:27.761Z,1638615207.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:28.172Z,1638615208.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:28.994Z,1638615208.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105329.23*53

2021-12-04T10:53:28.995Z,1638615208.995 [Micromodem](INFO): Nmea in: $CAREV,105330,AUV,2.1.4000*2E

2021-12-04T10:53:29.048Z,1638615209.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.779999 m, bearing: 251.181983 deg, deltaT: 4.876904 s, deltaX: -2.220001 m, approachRate: -0.455207 m/s, LOS rate: 0.232161 deg/s, posRepo size: 4
2021-12-04T10:53:29.050Z,1638615209.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.779999 m,
      bearing: 251.181983 deg,
      approachRate: -0.455207 m/s,
      LOS rate: 0.232161 deg/s,
      cmd update: 0.696483 deg/s,
      cmd heading: 239.221794 deg,
      new cmd heading: 239.453072 deg.

2021-12-04T10:53:29.396Z,1638615209.396 [Micromodem](INFO): Nmea in: $CAREV,105330,COPROC,0.20.0.39330*7F

2021-12-04T10:53:31.854Z,1638615211.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:32.609Z,1638615212.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:33.015Z,1638615213.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:33.838Z,1638615213.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105334.08*56

2021-12-04T10:53:33.839Z,1638615213.839 [Micromodem](INFO): Nmea in: $CAREV,105335,AUV,2.1.4000*2B

2021-12-04T10:53:33.977Z,1638615213.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.440002 m, bearing: 252.359999 deg, deltaT: 4.924725 s, deltaX: -2.339996 m, approachRate: -0.475153 m/s, LOS rate: 0.239205 deg/s, posRepo size: 4
2021-12-04T10:53:33.984Z,1638615213.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.440002 m,
      bearing: 252.359999 deg,
      approachRate: -0.475153 m/s,
      LOS rate: 0.239205 deg/s,
      cmd update: 0.717614 deg/s,
      cmd heading: 242.584252 deg,
      new cmd heading: 242.960222 deg.

2021-12-04T10:53:34.236Z,1638615214.236 [Micromodem](INFO): Nmea in: $CAREV,105335,COPROC,0.20.0.39330*7A

2021-12-04T10:53:36.668Z,1638615216.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:37.485Z,1638615217.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:37.866Z,1638615217.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:38.673Z,1638615218.673 [Micromodem](INFO): Nmea in: $SNTTA,0.127213,,,,105338.96*47

2021-12-04T10:53:38.728Z,1638615218.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.159988 m, bearing: 253.133286 deg, deltaT: 4.750709 s, deltaX: -2.280014 m, approachRate: -0.479931 m/s, LOS rate: 0.162773 deg/s, posRepo size: 4
2021-12-04T10:53:38.729Z,1638615218.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.159988 m,
      bearing: 253.133286 deg,
      approachRate: -0.479931 m/s,
      LOS rate: 0.162773 deg/s,
      cmd update: 0.488319 deg/s,
      cmd heading: 246.060883 deg,
      new cmd heading: 246.377438 deg.

2021-12-04T10:53:39.088Z,1638615219.088 [Micromodem](INFO): Nmea in: $CAREV,105340,AUV,2.1.4000*29

2021-12-04T10:53:39.089Z,1638615219.089 [Micromodem](INFO): Nmea in: $CAREV,105340,COPROC,0.20.0.39330*78

2021-12-04T10:53:41.508Z,1638615221.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:42.308Z,1638615222.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:42.723Z,1638615222.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:43.530Z,1638615223.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105343.78*51

2021-12-04T10:53:43.531Z,1638615223.531 [Micromodem](INFO): Nmea in: $CAREV,105344,AUV,2.1.4000*2D

2021-12-04T10:53:43.585Z,1638615223.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.399994 m, bearing: 252.505263 deg, deltaT: 4.829654 s, deltaX: -2.759995 m, approachRate: -0.571468 m/s, LOS rate: -0.130035 deg/s, posRepo size: 4
2021-12-04T10:53:43.599Z,1638615223.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.399994 m,
      bearing: 252.505263 deg,
      approachRate: -0.571468 m/s,
      LOS rate: -0.130035 deg/s,
      cmd update: -0.390104 deg/s,
      cmd heading: 248.429254 deg,
      new cmd heading: 248.650447 deg.

2021-12-04T10:53:43.964Z,1638615223.964 [Micromodem](INFO): Nmea in: $CAREV,105344,COPROC,0.20.0.39330*7C

2021-12-04T10:53:46.364Z,1638615226.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:47.153Z,1638615227.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:47.577Z,1638615227.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:48.042Z,1638615228.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.399994 m, bearing: 253.324258 deg, deltaT: 4.488305 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.182473 deg/s, posRepo size: 4
2021-12-04T10:53:48.044Z,1638615228.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.399994 m,
      bearing: 253.324258 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.182473 deg/s,
      cmd update: 0.547419 deg/s,
      cmd heading: 246.653446 deg,
      new cmd heading: 246.514130 deg.

2021-12-04T10:53:48.398Z,1638615228.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105348.62*51

2021-12-04T10:53:48.400Z,1638615228.400 [Micromodem](INFO): Nmea in: $CAREV,105349,AUV,2.1.4000*20

2021-12-04T10:53:48.780Z,1638615228.780 [Micromodem](INFO): Nmea in: $CAREV,105349,COPROC,0.20.0.39330*71

2021-12-04T10:53:50.820Z,1638615230.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:51.604Z,1638615231.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:52.006Z,1638615232.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:52.820Z,1638615232.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105353.08*57

2021-12-04T10:53:52.821Z,1638615232.821 [Micromodem](INFO): Nmea in: $CAREV,105354,AUV,2.1.4000*2C

2021-12-04T10:53:52.839Z,1638615232.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.360001 m, bearing: 252.948215 deg, deltaT: 4.796713 s, deltaX: -5.039993 m, approachRate: -1.050718 m/s, LOS rate: -0.078396 deg/s, posRepo size: 4
2021-12-04T10:53:52.841Z,1638615232.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 252.948215 deg,
      approachRate: -1.050718 m/s,
      LOS rate: -0.078396 deg/s,
      cmd update: -0.235188 deg/s,
      cmd heading: 249.260086 deg,
      new cmd heading: 249.474872 deg.

2021-12-04T10:53:53.236Z,1638615233.236 [Micromodem](INFO): Nmea in: $CAREV,105354,COPROC,0.20.0.39330*7D

2021-12-04T10:53:55.748Z,1638615235.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:53:56.441Z,1638615236.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:53:56.843Z,1638615236.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:53:57.336Z,1638615237.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.360001 m, bearing: 253.701858 deg, deltaT: 4.478530 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.168279 deg/s, posRepo size: 4
2021-12-04T10:53:57.344Z,1638615237.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 253.701858 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.168279 deg/s,
      cmd update: 0.504837 deg/s,
      cmd heading: 248.213018 deg,
      new cmd heading: 248.114098 deg.

2021-12-04T10:53:57.716Z,1638615237.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105357.92*50

2021-12-04T10:53:57.717Z,1638615237.717 [Micromodem](INFO): Nmea in: $CAREV,105358,AUV,2.1.4000*20

2021-12-04T10:53:58.072Z,1638615238.072 [Micromodem](INFO): Nmea in: $CAREV,105358,COPROC,0.20.0.39330*71

2021-12-04T10:54:00.115Z,1638615240.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:00.920Z,1638615240.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:01.304Z,1638615241.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:02.120Z,1638615242.120 [Micromodem](INFO): Nmea in: $SNTTA,0.122931,,,,105402.39*42

2021-12-04T10:54:02.123Z,1638615242.123 [Micromodem](INFO): Nmea in: $CAREV,105403,AUV,2.1.4000*29

2021-12-04T10:54:02.198Z,1638615242.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.080002 m, bearing: 253.913184 deg, deltaT: 4.863242 s, deltaX: -5.279999 m, approachRate: -1.085695 m/s, LOS rate: 0.043454 deg/s, posRepo size: 4
2021-12-04T10:54:02.202Z,1638615242.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.080002 m,
      bearing: 253.913184 deg,
      approachRate: -1.085695 m/s,
      LOS rate: 0.043454 deg/s,
      cmd update: 0.130361 deg/s,
      cmd heading: 250.664970 deg,
      new cmd heading: 250.886439 deg.

2021-12-04T10:54:02.528Z,1638615242.528 [Micromodem](INFO): Nmea in: $CAREV,105403,COPROC,0.20.0.39330*78

2021-12-04T10:54:04.981Z,1638615244.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:05.741Z,1638615245.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:06.152Z,1638615246.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:06.978Z,1638615246.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105407.21*5A

2021-12-04T10:54:06.980Z,1638615246.980 [Micromodem](INFO): Nmea in: $CAREV,105408,AUV,2.1.4000*22

2021-12-04T10:54:07.033Z,1638615247.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.500015 m, bearing: 254.662920 deg, deltaT: 4.853149 s, deltaX: -2.579987 m, approachRate: -0.531611 m/s, LOS rate: 0.154484 deg/s, posRepo size: 4
2021-12-04T10:54:07.047Z,1638615247.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.500015 m,
      bearing: 254.662920 deg,
      approachRate: -0.531611 m/s,
      LOS rate: 0.154484 deg/s,
      cmd update: 0.463453 deg/s,
      cmd heading: 251.290856 deg,
      new cmd heading: 251.353028 deg.

2021-12-04T10:54:07.372Z,1638615247.372 [Micromodem](INFO): Nmea in: $CAREV,105408,COPROC,0.20.0.39330*73

2021-12-04T10:54:09.827Z,1638615249.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:10.585Z,1638615250.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:10.991Z,1638615250.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:11.417Z,1638615251.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.500015 m, bearing: 254.928669 deg, deltaT: 4.382588 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.060637 deg/s, posRepo size: 4
2021-12-04T10:54:11.420Z,1638615251.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.500015 m,
      bearing: 254.928669 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.060637 deg/s,
      cmd update: 0.181912 deg/s,
      cmd heading: 253.367786 deg,
      new cmd heading: 253.543324 deg.

2021-12-04T10:54:11.828Z,1638615251.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105412.06*5B

2021-12-04T10:54:11.829Z,1638615251.829 [Micromodem](INFO): Nmea in: $CAREV,105413,AUV,2.1.4000*28

2021-12-04T10:54:12.212Z,1638615252.212 [Micromodem](INFO): Nmea in: $CAREV,105413,COPROC,0.20.0.39330*79

2021-12-04T10:54:14.253Z,1638615254.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:15.029Z,1638615255.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:15.435Z,1638615255.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:15.957Z,1638615255.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.500015 m, bearing: 255.211630 deg, deltaT: 4.525349 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.062528 deg/s, posRepo size: 4
2021-12-04T10:54:15.964Z,1638615255.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.500015 m,
      bearing: 255.211630 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.062528 deg/s,
      cmd update: 0.187584 deg/s,
      cmd heading: 254.173419 deg,
      new cmd heading: 254.262692 deg.

2021-12-04T10:54:16.264Z,1638615256.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105416.50*5C

2021-12-04T10:54:16.265Z,1638615256.265 [Micromodem](INFO): Nmea in: $CAREV,105417,AUV,2.1.4000*2C

2021-12-04T10:54:16.652Z,1638615256.652 [Micromodem](INFO): Nmea in: $CAREV,105417,COPROC,0.20.0.39330*7D

2021-12-04T10:54:18.676Z,1638615258.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:19.481Z,1638615259.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:19.914Z,1638615259.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:19.950Z,1638615259.950 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:54:20.329Z,1638615260.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.500015 m, bearing: 254.673603 deg, deltaT: 4.367163 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.123198 deg/s, posRepo size: 4
2021-12-04T10:54:20.335Z,1638615260.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.500015 m,
      bearing: 254.673603 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.123198 deg/s,
      cmd update: -0.369595 deg/s,
      cmd heading: 255.019559 deg,
      new cmd heading: 255.085559 deg.

2021-12-04T10:54:20.716Z,1638615260.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105420.96*53

2021-12-04T10:54:20.717Z,1638615260.717 [Micromodem](INFO): Nmea in: $CAREV,105422,AUV,2.1.4000*2A

2021-12-04T10:54:21.108Z,1638615261.108 [Micromodem](INFO): Nmea in: $CAREV,105422,COPROC,0.20.0.39330*7B

2021-12-04T10:54:23.139Z,1638615263.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:23.940Z,1638615263.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:24.323Z,1638615264.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:25.147Z,1638615265.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105425.41*5C

2021-12-04T10:54:25.148Z,1638615265.148 [Micromodem](INFO): Nmea in: $CAREV,105426,AUV,2.1.4000*2E

2021-12-04T10:54:25.175Z,1638615265.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 255.318974 deg, deltaT: 4.866283 s, deltaX: -9.839996 m, approachRate: -2.022076 m/s, LOS rate: 0.132621 deg/s, posRepo size: 4
2021-12-04T10:54:25.177Z,1638615265.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.660019 m,
      bearing: 255.318974 deg,
      approachRate: -2.022076 m/s,
      LOS rate: 0.132621 deg/s,
      cmd update: 0.397863 deg/s,
      cmd heading: 253.257533 deg,
      new cmd heading: 253.098604 deg.

2021-12-04T10:54:25.544Z,1638615265.544 [Micromodem](INFO): Nmea in: $CAREV,105426,COPROC,0.20.0.39330*7F

2021-12-04T10:54:28.007Z,1638615268.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:28.765Z,1638615268.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:29.176Z,1638615269.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:29.660Z,1638615269.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.780014 m, bearing: 254.988365 deg, deltaT: 4.456039 s, deltaX: -2.880005 m, approachRate: -0.646315 m/s, LOS rate: -0.074193 deg/s, posRepo size: 4
2021-12-04T10:54:29.662Z,1638615269.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.780014 m,
      bearing: 254.988365 deg,
      approachRate: -0.646315 m/s,
      LOS rate: -0.074193 deg/s,
      cmd update: -0.222580 deg/s,
      cmd heading: 255.036405 deg,
      new cmd heading: 255.211256 deg.

2021-12-04T10:54:30.012Z,1638615270.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105430.24*5B

2021-12-04T10:54:30.013Z,1638615270.013 [Micromodem](INFO): Nmea in: $CAREV,105431,AUV,2.1.4000*28

2021-12-04T10:54:30.392Z,1638615270.392 [Micromodem](INFO): Nmea in: $CAREV,105431,COPROC,0.20.0.39330*79

2021-12-04T10:54:32.413Z,1638615272.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:33.209Z,1638615273.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:33.654Z,1638615273.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:34.069Z,1638615274.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.679993 m, bearing: 254.863946 deg, deltaT: 4.438119 s, deltaX: -2.100021 m, approachRate: -0.473178 m/s, LOS rate: -0.028034 deg/s, posRepo size: 4
2021-12-04T10:54:34.071Z,1638615274.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.679993 m,
      bearing: 254.863946 deg,
      approachRate: -0.473178 m/s,
      LOS rate: -0.028034 deg/s,
      cmd update: -0.084102 deg/s,
      cmd heading: 254.037311 deg,
      new cmd heading: 253.956203 deg.

2021-12-04T10:54:34.448Z,1638615274.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105434.68*57

2021-12-04T10:54:34.449Z,1638615274.449 [Micromodem](INFO): Nmea in: $CAREV,105435,AUV,2.1.4000*2C

2021-12-04T10:54:34.848Z,1638615274.848 [Micromodem](INFO): Nmea in: $CAREV,105435,COPROC,0.20.0.39330*7D

2021-12-04T10:54:36.885Z,1638615276.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:37.693Z,1638615277.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:38.067Z,1638615278.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:38.496Z,1638615278.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.679993 m, bearing: 254.515115 deg, deltaT: 4.424853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.078835 deg/s, posRepo size: 4
2021-12-04T10:54:38.499Z,1638615278.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.679993 m,
      bearing: 254.515115 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.078835 deg/s,
      cmd update: -0.236504 deg/s,
      cmd heading: 253.665698 deg,
      new cmd heading: 253.634390 deg.

2021-12-04T10:54:38.896Z,1638615278.896 [Micromodem](INFO): Nmea in: $SNTTA,0.109434,,,,105439.17*47

2021-12-04T10:54:38.915Z,1638615278.915 [Micromodem](INFO): Nmea in: $CAREV,105440,AUV,2.1.4000*2E

2021-12-04T10:54:39.288Z,1638615279.288 [Micromodem](INFO): Nmea in: $CAREV,105440,COPROC,0.20.0.39330*7F

2021-12-04T10:54:41.320Z,1638615281.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:42.111Z,1638615282.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:42.504Z,1638615282.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:42.963Z,1638615282.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.880005 m, bearing: 254.675980 deg, deltaT: 4.469680 s, deltaX: -4.799988 m, approachRate: -1.073900 m/s, LOS rate: 0.035990 deg/s, posRepo size: 4
2021-12-04T10:54:42.965Z,1638615282.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.880005 m,
      bearing: 254.675980 deg,
      approachRate: -1.073900 m/s,
      LOS rate: 0.035990 deg/s,
      cmd update: 0.107971 deg/s,
      cmd heading: 252.616227 deg,
      new cmd heading: 252.520988 deg.

2021-12-04T10:54:43.336Z,1638615283.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105443.58*54

2021-12-04T10:54:43.337Z,1638615283.337 [Micromodem](INFO): Nmea in: $CAREV,105444,AUV,2.1.4000*2A

2021-12-04T10:54:43.724Z,1638615283.724 [Micromodem](INFO): Nmea in: $CAREV,105444,COPROC,0.20.0.39330*7B

2021-12-04T10:54:45.775Z,1638615285.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:46.537Z,1638615286.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:46.966Z,1638615286.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:47.383Z,1638615287.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.540009 m, bearing: 256.094036 deg, deltaT: 4.420131 s, deltaX: -2.339996 m, approachRate: -0.529395 m/s, LOS rate: 0.320818 deg/s, posRepo size: 4
2021-12-04T10:54:47.385Z,1638615287.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.540009 m,
      bearing: 256.094036 deg,
      approachRate: -0.529395 m/s,
      LOS rate: 0.320818 deg/s,
      cmd update: 0.962453 deg/s,
      cmd heading: 253.098261 deg,
      new cmd heading: 253.136951 deg.

2021-12-04T10:54:47.776Z,1638615287.776 [Micromodem](INFO): Nmea in: $SNTTA,0.115429,,,,105448.01*47

2021-12-04T10:54:47.778Z,1638615287.778 [Micromodem](INFO): Nmea in: $CAREV,105449,AUV,2.1.4000*27

2021-12-04T10:54:48.168Z,1638615288.168 [Micromodem](INFO): Nmea in: $CAREV,105449,COPROC,0.20.0.39330*76

2021-12-04T10:54:50.227Z,1638615290.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:50.985Z,1638615290.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:51.400Z,1638615291.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:51.908Z,1638615291.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.199997 m, bearing: 255.551419 deg, deltaT: 4.477659 s, deltaX: -2.340012 m, approachRate: -0.522597 m/s, LOS rate: -0.121183 deg/s, posRepo size: 4
2021-12-04T10:54:51.915Z,1638615291.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.199997 m,
      bearing: 255.551419 deg,
      approachRate: -0.522597 m/s,
      LOS rate: -0.121183 deg/s,
      cmd update: -0.363550 deg/s,
      cmd heading: 257.342289 deg,
      new cmd heading: 257.785902 deg.

2021-12-04T10:54:52.216Z,1638615292.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105452.46*5B

2021-12-04T10:54:52.217Z,1638615292.217 [Micromodem](INFO): Nmea in: $CAREV,105453,AUV,2.1.4000*2C

2021-12-04T10:54:52.616Z,1638615292.616 [Micromodem](INFO): Nmea in: $CAREV,105453,COPROC,0.20.0.39330*7D

2021-12-04T10:54:54.628Z,1638615294.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:55.429Z,1638615295.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:54:55.844Z,1638615295.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:54:55.864Z,1638615295.864 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:54:56.295Z,1638615296.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.040009 m, bearing: 257.397263 deg, deltaT: 4.429485 s, deltaX: -2.159988 m, approachRate: -0.487639 m/s, LOS rate: 0.416718 deg/s, posRepo size: 4
2021-12-04T10:54:56.297Z,1638615296.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 257.397263 deg,
      approachRate: -0.487639 m/s,
      LOS rate: 0.416718 deg/s,
      cmd update: 1.250153 deg/s,
      cmd heading: 255.706562 deg,
      new cmd heading: 255.576848 deg.

2021-12-04T10:54:56.668Z,1638615296.668 [Micromodem](INFO): Nmea in: $SNTTA,0.099085,,,,105456.90*47

2021-12-04T10:54:56.669Z,1638615296.669 [Micromodem](INFO): Nmea in: $CAREV,105457,AUV,2.1.4000*28

2021-12-04T10:54:57.060Z,1638615297.060 [Micromodem](INFO): Nmea in: $CAREV,105457,COPROC,0.20.0.39330*79

2021-12-04T10:54:59.102Z,1638615299.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:54:59.872Z,1638615299.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:00.289Z,1638615300.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:00.732Z,1638615300.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.340012 m, bearing: 255.941477 deg, deltaT: 4.432052 s, deltaX: -2.699997 m, approachRate: -0.609198 m/s, LOS rate: -0.328468 deg/s, posRepo size: 4
2021-12-04T10:55:00.734Z,1638615300.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.340012 m,
      bearing: 255.941477 deg,
      approachRate: -0.609198 m/s,
      LOS rate: -0.328468 deg/s,
      cmd update: -0.985403 deg/s,
      cmd heading: 261.193848 deg,
      new cmd heading: 261.693866 deg.

2021-12-04T10:55:01.108Z,1638615301.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105501.35*58

2021-12-04T10:55:01.109Z,1638615301.109 [Micromodem](INFO): Nmea in: $CAREV,105502,AUV,2.1.4000*29

2021-12-04T10:55:01.500Z,1638615301.500 [Micromodem](INFO): Nmea in: $CAREV,105502,COPROC,0.20.0.39330*78

2021-12-04T10:55:03.517Z,1638615303.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:04.313Z,1638615304.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:04.723Z,1638615304.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:05.179Z,1638615305.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.820007 m, bearing: 256.664330 deg, deltaT: 4.446836 s, deltaX: -2.520004 m, approachRate: -0.566696 m/s, LOS rate: 0.162554 deg/s, posRepo size: 4
2021-12-04T10:55:05.181Z,1638615305.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.820007 m,
      bearing: 256.664330 deg,
      approachRate: -0.566696 m/s,
      LOS rate: 0.162554 deg/s,
      cmd update: 0.487663 deg/s,
      cmd heading: 256.818971 deg,
      new cmd heading: 256.417992 deg.

2021-12-04T10:55:05.556Z,1638615305.556 [Micromodem](INFO): Nmea in: $SNTTA,0.102856,,,,105505.79*42

2021-12-04T10:55:05.557Z,1638615305.557 [Micromodem](INFO): Nmea in: $CAREV,105506,AUV,2.1.4000*2D

2021-12-04T10:55:05.964Z,1638615305.964 [Micromodem](INFO): Nmea in: $CAREV,105506,COPROC,0.20.0.39330*7C

2021-12-04T10:55:08.014Z,1638615308.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:08.761Z,1638615308.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:09.177Z,1638615309.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:09.667Z,1638615309.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.360001 m, bearing: 255.548468 deg, deltaT: 4.493670 s, deltaX: -2.460007 m, approachRate: -0.547438 m/s, LOS rate: -0.248319 deg/s, posRepo size: 4
2021-12-04T10:55:09.669Z,1638615309.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.360001 m,
      bearing: 255.548468 deg,
      approachRate: -0.547438 m/s,
      LOS rate: -0.248319 deg/s,
      cmd update: -0.744956 deg/s,
      cmd heading: 258.991909 deg,
      new cmd heading: 259.208605 deg.

2021-12-04T10:55:10.004Z,1638615310.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105510.23*5F

2021-12-04T10:55:10.005Z,1638615310.005 [Micromodem](INFO): Nmea in: $CAREV,105511,AUV,2.1.4000*2B

2021-12-04T10:55:10.388Z,1638615310.388 [Micromodem](INFO): Nmea in: $CAREV,105511,COPROC,0.20.0.39330*7A

2021-12-04T10:55:12.429Z,1638615312.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:13.209Z,1638615313.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:13.653Z,1638615313.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:14.057Z,1638615314.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.779999 m, bearing: 255.959837 deg, deltaT: 4.394060 s, deltaX: -2.580002 m, approachRate: -0.587157 m/s, LOS rate: 0.093619 deg/s, posRepo size: 4
2021-12-04T10:55:14.059Z,1638615314.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.779999 m,
      bearing: 255.959837 deg,
      approachRate: -0.587157 m/s,
      LOS rate: 0.093619 deg/s,
      cmd update: 0.280858 deg/s,
      cmd heading: 255.652712 deg,
      new cmd heading: 255.387282 deg.

2021-12-04T10:55:14.452Z,1638615314.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105514.68*54

2021-12-04T10:55:14.453Z,1638615314.453 [Micromodem](INFO): Nmea in: $CAREV,105515,AUV,2.1.4000*2F

2021-12-04T10:55:14.832Z,1638615314.832 [Micromodem](INFO): Nmea in: $CAREV,105515,COPROC,0.20.0.39330*7E

2021-12-04T10:55:16.864Z,1638615316.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:17.688Z,1638615317.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:18.059Z,1638615318.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:18.505Z,1638615318.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.559998 m, bearing: 255.860580 deg, deltaT: 4.441160 s, deltaX: -2.220001 m, approachRate: -0.499870 m/s, LOS rate: -0.022349 deg/s, posRepo size: 4
2021-12-04T10:55:18.515Z,1638615318.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 255.860580 deg,
      approachRate: -0.499870 m/s,
      LOS rate: -0.022349 deg/s,
      cmd update: -0.067048 deg/s,
      cmd heading: 256.887762 deg,
      new cmd heading: 257.000128 deg.

2021-12-04T10:55:18.874Z,1638615318.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105519.16*50

2021-12-04T10:55:18.877Z,1638615318.877 [Micromodem](INFO): Nmea in: $CAREV,105520,AUV,2.1.4000*29

2021-12-04T10:55:19.276Z,1638615319.276 [Micromodem](INFO): Nmea in: $CAREV,105520,COPROC,0.20.0.39330*78

2021-12-04T10:55:21.314Z,1638615321.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:22.093Z,1638615322.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:22.491Z,1638615322.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:22.955Z,1638615322.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.160004 m, bearing: 256.631326 deg, deltaT: 4.456152 s, deltaX: -2.399994 m, approachRate: -0.538580 m/s, LOS rate: 0.172962 deg/s, posRepo size: 4
2021-12-04T10:55:22.957Z,1638615322.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.160004 m,
      bearing: 256.631326 deg,
      approachRate: -0.538580 m/s,
      LOS rate: 0.172962 deg/s,
      cmd update: 0.518887 deg/s,
      cmd heading: 256.590883 deg,
      new cmd heading: 256.562173 deg.

2021-12-04T10:55:23.332Z,1638615323.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105523.57*5C

2021-12-04T10:55:23.333Z,1638615323.333 [Micromodem](INFO): Nmea in: $CAREV,105524,AUV,2.1.4000*2D

2021-12-04T10:55:23.716Z,1638615323.716 [Micromodem](INFO): Nmea in: $CAREV,105524,COPROC,0.20.0.39330*7C

2021-12-04T10:55:25.761Z,1638615325.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:26.540Z,1638615326.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:26.962Z,1638615326.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:27.364Z,1638615327.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.520004 m, bearing: 255.736926 deg, deltaT: 4.408988 s, deltaX: -2.639999 m, approachRate: -0.598777 m/s, LOS rate: -0.202858 deg/s, posRepo size: 4
2021-12-04T10:55:27.365Z,1638615327.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 255.736926 deg,
      approachRate: -0.598777 m/s,
      LOS rate: -0.202858 deg/s,
      cmd update: -0.608575 deg/s,
      cmd heading: 258.913513 deg,
      new cmd heading: 259.100723 deg.

2021-12-04T10:55:27.776Z,1638615327.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105528.01*54

2021-12-04T10:55:27.777Z,1638615327.777 [Micromodem](INFO): Nmea in: $CAREV,105529,AUV,2.1.4000*20

2021-12-04T10:55:28.164Z,1638615328.164 [Micromodem](INFO): Nmea in: $CAREV,105529,COPROC,0.20.0.39330*71

2021-12-04T10:55:30.198Z,1638615330.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:30.988Z,1638615330.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:31.407Z,1638615331.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:31.861Z,1638615331.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.180008 m, bearing: 255.849515 deg, deltaT: 4.493720 s, deltaX: -2.339996 m, approachRate: -0.520726 m/s, LOS rate: 0.025055 deg/s, posRepo size: 4
2021-12-04T10:55:31.891Z,1638615331.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.180008 m,
      bearing: 255.849515 deg,
      approachRate: -0.520726 m/s,
      LOS rate: 0.025055 deg/s,
      cmd update: 0.075164 deg/s,
      cmd heading: 256.213824 deg,
      new cmd heading: 255.956908 deg.

2021-12-04T10:55:32.232Z,1638615332.232 [Micromodem](INFO): Nmea in: $SNTTA,0.098504,,,,105532.46*42

2021-12-04T10:55:32.233Z,1638615332.233 [Micromodem](INFO): Nmea in: $CAREV,105533,AUV,2.1.4000*2B

2021-12-04T10:55:32.652Z,1638615332.652 [Micromodem](INFO): Nmea in: $CAREV,105533,COPROC,0.20.0.39330*7A

2021-12-04T10:55:34.644Z,1638615334.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:35.441Z,1638615335.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:35.864Z,1638615335.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:36.293Z,1638615336.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.780006 m, bearing: 256.854783 deg, deltaT: 4.436205 s, deltaX: -2.400002 m, approachRate: -0.541003 m/s, LOS rate: 0.226605 deg/s, posRepo size: 4
2021-12-04T10:55:36.295Z,1638615336.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.780006 m,
      bearing: 256.854783 deg,
      approachRate: -0.541003 m/s,
      LOS rate: 0.226605 deg/s,
      cmd update: 0.679816 deg/s,
      cmd heading: 256.555549 deg,
      new cmd heading: 256.578737 deg.

2021-12-04T10:55:36.688Z,1638615336.688 [Micromodem](INFO): Nmea in: $SNTTA,0.091743,,,,105536.92*47

2021-12-04T10:55:36.689Z,1638615336.689 [Micromodem](INFO): Nmea in: $CAREV,105537,AUV,2.1.4000*2F

2021-12-04T10:55:37.069Z,1638615337.069 [Micromodem](INFO): Nmea in: $CAREV,105537,COPROC,0.20.0.39330*7E

2021-12-04T10:55:37.902Z,1638615337.902 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:55:39.139Z,1638615339.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:39.893Z,1638615339.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:40.300Z,1638615340.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:40.758Z,1638615340.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.320000 m, bearing: 258.859498 deg, deltaT: 4.455939 s, deltaX: -2.460007 m, approachRate: -0.552074 m/s, LOS rate: 0.449897 deg/s, posRepo size: 4
2021-12-04T10:55:40.760Z,1638615340.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.320000 m,
      bearing: 258.859498 deg,
      approachRate: -0.552074 m/s,
      LOS rate: 0.449897 deg/s,
      cmd update: 1.349692 deg/s,
      cmd heading: 259.512596 deg,
      new cmd heading: 259.795111 deg.

2021-12-04T10:55:41.132Z,1638615341.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105541.37*5E

2021-12-04T10:55:41.133Z,1638615341.133 [Micromodem](INFO): Nmea in: $CAREV,105542,AUV,2.1.4000*2D

2021-12-04T10:55:41.516Z,1638615341.516 [Micromodem](INFO): Nmea in: $CAREV,105542,COPROC,0.20.0.39330*7C

2021-12-04T10:55:43.541Z,1638615343.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:44.333Z,1638615344.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:44.756Z,1638615344.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:45.192Z,1638615345.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.740005 m, bearing: 258.650576 deg, deltaT: 4.439007 s, deltaX: -2.579994 m, approachRate: -0.581210 m/s, LOS rate: -0.047065 deg/s, posRepo size: 4
2021-12-04T10:55:45.198Z,1638615345.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.740005 m,
      bearing: 258.650576 deg,
      approachRate: -0.581210 m/s,
      LOS rate: -0.047065 deg/s,
      cmd update: -0.141195 deg/s,
      cmd heading: 265.561559 deg,
      new cmd heading: 266.068933 deg.

2021-12-04T10:55:45.577Z,1638615345.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105545.81*57

2021-12-04T10:55:45.578Z,1638615345.578 [Micromodem](INFO): Nmea in: $CAREV,105546,AUV,2.1.4000*29

2021-12-04T10:55:45.976Z,1638615345.976 [Micromodem](INFO): Nmea in: $CAREV,105546,COPROC,0.20.0.39330*78

2021-12-04T10:55:48.041Z,1638615348.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:48.781Z,1638615348.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:49.175Z,1638615349.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:49.662Z,1638615349.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 257.637058 deg, deltaT: 4.456034 s, deltaX: -2.520004 m, approachRate: -0.565526 m/s, LOS rate: -0.227448 deg/s, posRepo size: 4
2021-12-04T10:55:49.665Z,1638615349.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.220001 m,
      bearing: 257.637058 deg,
      approachRate: -0.565526 m/s,
      LOS rate: -0.227448 deg/s,
      cmd update: -0.682345 deg/s,
      cmd heading: 264.937741 deg,
      new cmd heading: 264.877447 deg.

2021-12-04T10:55:50.008Z,1638615350.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105550.25*5D

2021-12-04T10:55:50.009Z,1638615350.009 [Micromodem](INFO): Nmea in: $CAREV,105551,AUV,2.1.4000*2F

2021-12-04T10:55:50.396Z,1638615350.396 [Micromodem](INFO): Nmea in: $CAREV,105551,COPROC,0.20.0.39330*7E

2021-12-04T10:55:52.428Z,1638615352.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:53.213Z,1638615353.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:53.659Z,1638615353.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:54.053Z,1638615354.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.400002 m, bearing: 256.803638 deg, deltaT: 4.409080 s, deltaX: -2.820000 m, approachRate: -0.639589 m/s, LOS rate: -0.189023 deg/s, posRepo size: 4
2021-12-04T10:55:54.056Z,1638615354.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.400002 m,
      bearing: 256.803638 deg,
      approachRate: -0.639589 m/s,
      LOS rate: -0.189023 deg/s,
      cmd update: -0.567070 deg/s,
      cmd heading: 261.883965 deg,
      new cmd heading: 261.649569 deg.

2021-12-04T10:55:54.463Z,1638615354.463 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105554.69*51

2021-12-04T10:55:54.464Z,1638615354.464 [Micromodem](INFO): Nmea in: $CAREV,105555,AUV,2.1.4000*2B

2021-12-04T10:55:54.844Z,1638615354.844 [Micromodem](INFO): Nmea in: $CAREV,105555,COPROC,0.20.0.39330*7A

2021-12-04T10:55:56.905Z,1638615356.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:55:57.695Z,1638615357.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:55:57.716Z,1638615357.716 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:55:58.079Z,1638615358.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:55:58.487Z,1638615358.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.879997 m, bearing: 257.742489 deg, deltaT: 4.433734 s, deltaX: -2.520004 m, approachRate: -0.568371 m/s, LOS rate: 0.211752 deg/s, posRepo size: 4
2021-12-04T10:55:58.489Z,1638615358.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.879997 m,
      bearing: 257.742489 deg,
      approachRate: -0.568371 m/s,
      LOS rate: 0.211752 deg/s,
      cmd update: 0.635255 deg/s,
      cmd heading: 259.384057 deg,
      new cmd heading: 259.175083 deg.

2021-12-04T10:55:58.904Z,1638615358.904 [Micromodem](INFO): Nmea in: $SNTTA,0.085490,,,,105559.17*4B

2021-12-04T10:55:58.916Z,1638615358.916 [Micromodem](INFO): Nmea in: $CAREV,105600,AUV,2.1.4000*28

2021-12-04T10:55:59.288Z,1638615359.288 [Micromodem](INFO): Nmea in: $CAREV,105600,COPROC,0.20.0.39330*79

2021-12-04T10:56:01.315Z,1638615361.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:02.105Z,1638615362.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:02.515Z,1638615362.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:02.961Z,1638615362.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.480003 m, bearing: 256.435081 deg, deltaT: 4.474193 s, deltaX: -2.399994 m, approachRate: -0.536408 m/s, LOS rate: -0.292211 deg/s, posRepo size: 4
2021-12-04T10:56:02.963Z,1638615362.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.480003 m,
      bearing: 256.435081 deg,
      approachRate: -0.536408 m/s,
      LOS rate: -0.292211 deg/s,
      cmd update: -0.876632 deg/s,
      cmd heading: 262.193412 deg,
      new cmd heading: 262.460573 deg.

2021-12-04T10:56:03.352Z,1638615363.352 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105603.58*52

2021-12-04T10:56:03.353Z,1638615363.353 [Micromodem](INFO): Nmea in: $CAREV,105604,AUV,2.1.4000*2C

2021-12-04T10:56:03.732Z,1638615363.732 [Micromodem](INFO): Nmea in: $CAREV,105604,COPROC,0.20.0.39330*7D

2021-12-04T10:56:05.781Z,1638615365.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:06.545Z,1638615366.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:06.979Z,1638615366.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:07.392Z,1638615367.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.200005 m, bearing: 257.252354 deg, deltaT: 4.410153 s, deltaX: -2.279999 m, approachRate: -0.516989 m/s, LOS rate: 0.185316 deg/s, posRepo size: 4
2021-12-04T10:56:07.393Z,1638615367.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.200005 m,
      bearing: 257.252354 deg,
      approachRate: -0.516989 m/s,
      LOS rate: 0.185316 deg/s,
      cmd update: 0.555949 deg/s,
      cmd heading: 258.257603 deg,
      new cmd heading: 257.958870 deg.

2021-12-04T10:56:07.784Z,1638615367.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105608.02*56

2021-12-04T10:56:07.785Z,1638615367.785 [Micromodem](INFO): Nmea in: $CAREV,105609,AUV,2.1.4000*21

2021-12-04T10:56:08.176Z,1638615368.176 [Micromodem](INFO): Nmea in: $CAREV,105609,COPROC,0.20.0.39330*70

2021-12-04T10:56:10.198Z,1638615370.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:10.996Z,1638615370.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:11.399Z,1638615371.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:11.847Z,1638615371.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 256.553817 deg, deltaT: 4.475013 s, deltaX: -2.220001 m, approachRate: -0.496088 m/s, LOS rate: -0.156097 deg/s, posRepo size: 4
2021-12-04T10:56:11.849Z,1638615371.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 256.553817 deg,
      approachRate: -0.496088 m/s,
      LOS rate: -0.156097 deg/s,
      cmd update: -0.468292 deg/s,
      cmd heading: 260.704937 deg,
      new cmd heading: 260.935066 deg.

2021-12-04T10:56:12.228Z,1638615372.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105612.47*5C

2021-12-04T10:56:12.229Z,1638615372.229 [Micromodem](INFO): Nmea in: $CAREV,105613,AUV,2.1.4000*2A

2021-12-04T10:56:12.632Z,1638615372.632 [Micromodem](INFO): Nmea in: $CAREV,105613,COPROC,0.20.0.39330*7B

2021-12-04T10:56:14.651Z,1638615374.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:15.449Z,1638615375.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:15.847Z,1638615375.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:16.290Z,1638615376.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 256.943356 deg, deltaT: 4.439383 s, deltaX: -2.339996 m, approachRate: -0.527099 m/s, LOS rate: 0.087746 deg/s, posRepo size: 4
2021-12-04T10:56:16.296Z,1638615376.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.640007 m,
      bearing: 256.943356 deg,
      approachRate: -0.527099 m/s,
      LOS rate: 0.087746 deg/s,
      cmd update: 0.263239 deg/s,
      cmd heading: 258.586059 deg,
      new cmd heading: 258.430275 deg.

2021-12-04T10:56:16.676Z,1638615376.676 [Micromodem](INFO): Nmea in: $SNTTA,0.069492,,,,105616.92*4E

2021-12-04T10:56:16.677Z,1638615376.677 [Micromodem](INFO): Nmea in: $CAREV,105617,AUV,2.1.4000*2E

2021-12-04T10:56:17.072Z,1638615377.072 [Micromodem](INFO): Nmea in: $CAREV,105617,COPROC,0.20.0.39330*7F

2021-12-04T10:56:17.912Z,1638615377.912 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T10:56:19.103Z,1638615379.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:19.888Z,1638615379.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:20.287Z,1638615380.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:20.721Z,1638615380.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.120003 m, bearing: 257.447834 deg, deltaT: 4.435385 s, deltaX: -2.520004 m, approachRate: -0.568159 m/s, LOS rate: 0.113739 deg/s, posRepo size: 4
2021-12-04T10:56:20.723Z,1638615380.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.120003 m,
      bearing: 257.447834 deg,
      approachRate: -0.568159 m/s,
      LOS rate: 0.113739 deg/s,
      cmd update: 0.341218 deg/s,
      cmd heading: 259.734879 deg,
      new cmd heading: 259.840126 deg.

2021-12-04T10:56:21.124Z,1638615381.124 [Micromodem](INFO): Nmea in: $SNTTA,0.077604,,,,105621.36*46

2021-12-04T10:56:21.125Z,1638615381.125 [Micromodem](INFO): Nmea in: $CAREV,105622,AUV,2.1.4000*28

2021-12-04T10:56:21.508Z,1638615381.508 [Micromodem](INFO): Nmea in: $CAREV,105622,COPROC,0.20.0.39330*79

2021-12-04T10:56:23.533Z,1638615383.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:24.321Z,1638615384.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:24.739Z,1638615384.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:25.187Z,1638615385.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.599998 m, bearing: 255.996310 deg, deltaT: 4.462079 s, deltaX: -2.520004 m, approachRate: -0.564760 m/s, LOS rate: -0.325302 deg/s, posRepo size: 4
2021-12-04T10:56:25.189Z,1638615385.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.599998 m,
      bearing: 255.996310 deg,
      approachRate: -0.564760 m/s,
      LOS rate: -0.325302 deg/s,
      cmd update: -0.975907 deg/s,
      cmd heading: 261.251620 deg,
      new cmd heading: 261.393763 deg.

2021-12-04T10:56:25.570Z,1638615385.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105625.80*53

2021-12-04T10:56:25.573Z,1638615385.573 [Micromodem](INFO): Nmea in: $CAREV,105626,AUV,2.1.4000*2C

2021-12-04T10:56:25.964Z,1638615385.964 [Micromodem](INFO): Nmea in: $CAREV,105626,COPROC,0.20.0.39330*7D

2021-12-04T10:56:27.994Z,1638615387.994 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-12-04T10:56:28.016Z,1638615388.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:28.781Z,1638615388.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:29.175Z,1638615389.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:29.671Z,1638615389.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.260002 m, bearing: 256.205095 deg, deltaT: 4.483486 s, deltaX: -2.339996 m, approachRate: -0.521914 m/s, LOS rate: 0.046568 deg/s, posRepo size: 4
2021-12-04T10:56:29.673Z,1638615389.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 256.205095 deg,
      approachRate: -0.521914 m/s,
      LOS rate: 0.046568 deg/s,
      cmd update: 0.139703 deg/s,
      cmd heading: 256.895249 deg,
      new cmd heading: 256.469607 deg.

2021-12-04T10:56:30.009Z,1638615390.009 [Micromodem](INFO): Nmea in: $SNTTA,0.071932,,,,105630.26*4B

2021-12-04T10:56:30.010Z,1638615390.010 [Micromodem](INFO): Nmea in: $CAREV,105631,AUV,2.1.4000*2A

2021-12-04T10:56:30.404Z,1638615390.404 [Micromodem](INFO): Nmea in: $CAREV,105631,COPROC,0.20.0.39330*7B

2021-12-04T10:56:32.416Z,1638615392.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:33.213Z,1638615393.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:33.657Z,1638615393.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:34.066Z,1638615394.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.680000 m, bearing: 256.189358 deg, deltaT: 4.394694 s, deltaX: -2.580002 m, approachRate: -0.587072 m/s, LOS rate: -0.003581 deg/s, posRepo size: 4
2021-12-04T10:56:34.072Z,1638615394.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.680000 m,
      bearing: 256.189358 deg,
      approachRate: -0.587072 m/s,
      LOS rate: -0.003581 deg/s,
      cmd update: -0.010743 deg/s,
      cmd heading: 257.520243 deg,
      new cmd heading: 257.570721 deg.

2021-12-04T10:56:34.453Z,1638615394.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105634.69*54

2021-12-04T10:56:34.455Z,1638615394.455 [Micromodem](INFO): Nmea in: $CAREV,105635,AUV,2.1.4000*2E

2021-12-04T10:56:34.844Z,1638615394.844 [Micromodem](INFO): Nmea in: $CAREV,105635,COPROC,0.20.0.39330*7F

2021-12-04T10:56:36.925Z,1638615396.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:37.719Z,1638615397.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:38.055Z,1638615398.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:38.510Z,1638615398.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.159996 m, bearing: 255.382139 deg, deltaT: 4.428707 s, deltaX: -2.520004 m, approachRate: -0.569016 m/s, LOS rate: -0.182270 deg/s, posRepo size: 4
2021-12-04T10:56:38.517Z,1638615398.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.159996 m,
      bearing: 255.382139 deg,
      approachRate: -0.569016 m/s,
      LOS rate: -0.182270 deg/s,
      cmd update: -0.546809 deg/s,
      cmd heading: 257.472991 deg,
      new cmd heading: 257.468633 deg.

2021-12-04T10:56:39.280Z,1638615399.280 [Micromodem](INFO): Nmea in: $SNTTA,0.088938,,,,105639.20*48

2021-12-04T10:56:39.281Z,1638615399.281 [Micromodem](INFO): Nmea in: $CAREV,105640,AUV,2.1.4000*2C

2021-12-04T10:56:39.708Z,1638615399.708 [Micromodem](INFO): Nmea in: $CAREV,105640,COPROC,0.20.0.39330*7D

2021-12-04T10:56:41.297Z,1638615401.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:42.113Z,1638615402.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:42.516Z,1638615402.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:42.964Z,1638615402.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.760002 m, bearing: 256.528955 deg, deltaT: 4.473933 s, deltaX: -2.399994 m, approachRate: -0.536439 m/s, LOS rate: 0.256333 deg/s, posRepo size: 4
2021-12-04T10:56:42.966Z,1638615402.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.760002 m,
      bearing: 256.528955 deg,
      approachRate: -0.536439 m/s,
      LOS rate: 0.256333 deg/s,
      cmd update: 0.768999 deg/s,
      cmd heading: 255.036861 deg,
      new cmd heading: 254.814731 deg.

2021-12-04T10:56:43.336Z,1638615403.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105643.59*57

2021-12-04T10:56:43.337Z,1638615403.337 [Micromodem](INFO): Nmea in: $CAREV,105644,AUV,2.1.4000*28

2021-12-04T10:56:43.736Z,1638615403.736 [Micromodem](INFO): Nmea in: $CAREV,105644,COPROC,0.20.0.39330*79

2021-12-04T10:56:45.777Z,1638615405.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:46.545Z,1638615406.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:46.972Z,1638615406.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:47.371Z,1638615407.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 257.075042 deg, deltaT: 4.407047 s, deltaX: -2.100006 m, approachRate: -0.476511 m/s, LOS rate: 0.123912 deg/s, posRepo size: 4
2021-12-04T10:56:47.373Z,1638615407.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 257.075042 deg,
      approachRate: -0.476511 m/s,
      LOS rate: 0.123912 deg/s,
      cmd update: 0.371737 deg/s,
      cmd heading: 258.480510 deg,
      new cmd heading: 258.738079 deg.

2021-12-04T10:56:47.784Z,1638615407.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105648.02*52

2021-12-04T10:56:47.785Z,1638615407.785 [Micromodem](INFO): Nmea in: $CAREV,105649,AUV,2.1.4000*25

2021-12-04T10:56:48.173Z,1638615408.173 [Micromodem](INFO): Nmea in: $CAREV,105649,COPROC,0.20.0.39330*74

2021-12-04T10:56:50.222Z,1638615410.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:50.993Z,1638615410.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:51.408Z,1638615411.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:51.850Z,1638615411.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.020004 m, bearing: 257.079277 deg, deltaT: 4.478110 s, deltaX: -2.639992 m, approachRate: -0.589533 m/s, LOS rate: 0.000946 deg/s, posRepo size: 4
2021-12-04T10:56:51.852Z,1638615411.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.020004 m,
      bearing: 257.079277 deg,
      approachRate: -0.589533 m/s,
      LOS rate: 0.000946 deg/s,
      cmd update: 0.002837 deg/s,
      cmd heading: 260.117028 deg,
      new cmd heading: 260.269854 deg.

2021-12-04T10:56:52.236Z,1638615412.236 [Micromodem](INFO): Nmea in: $SNTTA,0.100349,,,,105652.47*49

2021-12-04T10:56:52.237Z,1638615412.237 [Micromodem](INFO): Nmea in: $CAREV,105653,AUV,2.1.4000*2E

2021-12-04T10:56:52.622Z,1638615412.622 [Micromodem](INFO): Nmea in: $CAREV,105653,COPROC,0.20.0.39330*7F

2021-12-04T10:56:54.649Z,1638615414.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:55.437Z,1638615415.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:56:55.835Z,1638615415.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:56:56.277Z,1638615416.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 256.967727 deg, deltaT: 4.427408 s, deltaX: -2.220001 m, approachRate: -0.501422 m/s, LOS rate: -0.025195 deg/s, posRepo size: 4
2021-12-04T10:56:56.279Z,1638615416.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.800003 m,
      bearing: 256.967727 deg,
      approachRate: -0.501422 m/s,
      LOS rate: -0.025195 deg/s,
      cmd update: -0.075586 deg/s,
      cmd heading: 260.129761 deg,
      new cmd heading: 260.130754 deg.

2021-12-04T10:56:56.676Z,1638615416.676 [Micromodem](INFO): Nmea in: $SNTTA,0.065225,,,,105656.91*4F

2021-12-04T10:56:56.677Z,1638615416.677 [Micromodem](INFO): Nmea in: $CAREV,105657,AUV,2.1.4000*2A

2021-12-04T10:56:57.064Z,1638615417.064 [Micromodem](INFO): Nmea in: $CAREV,105657,COPROC,0.20.0.39330*7B

2021-12-04T10:56:59.115Z,1638615419.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:56:59.883Z,1638615419.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:00.287Z,1638615420.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:00.704Z,1638615420.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 255.707748 deg, deltaT: 4.427348 s, deltaX: -2.699997 m, approachRate: -0.609845 m/s, LOS rate: -0.284590 deg/s, posRepo size: 4
2021-12-04T10:57:00.706Z,1638615420.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.100006 m,
      bearing: 255.707748 deg,
      approachRate: -0.609845 m/s,
      LOS rate: -0.284590 deg/s,
      cmd update: -0.853770 deg/s,
      cmd heading: 259.797148 deg,
      new cmd heading: 259.768650 deg.

2021-12-04T10:57:01.119Z,1638615421.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105701.36*59

2021-12-04T10:57:01.120Z,1638615421.120 [Micromodem](INFO): Nmea in: $CAREV,105702,AUV,2.1.4000*2B

2021-12-04T10:57:01.500Z,1638615421.500 [Micromodem](INFO): Nmea in: $CAREV,105702,COPROC,0.20.0.39330*7A

2021-12-04T10:57:03.532Z,1638615423.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:04.317Z,1638615424.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:04.731Z,1638615424.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:05.181Z,1638615425.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.700005 m, bearing: 256.820194 deg, deltaT: 4.472422 s, deltaX: -2.400002 m, approachRate: -0.536622 m/s, LOS rate: 0.248735 deg/s, posRepo size: 4
2021-12-04T10:57:05.187Z,1638615425.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.700005 m,
      bearing: 256.820194 deg,
      approachRate: -0.536622 m/s,
      LOS rate: 0.248735 deg/s,
      cmd update: 0.746204 deg/s,
      cmd heading: 256.010387 deg,
      new cmd heading: 255.653395 deg.

2021-12-04T10:57:05.576Z,1638615425.576 [Micromodem](INFO): Nmea in: $SNTTA,0.060096,,,,105705.79*41

2021-12-04T10:57:05.577Z,1638615425.577 [Micromodem](INFO): Nmea in: $CAREV,105706,AUV,2.1.4000*2F

2021-12-04T10:57:05.964Z,1638615425.964 [Micromodem](INFO): Nmea in: $CAREV,105706,COPROC,0.20.0.39330*7E

2021-12-04T10:57:07.981Z,1638615427.981 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T10:57:08.002Z,1638615428.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:08.765Z,1638615428.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:09.172Z,1638615429.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:09.598Z,1638615429.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.360001 m, bearing: 255.605787 deg, deltaT: 4.411319 s, deltaX: -2.340004 m, approachRate: -0.530455 m/s, LOS rate: -0.275294 deg/s, posRepo size: 4
2021-12-04T10:57:09.631Z,1638615429.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.360001 m,
      bearing: 255.605787 deg,
      approachRate: -0.530455 m/s,
      LOS rate: -0.275294 deg/s,
      cmd update: -0.825881 deg/s,
      cmd heading: 259.337706 deg,
      new cmd heading: 259.615517 deg.

2021-12-04T10:57:10.012Z,1638615430.012 [Micromodem](INFO): Nmea in: $SNTTA,0.083540,,,,105710.24*4E

2021-12-04T10:57:10.013Z,1638615430.013 [Micromodem](INFO): Nmea in: $CAREV,105711,AUV,2.1.4000*29

2021-12-04T10:57:10.392Z,1638615430.392 [Micromodem](INFO): Nmea in: $CAREV,105711,COPROC,0.20.0.39330*78

2021-12-04T10:57:12.413Z,1638615432.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:13.209Z,1638615433.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:13.656Z,1638615433.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:14.073Z,1638615434.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.660004 m, bearing: 256.425601 deg, deltaT: 4.481405 s, deltaX: -2.699997 m, approachRate: -0.602489 m/s, LOS rate: 0.182937 deg/s, posRepo size: 4
2021-12-04T10:57:14.080Z,1638615434.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.660004 m,
      bearing: 256.425601 deg,
      approachRate: -0.602489 m/s,
      LOS rate: 0.182937 deg/s,
      cmd update: 0.548810 deg/s,
      cmd heading: 255.636068 deg,
      new cmd heading: 255.330631 deg.

2021-12-04T10:57:14.444Z,1638615434.444 [Micromodem](INFO): Nmea in: $SNTTA,0.073159,,,,105714.69*40

2021-12-04T10:57:14.445Z,1638615434.445 [Micromodem](INFO): Nmea in: $CAREV,105715,AUV,2.1.4000*2D

2021-12-04T10:57:14.836Z,1638615434.836 [Micromodem](INFO): Nmea in: $CAREV,105715,COPROC,0.20.0.39330*7C

2021-12-04T10:57:16.867Z,1638615436.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:17.709Z,1638615437.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:17.806Z,1638615437.806 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T10:57:18.062Z,1638615438.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:18.497Z,1638615438.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.959999 m, bearing: 255.177998 deg, deltaT: 4.427075 s, deltaX: -2.700005 m, approachRate: -0.609885 m/s, LOS rate: -0.281812 deg/s, posRepo size: 4
2021-12-04T10:57:18.499Z,1638615438.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.959999 m,
      bearing: 255.177998 deg,
      approachRate: -0.609885 m/s,
      LOS rate: -0.281812 deg/s,
      cmd update: -0.845436 deg/s,
      cmd heading: 258.063437 deg,
      new cmd heading: 258.266723 deg.

2021-12-04T10:57:18.877Z,1638615438.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105719.19*5D

2021-12-04T10:57:19.280Z,1638615439.280 [Micromodem](INFO): Nmea in: $CAREV,105720,AUV,2.1.4000*2B

2021-12-04T10:57:19.281Z,1638615439.281 [Micromodem](INFO): Nmea in: $CAREV,105720,COPROC,0.20.0.39330*7A

2021-12-04T10:57:21.309Z,1638615441.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:22.097Z,1638615442.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:22.515Z,1638615442.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:23.329Z,1638615443.329 [Micromodem](INFO): Nmea in: $SNTTA,0.059507,,,,105723.57*4E

2021-12-04T10:57:23.330Z,1638615443.330 [Micromodem](INFO): Nmea in: $CAREV,105724,AUV,2.1.4000*2F

2021-12-04T10:57:23.706Z,1638615443.706 [Micromodem](INFO): Nmea in: $CAREV,105724,COPROC,0.20.0.39330*7E

2021-12-04T10:57:24.152Z,1638615444.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:25.750Z,1638615445.750 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T10:57:26.978Z,1638615446.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:27.768Z,1638615447.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:27.849Z,1638615447.849 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:57:28.238Z,1638615448.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:28.640Z,1638615448.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 255.527567 deg, deltaT: 10.143383 s, deltaX: -5.820000 m, approachRate: -0.573773 m/s, LOS rate: 0.034463 deg/s, posRepo size: 4
2021-12-04T10:57:28.642Z,1638615448.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.139999 m,
      bearing: 255.527567 deg,
      approachRate: -0.573773 m/s,
      LOS rate: 0.034463 deg/s,
      cmd update: 0.103388 deg/s,
      cmd heading: 249.455889 deg,
      new cmd heading: 249.175308 deg.

2021-12-04T10:57:29.040Z,1638615449.040 [Micromodem](INFO): Nmea in: $SNTTA,0.063074,,,,105729.24*48

2021-12-04T10:57:29.041Z,1638615449.041 [Micromodem](INFO): Nmea in: $CAREV,105730,AUV,2.1.4000*2A

2021-12-04T10:57:29.437Z,1638615449.437 [Micromodem](INFO): Nmea in: $CAREV,105730,COPROC,0.20.0.39330*7B

2021-12-04T10:57:31.477Z,1638615451.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:32.260Z,1638615452.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:32.684Z,1638615452.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:33.114Z,1638615453.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 255.057377 deg, deltaT: 4.474164 s, deltaX: -2.399998 m, approachRate: -0.536413 m/s, LOS rate: -0.105090 deg/s, posRepo size: 4
2021-12-04T10:57:33.116Z,1638615453.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 255.057377 deg,
      approachRate: -0.536413 m/s,
      LOS rate: -0.105090 deg/s,
      cmd update: -0.315270 deg/s,
      cmd heading: 249.913428 deg,
      new cmd heading: 249.952806 deg.

2021-12-04T10:57:33.499Z,1638615453.499 [Micromodem](INFO): Nmea in: $SNTTA,0.074752,,,,105733.73*44

2021-12-04T10:57:33.501Z,1638615453.501 [Micromodem](INFO): Nmea in: $CAREV,105734,AUV,2.1.4000*2E

2021-12-04T10:57:33.915Z,1638615453.915 [Micromodem](INFO): Nmea in: $CAREV,105734,COPROC,0.20.0.39330*7F

2021-12-04T10:57:35.967Z,1638615455.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:36.701Z,1638615456.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:37.121Z,1638615457.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:37.551Z,1638615457.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.220001 m, bearing: 253.939958 deg, deltaT: 4.433175 s, deltaX: -2.520000 m, approachRate: -0.568441 m/s, LOS rate: -0.252058 deg/s, posRepo size: 4
2021-12-04T10:57:37.553Z,1638615457.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.220001 m,
      bearing: 253.939958 deg,
      approachRate: -0.568441 m/s,
      LOS rate: -0.252058 deg/s,
      cmd update: -0.756175 deg/s,
      cmd heading: 248.510611 deg,
      new cmd heading: 248.395780 deg.

2021-12-04T10:57:37.956Z,1638615457.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105738.18*5F

2021-12-04T10:57:37.975Z,1638615457.975 [Micromodem](INFO): Nmea in: $CAREV,105739,AUV,2.1.4000*23

2021-12-04T10:57:38.331Z,1638615458.331 [Micromodem](INFO): Nmea in: $CAREV,105739,COPROC,0.20.0.39330*72

2021-12-04T10:57:40.346Z,1638615460.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:41.145Z,1638615461.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:41.559Z,1638615461.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:42.052Z,1638615462.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.699997 m, bearing: 254.903671 deg, deltaT: 4.504946 s, deltaX: -2.520004 m, approachRate: -0.559386 m/s, LOS rate: 0.213923 deg/s, posRepo size: 4
2021-12-04T10:57:42.054Z,1638615462.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.699997 m,
      bearing: 254.903671 deg,
      approachRate: -0.559386 m/s,
      LOS rate: 0.213923 deg/s,
      cmd update: 0.641770 deg/s,
      cmd heading: 245.135348 deg,
      new cmd heading: 244.828549 deg.

2021-12-04T10:57:42.392Z,1638615462.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105742.62*5F

2021-12-04T10:57:42.393Z,1638615462.393 [Micromodem](INFO): Nmea in: $CAREV,105743,AUV,2.1.4000*2E

2021-12-04T10:57:42.776Z,1638615462.776 [Micromodem](INFO): Nmea in: $CAREV,105743,COPROC,0.20.0.39330*7F

2021-12-04T10:57:43.186Z,1638615463.186 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:57:44.800Z,1638615464.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:45.600Z,1638615465.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:46.002Z,1638615466.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:46.435Z,1638615466.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.300003 m, bearing: 255.590405 deg, deltaT: 4.379217 s, deltaX: -2.399994 m, approachRate: -0.548042 m/s, LOS rate: 0.156817 deg/s, posRepo size: 4
2021-12-04T10:57:46.437Z,1638615466.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.300003 m,
      bearing: 255.590405 deg,
      approachRate: -0.548042 m/s,
      LOS rate: 0.156817 deg/s,
      cmd update: 0.470450 deg/s,
      cmd heading: 247.992902 deg,
      new cmd heading: 248.206084 deg.

2021-12-04T10:57:46.824Z,1638615466.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105747.08*56

2021-12-04T10:57:46.825Z,1638615466.825 [Micromodem](INFO): Nmea in: $CAREV,105748,AUV,2.1.4000*25

2021-12-04T10:57:47.224Z,1638615467.224 [Micromodem](INFO): Nmea in: $CAREV,105748,COPROC,0.20.0.39330*74

2021-12-04T10:57:49.266Z,1638615469.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:50.033Z,1638615470.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:50.449Z,1638615470.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:50.917Z,1638615470.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 255.810829 deg, deltaT: 4.481756 s, deltaX: -2.400009 m, approachRate: -0.535506 m/s, LOS rate: 0.049182 deg/s, posRepo size: 4
2021-12-04T10:57:50.923Z,1638615470.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.899994 m,
      bearing: 255.810829 deg,
      approachRate: -0.535506 m/s,
      LOS rate: 0.049182 deg/s,
      cmd update: 0.147547 deg/s,
      cmd heading: 250.055404 deg,
      new cmd heading: 250.259601 deg.

2021-12-04T10:57:51.280Z,1638615471.280 [Micromodem](INFO): Nmea in: $SNTTA,0.049590,,,,105751.51*42

2021-12-04T10:57:51.281Z,1638615471.281 [Micromodem](INFO): Nmea in: $CAREV,105752,AUV,2.1.4000*2E

2021-12-04T10:57:51.692Z,1638615471.692 [Micromodem](INFO): Nmea in: $CAREV,105752,COPROC,0.20.0.39330*7F

2021-12-04T10:57:53.733Z,1638615473.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:54.488Z,1638615474.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:54.889Z,1638615474.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:55.300Z,1638615475.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 256.818992 deg, deltaT: 4.387188 s, deltaX: -2.579994 m, approachRate: -0.588075 m/s, LOS rate: 0.229797 deg/s, posRepo size: 4
2021-12-04T10:57:55.302Z,1638615475.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.320000 m,
      bearing: 256.818992 deg,
      approachRate: -0.588075 m/s,
      LOS rate: 0.229797 deg/s,
      cmd update: 0.689391 deg/s,
      cmd heading: 250.713557 deg,
      new cmd heading: 250.766175 deg.

2021-12-04T10:57:55.740Z,1638615475.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105755.96*52

2021-12-04T10:57:55.741Z,1638615475.741 [Micromodem](INFO): Nmea in: $CAREV,105757,AUV,2.1.4000*2B

2021-12-04T10:57:56.112Z,1638615476.112 [Micromodem](INFO): Nmea in: $CAREV,105757,COPROC,0.20.0.39330*7A

2021-12-04T10:57:58.146Z,1638615478.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:57:58.949Z,1638615478.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:57:59.360Z,1638615479.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:57:59.767Z,1638615479.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 256.771427 deg, deltaT: 4.466314 s, deltaX: -2.639999 m, approachRate: -0.591091 m/s, LOS rate: -0.010650 deg/s, posRepo size: 4
2021-12-04T10:57:59.769Z,1638615479.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.680000 m,
      bearing: 256.771427 deg,
      approachRate: -0.591091 m/s,
      LOS rate: -0.010650 deg/s,
      cmd update: -0.031949 deg/s,
      cmd heading: 253.789685 deg,
      new cmd heading: 254.038424 deg.

2021-12-04T10:58:00.149Z,1638615480.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105800.42*54

2021-12-04T10:58:00.150Z,1638615480.150 [Micromodem](INFO): Nmea in: $CAREV,105801,AUV,2.1.4000*27

2021-12-04T10:58:00.548Z,1638615480.548 [Micromodem](INFO): Nmea in: $CAREV,105801,COPROC,0.20.0.39330*76

2021-12-04T10:58:02.565Z,1638615482.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:03.365Z,1638615483.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:03.771Z,1638615483.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:04.210Z,1638615484.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 258.109297 deg, deltaT: 4.443441 s, deltaX: -2.520000 m, approachRate: -0.567128 m/s, LOS rate: 0.301089 deg/s, posRepo size: 4
2021-12-04T10:58:04.212Z,1638615484.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.160000 m,
      bearing: 258.109297 deg,
      approachRate: -0.567128 m/s,
      LOS rate: 0.301089 deg/s,
      cmd update: 0.903266 deg/s,
      cmd heading: 253.648430 deg,
      new cmd heading: 253.636189 deg.

2021-12-04T10:58:04.604Z,1638615484.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105804.84*5A

2021-12-04T10:58:04.605Z,1638615484.605 [Micromodem](INFO): Nmea in: $CAREV,105805,AUV,2.1.4000*23

2021-12-04T10:58:04.992Z,1638615484.992 [Micromodem](INFO): Nmea in: $CAREV,105805,COPROC,0.20.0.39330*72

2021-12-04T10:58:07.038Z,1638615487.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:07.817Z,1638615487.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:08.215Z,1638615488.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:08.635Z,1638615488.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.179996 m, bearing: 260.240152 deg, deltaT: 4.425252 s, deltaX: -1.980003 m, approachRate: -0.447433 m/s, LOS rate: 0.481522 deg/s, posRepo size: 4
2021-12-04T10:58:08.637Z,1638615488.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.179996 m,
      bearing: 260.240152 deg,
      approachRate: -0.447433 m/s,
      LOS rate: 0.481522 deg/s,
      cmd update: 1.444565 deg/s,
      cmd heading: 257.654934 deg,
      new cmd heading: 257.991419 deg.

2021-12-04T10:58:09.060Z,1638615489.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105809.29*50

2021-12-04T10:58:09.061Z,1638615489.061 [Micromodem](INFO): Nmea in: $CAREV,105810,AUV,2.1.4000*27

2021-12-04T10:58:09.440Z,1638615489.440 [Micromodem](INFO): Nmea in: $CAREV,105810,COPROC,0.20.0.39330*76

2021-12-04T10:58:11.460Z,1638615491.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:12.253Z,1638615492.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:12.663Z,1638615492.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:13.095Z,1638615493.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 259.757039 deg, deltaT: 4.459114 s, deltaX: -2.759998 m, approachRate: -0.618957 m/s, LOS rate: -0.108343 deg/s, posRepo size: 4
2021-12-04T10:58:13.095Z,1638615493.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 39.42 m.
2021-12-04T10:58:13.097Z,1638615493.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 259.757039 deg,
      approachRate: -0.618957 m/s,
      LOS rate: -0.108343 deg/s,
      cmd update: -0.325028 deg/s,
      cmd heading: 264.098927 deg,
      new cmd heading: 264.634930 deg.

2021-12-04T10:58:13.524Z,1638615493.524 [Micromodem](INFO): Nmea in: $SNTTA,0.043206,,,,105813.73*49

2021-12-04T10:58:13.525Z,1638615493.525 [Micromodem](INFO): Nmea in: $CAREV,105814,AUV,2.1.4000*23

2021-12-04T10:58:13.545Z,1638615493.545 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T10:58:13.545Z,1638615493.545 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:58:13.545Z,1638615493.545 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T10:58:13.546Z,1638615493.546 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 39.419998 m (mode 1 count ).
2021-12-04T10:58:13.546Z,1638615493.546 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T10:58:13.547Z,1638615493.547 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T10:58:13.911Z,1638615493.911 [Micromodem](INFO): Nmea in: $CAREV,105814,COPROC,0.20.0.39330*72

2021-12-04T10:58:13.971Z,1638615493.971 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T10:58:13.972Z,1638615493.972 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:58:13.972Z,1638615493.972 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T10:58:13.972Z,1638615493.972 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T10:58:15.960Z,1638615495.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:16.693Z,1638615496.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:17.118Z,1638615497.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:17.514Z,1638615497.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:17.519Z,1638615497.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 257.263337 deg, deltaT: 4.425134 s, deltaX: -2.519997 m, approachRate: -0.569474 m/s, LOS rate: -0.563531 deg/s, posRepo size: 4
2021-12-04T10:58:17.520Z,1638615497.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 36.90 m.
2021-12-04T10:58:17.522Z,1638615497.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.900002 m,
      bearing: 257.263337 deg,
      approachRate: -0.569474 m/s,
      LOS rate: -0.563531 deg/s,
      cmd update: -1.690594 deg/s,
      cmd heading: 262.657322 deg,
      new cmd heading: 262.540122 deg.

2021-12-04T10:58:17.956Z,1638615497.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105818.17*5D

2021-12-04T10:58:17.957Z,1638615497.957 [Micromodem](INFO): Nmea in: $CAREV,105819,AUV,2.1.4000*2E

2021-12-04T10:58:18.320Z,1638615498.320 [Micromodem](INFO): Nmea in: $CAREV,105819,COPROC,0.20.0.39330*7F

2021-12-04T10:58:20.389Z,1638615500.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:21.149Z,1638615501.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:21.548Z,1638615501.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:22.015Z,1638615502.015 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:22.036Z,1638615502.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 256.315198 deg, deltaT: 4.500816 s, deltaX: -2.340004 m, approachRate: -0.519907 m/s, LOS rate: -0.210659 deg/s, posRepo size: 4
2021-12-04T10:58:22.037Z,1638615502.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 34.56 m.
2021-12-04T10:58:22.037Z,1638615502.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.56 m.
2021-12-04T10:58:22.037Z,1638615502.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T10:58:22.050Z,1638615502.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 255.163333 deg,
      new cmd heading: 254.411284 deg.

2021-12-04T10:58:22.388Z,1638615502.388 [Micromodem](INFO): Nmea in: $SNTTA,0.041940,,,,105822.62*40

2021-12-04T10:58:22.389Z,1638615502.389 [Micromodem](INFO): Nmea in: $CAREV,105823,AUV,2.1.4000*27

2021-12-04T10:58:22.429Z,1638615502.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 254.882202 deg,
      new cmd heading: 254.634761 deg.

2021-12-04T10:58:22.782Z,1638615502.782 [Micromodem](INFO): Nmea in: $CAREV,105823,COPROC,0.20.0.39330*76

2021-12-04T10:58:22.804Z,1638615502.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 254.634761 deg,
      new cmd heading: 254.397479 deg.

2021-12-04T10:58:23.208Z,1638615503.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 254.397479 deg,
      new cmd heading: 254.142377 deg.

2021-12-04T10:58:23.663Z,1638615503.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 254.142377 deg,
      new cmd heading: 253.854440 deg.

2021-12-04T10:58:24.043Z,1638615504.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 253.854440 deg,
      new cmd heading: 253.616431 deg.

2021-12-04T10:58:24.409Z,1638615504.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 253.616431 deg,
      new cmd heading: 253.382985 deg.

2021-12-04T10:58:24.789Z,1638615504.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:24.815Z,1638615504.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 253.382985 deg,
      new cmd heading: 253.141007 deg.

2021-12-04T10:58:25.229Z,1638615505.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 253.141007 deg,
      new cmd heading: 252.864442 deg.

2021-12-04T10:58:25.592Z,1638615505.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:25.693Z,1638615505.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 252.864442 deg,
      new cmd heading: 252.575394 deg.

2021-12-04T10:58:26.006Z,1638615506.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:26.091Z,1638615506.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 256.315198 deg,
      approachRate: -0.519907 m/s,
      LOS rate: -0.210659 deg/s,
      cmd update: -0.631978 deg/s,
      cmd heading: 252.575394 deg,
      new cmd heading: 252.320023 deg.

2021-12-04T10:58:26.407Z,1638615506.407 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:26.412Z,1638615506.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 256.805878 deg, deltaT: 4.391553 s, deltaX: -2.399994 m, approachRate: -0.546502 m/s, LOS rate: 0.111733 deg/s, posRepo size: 4
2021-12-04T10:58:26.414Z,1638615506.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 252.320023 deg,
      new cmd heading: 252.117056 deg.

2021-12-04T10:58:26.825Z,1638615506.825 [Micromodem](INFO): Nmea in: $SNTTA,0.034929,,,,105827.07*4B

2021-12-04T10:58:26.827Z,1638615506.827 [Micromodem](INFO): Nmea in: $CAREV,105828,AUV,2.1.4000*2C

2021-12-04T10:58:26.917Z,1638615506.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 252.427675 deg,
      new cmd heading: 252.594362 deg.

2021-12-04T10:58:27.208Z,1638615507.208 [Micromodem](INFO): Nmea in: $CAREV,105828,COPROC,0.20.0.39330*7D

2021-12-04T10:58:27.258Z,1638615507.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 252.594362 deg,
      new cmd heading: 252.710078 deg.

2021-12-04T10:58:27.712Z,1638615507.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 252.710078 deg,
      new cmd heading: 252.861789 deg.

2021-12-04T10:58:28.061Z,1638615508.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 252.861789 deg,
      new cmd heading: 252.980588 deg.

2021-12-04T10:58:28.463Z,1638615508.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 252.980588 deg,
      new cmd heading: 253.114702 deg.

2021-12-04T10:58:28.868Z,1638615508.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 253.114702 deg,
      new cmd heading: 253.249920 deg.

2021-12-04T10:58:29.260Z,1638615509.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:29.264Z,1638615509.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 253.249920 deg,
      new cmd heading: 253.383560 deg.

2021-12-04T10:58:29.700Z,1638615509.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 253.383560 deg,
      new cmd heading: 253.529827 deg.

2021-12-04T10:58:30.021Z,1638615510.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:30.138Z,1638615510.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 253.529827 deg,
      new cmd heading: 253.675420 deg.

2021-12-04T10:58:30.439Z,1638615510.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:30.491Z,1638615510.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 256.805878 deg,
      approachRate: -0.546502 m/s,
      LOS rate: 0.111733 deg/s,
      cmd update: 0.335199 deg/s,
      cmd heading: 253.675420 deg,
      new cmd heading: 253.788265 deg.

2021-12-04T10:58:30.958Z,1638615510.958 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:31.004Z,1638615511.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 256.256321 deg, deltaT: 4.551455 s, deltaX: -2.400003 m, approachRate: -0.527305 m/s, LOS rate: -0.120743 deg/s, posRepo size: 4
2021-12-04T10:58:31.006Z,1638615511.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 253.788265 deg,
      new cmd heading: 253.953312 deg.

2021-12-04T10:58:31.276Z,1638615511.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105831.50*55

2021-12-04T10:58:31.277Z,1638615511.277 [Micromodem](INFO): Nmea in: $CAREV,105832,AUV,2.1.4000*27

2021-12-04T10:58:31.321Z,1638615511.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 253.609910 deg,
      new cmd heading: 253.480311 deg.

2021-12-04T10:58:31.697Z,1638615511.697 [Micromodem](INFO): Nmea in: $CAREV,105832,COPROC,0.20.0.39330*76

2021-12-04T10:58:31.775Z,1638615511.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 253.480311 deg,
      new cmd heading: 253.317272 deg.

2021-12-04T10:58:32.091Z,1638615512.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 253.317272 deg,
      new cmd heading: 253.201433 deg.

2021-12-04T10:58:32.501Z,1638615512.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 253.201433 deg,
      new cmd heading: 253.053533 deg.

2021-12-04T10:58:32.924Z,1638615512.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 253.053533 deg,
      new cmd heading: 252.899691 deg.

2021-12-04T10:58:33.304Z,1638615513.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 252.899691 deg,
      new cmd heading: 252.762161 deg.

2021-12-04T10:58:33.733Z,1638615513.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:33.736Z,1638615513.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 252.762161 deg,
      new cmd heading: 252.605603 deg.

2021-12-04T10:58:34.111Z,1638615514.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 252.605603 deg,
      new cmd heading: 252.469680 deg.

2021-12-04T10:58:34.477Z,1638615514.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:34.573Z,1638615514.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 252.469680 deg,
      new cmd heading: 252.304900 deg.

2021-12-04T10:58:34.918Z,1638615514.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:34.976Z,1638615514.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.760000 m,
      bearing: 256.256321 deg,
      approachRate: -0.527305 m/s,
      LOS rate: -0.120743 deg/s,
      cmd update: -0.362229 deg/s,
      cmd heading: 252.304900 deg,
      new cmd heading: 252.156489 deg.

2021-12-04T10:58:35.298Z,1638615515.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:35.303Z,1638615515.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 255.970218 deg, deltaT: 4.339975 s, deltaX: -2.759998 m, approachRate: -0.635948 m/s, LOS rate: -0.065923 deg/s, posRepo size: 4
2021-12-04T10:58:35.305Z,1638615515.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 252.156489 deg,
      new cmd heading: 252.037852 deg.

2021-12-04T10:58:35.732Z,1638615515.732 [Micromodem](INFO): Nmea in: $SNTTA,0.039918,,,,105835.95*4C

2021-12-04T10:58:35.733Z,1638615515.733 [Micromodem](INFO): Nmea in: $CAREV,105837,AUV,2.1.4000*22

2021-12-04T10:58:35.813Z,1638615515.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 252.091716 deg,
      new cmd heading: 251.992061 deg.

2021-12-04T10:58:36.092Z,1638615516.092 [Micromodem](INFO): Nmea in: $CAREV,105837,COPROC,0.20.0.39330*73

2021-12-04T10:58:36.116Z,1638615516.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.992061 deg,
      new cmd heading: 251.931024 deg.

2021-12-04T10:58:36.519Z,1638615516.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.931024 deg,
      new cmd heading: 251.851238 deg.

2021-12-04T10:58:36.948Z,1638615516.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.851238 deg,
      new cmd heading: 251.766571 deg.

2021-12-04T10:58:37.343Z,1638615517.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.766571 deg,
      new cmd heading: 251.688336 deg.

2021-12-04T10:58:37.786Z,1638615517.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.688336 deg,
      new cmd heading: 251.600769 deg.

2021-12-04T10:58:38.126Z,1638615518.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:38.129Z,1638615518.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.600769 deg,
      new cmd heading: 251.532848 deg.

2021-12-04T10:58:38.547Z,1638615518.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.532848 deg,
      new cmd heading: 251.450239 deg.

2021-12-04T10:58:38.945Z,1638615518.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:39.082Z,1638615519.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.450239 deg,
      new cmd heading: 251.344498 deg.

2021-12-04T10:58:39.319Z,1638615519.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:39.351Z,1638615519.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.000002 m,
      bearing: 255.970218 deg,
      approachRate: -0.635948 m/s,
      LOS rate: -0.065923 deg/s,
      cmd update: -0.197768 deg/s,
      cmd heading: 251.344498 deg,
      new cmd heading: 251.291246 deg.

2021-12-04T10:58:39.764Z,1638615519.764 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:39.769Z,1638615519.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 256.225613 deg, deltaT: 4.465432 s, deltaX: -2.580000 m, approachRate: -0.577772 m/s, LOS rate: 0.057194 deg/s, posRepo size: 4
2021-12-04T10:58:39.787Z,1638615519.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.291246 deg,
      new cmd heading: 251.208427 deg.

2021-12-04T10:58:40.141Z,1638615520.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105840.42*50

2021-12-04T10:58:40.144Z,1638615520.144 [Micromodem](INFO): Nmea in: $CAREV,105841,AUV,2.1.4000*23

2021-12-04T10:58:40.197Z,1638615520.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.363098 deg,
      new cmd heading: 251.436444 deg.

2021-12-04T10:58:40.548Z,1638615520.548 [Micromodem](INFO): Nmea in: $CAREV,105841,COPROC,0.20.0.39330*72

2021-12-04T10:58:40.571Z,1638615520.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.436444 deg,
      new cmd heading: 251.500627 deg.

2021-12-04T10:58:41.018Z,1638615521.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.500627 deg,
      new cmd heading: 251.577372 deg.

2021-12-04T10:58:41.379Z,1638615521.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.577372 deg,
      new cmd heading: 251.636509 deg.

2021-12-04T10:58:41.803Z,1638615521.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.636509 deg,
      new cmd heading: 251.712030 deg.

2021-12-04T10:58:42.188Z,1638615522.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.712030 deg,
      new cmd heading: 251.778037 deg.

2021-12-04T10:58:42.584Z,1638615522.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:42.588Z,1638615522.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.778037 deg,
      new cmd heading: 251.846583 deg.

2021-12-04T10:58:43.004Z,1638615523.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.846583 deg,
      new cmd heading: 251.917976 deg.

2021-12-04T10:58:43.362Z,1638615523.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:43.453Z,1638615523.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.917976 deg,
      new cmd heading: 251.993920 deg.

2021-12-04T10:58:43.767Z,1638615523.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:43.824Z,1638615523.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 256.225613 deg,
      approachRate: -0.577772 m/s,
      LOS rate: 0.057194 deg/s,
      cmd update: 0.171581 deg/s,
      cmd heading: 251.993920 deg,
      new cmd heading: 252.058675 deg.

2021-12-04T10:58:44.208Z,1638615524.208 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:44.217Z,1638615524.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 257.221782 deg, deltaT: 4.444285 s, deltaX: -2.460005 m, approachRate: -0.553521 m/s, LOS rate: 0.224146 deg/s, posRepo size: 4
2021-12-04T10:58:44.223Z,1638615524.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 252.058675 deg,
      new cmd heading: 252.126240 deg.

2021-12-04T10:58:44.608Z,1638615524.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105844.84*5E

2021-12-04T10:58:44.609Z,1638615524.609 [Micromodem](INFO): Nmea in: $CAREV,105845,AUV,2.1.4000*27

2021-12-04T10:58:44.631Z,1638615524.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 252.323468 deg,
      new cmd heading: 252.601624 deg.

2021-12-04T10:58:44.988Z,1638615524.988 [Micromodem](INFO): Nmea in: $CAREV,105845,COPROC,0.20.0.39330*76

2021-12-04T10:58:45.013Z,1638615525.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 252.601624 deg,
      new cmd heading: 252.858463 deg.

2021-12-04T10:58:45.419Z,1638615525.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 252.858463 deg,
      new cmd heading: 253.131771 deg.

2021-12-04T10:58:45.838Z,1638615525.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 253.131771 deg,
      new cmd heading: 253.413503 deg.

2021-12-04T10:58:46.220Z,1638615526.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 253.413503 deg,
      new cmd heading: 253.669847 deg.

2021-12-04T10:58:46.625Z,1638615526.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 253.669847 deg,
      new cmd heading: 253.942913 deg.

2021-12-04T10:58:47.008Z,1638615527.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:47.011Z,1638615527.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 253.942913 deg,
      new cmd heading: 254.202100 deg.

2021-12-04T10:58:47.440Z,1638615527.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 254.202100 deg,
      new cmd heading: 254.487558 deg.

2021-12-04T10:58:47.809Z,1638615527.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:47.946Z,1638615527.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 254.487558 deg,
      new cmd heading: 254.829331 deg.

2021-12-04T10:58:48.223Z,1638615528.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:48.260Z,1638615528.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 257.221782 deg,
      approachRate: -0.553521 m/s,
      LOS rate: 0.224146 deg/s,
      cmd update: 0.672438 deg/s,
      cmd heading: 254.829331 deg,
      new cmd heading: 255.042206 deg.

2021-12-04T10:58:48.637Z,1638615528.637 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:48.650Z,1638615528.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 258.115280 deg, deltaT: 4.428939 s, deltaX: -2.399996 m, approachRate: -0.541890 m/s, LOS rate: 0.201741 deg/s, posRepo size: 4
2021-12-04T10:58:48.652Z,1638615528.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 255.042206 deg,
      new cmd heading: 255.299165 deg.

2021-12-04T10:58:49.052Z,1638615529.052 [Micromodem](INFO): Nmea in: $SNTTA,0.042615,,,,105849.29*4E

2021-12-04T10:58:49.053Z,1638615529.053 [Micromodem](INFO): Nmea in: $CAREV,105850,AUV,2.1.4000*23

2021-12-04T10:58:49.104Z,1638615529.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 255.273480 deg,
      new cmd heading: 255.539973 deg.

2021-12-04T10:58:49.436Z,1638615529.436 [Micromodem](INFO): Nmea in: $CAREV,105850,COPROC,0.20.0.39330*72

2021-12-04T10:58:49.455Z,1638615529.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 255.539973 deg,
      new cmd heading: 255.765132 deg.

2021-12-04T10:58:49.907Z,1638615529.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 255.765132 deg,
      new cmd heading: 256.020633 deg.

2021-12-04T10:58:50.267Z,1638615530.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 256.020633 deg,
      new cmd heading: 256.256604 deg.

2021-12-04T10:58:50.663Z,1638615530.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 256.256604 deg,
      new cmd heading: 256.496321 deg.

2021-12-04T10:58:51.075Z,1638615531.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 256.496321 deg,
      new cmd heading: 256.745496 deg.

2021-12-04T10:58:51.452Z,1638615531.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:51.455Z,1638615531.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 256.745496 deg,
      new cmd heading: 256.975862 deg.

2021-12-04T10:58:51.939Z,1638615531.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 256.975862 deg,
      new cmd heading: 257.268446 deg.

2021-12-04T10:58:52.249Z,1638615532.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:52.339Z,1638615532.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 257.268446 deg,
      new cmd heading: 257.504649 deg.

2021-12-04T10:58:52.655Z,1638615532.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:52.687Z,1638615532.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 258.115280 deg,
      approachRate: -0.541890 m/s,
      LOS rate: 0.201741 deg/s,
      cmd update: 0.605223 deg/s,
      cmd heading: 257.504649 deg,
      new cmd heading: 257.721207 deg.

2021-12-04T10:58:53.076Z,1638615533.076 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:53.081Z,1638615533.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 258.733358 deg, deltaT: 4.438882 s, deltaX: -2.340004 m, approachRate: -0.527161 m/s, LOS rate: 0.139242 deg/s, posRepo size: 4
2021-12-04T10:58:53.083Z,1638615533.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 257.721207 deg,
      new cmd heading: 257.960077 deg.

2021-12-04T10:58:53.484Z,1638615533.484 [Micromodem](INFO): Nmea in: $SNTTA,0.050153,,,,105853.73*4C

2021-12-04T10:58:53.485Z,1638615533.485 [Micromodem](INFO): Nmea in: $CAREV,105854,AUV,2.1.4000*27

2021-12-04T10:58:53.532Z,1638615533.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 257.886075 deg,
      new cmd heading: 258.063972 deg.

2021-12-04T10:58:53.899Z,1638615533.899 [Micromodem](INFO): Nmea in: $CAREV,105854,COPROC,0.20.0.39330*76

2021-12-04T10:58:53.969Z,1638615533.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 258.063972 deg,
      new cmd heading: 258.256699 deg.

2021-12-04T10:58:54.296Z,1638615534.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 258.256699 deg,
      new cmd heading: 258.393156 deg.

2021-12-04T10:58:54.711Z,1638615534.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 258.393156 deg,
      new cmd heading: 258.566829 deg.

2021-12-04T10:58:55.119Z,1638615535.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 258.566829 deg,
      new cmd heading: 258.737075 deg.

2021-12-04T10:58:55.507Z,1638615535.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 258.737075 deg,
      new cmd heading: 258.899200 deg.

2021-12-04T10:58:55.962Z,1638615535.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:58:55.965Z,1638615535.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 258.899200 deg,
      new cmd heading: 259.090509 deg.

2021-12-04T10:58:56.314Z,1638615536.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 259.090509 deg,
      new cmd heading: 259.236270 deg.

2021-12-04T10:58:56.697Z,1638615536.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:58:56.785Z,1638615536.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 259.236270 deg,
      new cmd heading: 259.430344 deg.

2021-12-04T10:58:57.100Z,1638615537.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:58:57.153Z,1638615537.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 258.733358 deg,
      approachRate: -0.527161 m/s,
      LOS rate: 0.139242 deg/s,
      cmd update: 0.417725 deg/s,
      cmd heading: 259.430344 deg,
      new cmd heading: 259.586940 deg.

2021-12-04T10:58:57.529Z,1638615537.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:58:57.535Z,1638615537.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 258.664346 deg, deltaT: 4.454568 s, deltaX: -2.279995 m, approachRate: -0.511833 m/s, LOS rate: -0.015492 deg/s, posRepo size: 4
2021-12-04T10:58:57.537Z,1638615537.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.586940 deg,
      new cmd heading: 259.746573 deg.

2021-12-04T10:58:57.948Z,1638615537.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105858.17*59

2021-12-04T10:58:57.949Z,1638615537.949 [Micromodem](INFO): Nmea in: $CAREV,105859,AUV,2.1.4000*2A

2021-12-04T10:58:58.011Z,1638615538.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.569179 deg,
      new cmd heading: 259.547079 deg.

2021-12-04T10:58:58.320Z,1638615538.320 [Micromodem](INFO): Nmea in: $CAREV,105859,COPROC,0.20.0.39330*7B

2021-12-04T10:58:58.343Z,1638615538.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.547079 deg,
      new cmd heading: 259.531654 deg.

2021-12-04T10:58:58.748Z,1638615538.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.531654 deg,
      new cmd heading: 259.512838 deg.

2021-12-04T10:58:59.166Z,1638615539.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.512838 deg,
      new cmd heading: 259.494254 deg.

2021-12-04T10:58:59.551Z,1638615539.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.494254 deg,
      new cmd heading: 259.475507 deg.

2021-12-04T10:59:00.035Z,1638615540.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.475507 deg,
      new cmd heading: 259.453176 deg.

2021-12-04T10:59:00.348Z,1638615540.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:00.351Z,1638615540.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.453176 deg,
      new cmd heading: 259.438308 deg.

2021-12-04T10:59:00.769Z,1638615540.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.438308 deg,
      new cmd heading: 259.418893 deg.

2021-12-04T10:59:01.145Z,1638615541.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:01.261Z,1638615541.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.418893 deg,
      new cmd heading: 259.395998 deg.

2021-12-04T10:59:01.539Z,1638615541.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:01.656Z,1638615541.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.940002 m,
      bearing: 258.664346 deg,
      approachRate: -0.511833 m/s,
      LOS rate: -0.015492 deg/s,
      cmd update: -0.046477 deg/s,
      cmd heading: 259.395998 deg,
      new cmd heading: 259.377692 deg.

2021-12-04T10:59:02.017Z,1638615542.017 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:02.042Z,1638615542.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 257.963432 deg, deltaT: 4.486814 s, deltaX: -2.280001 m, approachRate: -0.508156 m/s, LOS rate: -0.156216 deg/s, posRepo size: 4
2021-12-04T10:59:02.044Z,1638615542.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 259.377692 deg,
      new cmd heading: 259.359889 deg.

2021-12-04T10:59:02.372Z,1638615542.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105902.62*55

2021-12-04T10:59:02.373Z,1638615542.373 [Micromodem](INFO): Nmea in: $CAREV,105903,AUV,2.1.4000*24

2021-12-04T10:59:02.424Z,1638615542.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 259.198176 deg,
      new cmd heading: 259.019858 deg.

2021-12-04T10:59:02.800Z,1638615542.800 [Micromodem](INFO): Nmea in: $CAREV,105903,COPROC,0.20.0.39330*75

2021-12-04T10:59:02.835Z,1638615542.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 259.019858 deg,
      new cmd heading: 258.832387 deg.

2021-12-04T10:59:03.205Z,1638615543.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 258.832387 deg,
      new cmd heading: 258.651301 deg.

2021-12-04T10:59:03.661Z,1638615543.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 258.651301 deg,
      new cmd heading: 258.437813 deg.

2021-12-04T10:59:04.037Z,1638615544.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 258.437813 deg,
      new cmd heading: 258.261396 deg.

2021-12-04T10:59:04.425Z,1638615544.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 258.261396 deg,
      new cmd heading: 258.079781 deg.

2021-12-04T10:59:04.796Z,1638615544.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:04.799Z,1638615544.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 258.079781 deg,
      new cmd heading: 257.904557 deg.

2021-12-04T10:59:05.225Z,1638615545.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 257.904557 deg,
      new cmd heading: 257.704808 deg.

2021-12-04T10:59:05.579Z,1638615545.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:05.686Z,1638615545.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 257.704808 deg,
      new cmd heading: 257.488676 deg.

2021-12-04T10:59:05.993Z,1638615545.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:06.060Z,1638615546.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 257.963432 deg,
      approachRate: -0.508156 m/s,
      LOS rate: -0.156216 deg/s,
      cmd update: -0.468649 deg/s,
      cmd heading: 257.488676 deg,
      new cmd heading: 257.313566 deg.

2021-12-04T10:59:06.394Z,1638615546.394 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:06.399Z,1638615546.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 257.276533 deg, deltaT: 4.377286 s, deltaX: -2.400002 m, approachRate: -0.548285 m/s, LOS rate: -0.156923 deg/s, posRepo size: 4
2021-12-04T10:59:06.401Z,1638615546.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 257.313566 deg,
      new cmd heading: 257.154379 deg.

2021-12-04T10:59:06.820Z,1638615546.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105907.06*52

2021-12-04T10:59:06.821Z,1638615546.821 [Micromodem](INFO): Nmea in: $CAREV,105908,AUV,2.1.4000*2F

2021-12-04T10:59:06.872Z,1638615546.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 257.153659 deg,
      new cmd heading: 256.933355 deg.

2021-12-04T10:59:07.208Z,1638615547.208 [Micromodem](INFO): Nmea in: $CAREV,105908,COPROC,0.20.0.39330*7E

2021-12-04T10:59:07.247Z,1638615547.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 256.933355 deg,
      new cmd heading: 256.754606 deg.

2021-12-04T10:59:07.702Z,1638615547.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 256.754606 deg,
      new cmd heading: 256.540427 deg.

2021-12-04T10:59:08.057Z,1638615548.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 256.540427 deg,
      new cmd heading: 256.373364 deg.

2021-12-04T10:59:08.463Z,1638615548.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 256.373364 deg,
      new cmd heading: 256.182203 deg.

2021-12-04T10:59:08.851Z,1638615548.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 256.182203 deg,
      new cmd heading: 255.999571 deg.

2021-12-04T10:59:09.263Z,1638615549.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:09.266Z,1638615549.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 255.999571 deg,
      new cmd heading: 255.804160 deg.

2021-12-04T10:59:09.689Z,1638615549.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 255.804160 deg,
      new cmd heading: 255.604811 deg.

2021-12-04T10:59:10.039Z,1638615550.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:10.150Z,1638615550.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 255.604811 deg,
      new cmd heading: 255.389707 deg.

2021-12-04T10:59:10.434Z,1638615550.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:10.467Z,1638615550.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 257.276533 deg,
      approachRate: -0.548285 m/s,
      LOS rate: -0.156923 deg/s,
      cmd update: -0.470770 deg/s,
      cmd heading: 255.389707 deg,
      new cmd heading: 255.238857 deg.

2021-12-04T10:59:10.888Z,1638615550.888 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:10.918Z,1638615550.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 257.038050 deg, deltaT: 4.493563 s, deltaX: -2.400002 m, approachRate: -0.534098 m/s, LOS rate: -0.053072 deg/s, posRepo size: 4
2021-12-04T10:59:10.924Z,1638615550.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 255.238857 deg,
      new cmd heading: 255.034961 deg.

2021-12-04T10:59:11.260Z,1638615551.260 [Micromodem](INFO): Nmea in: $SNTTA,0.030549,,,,105911.52*41

2021-12-04T10:59:11.261Z,1638615551.261 [Micromodem](INFO): Nmea in: $CAREV,105912,AUV,2.1.4000*24

2021-12-04T10:59:11.299Z,1638615551.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 255.169898 deg,
      new cmd heading: 255.107028 deg.

2021-12-04T10:59:11.696Z,1638615551.696 [Micromodem](INFO): Nmea in: $CAREV,105912,COPROC,0.20.0.39330*75

2021-12-04T10:59:11.758Z,1638615551.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 255.107028 deg,
      new cmd heading: 255.033860 deg.

2021-12-04T10:59:12.093Z,1638615552.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 255.033860 deg,
      new cmd heading: 254.979917 deg.

2021-12-04T10:59:12.511Z,1638615552.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.979917 deg,
      new cmd heading: 254.913426 deg.

2021-12-04T10:59:12.919Z,1638615552.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.913426 deg,
      new cmd heading: 254.848414 deg.

2021-12-04T10:59:13.318Z,1638615553.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.848414 deg,
      new cmd heading: 254.785027 deg.

2021-12-04T10:59:13.730Z,1638615553.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:13.733Z,1638615553.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.785027 deg,
      new cmd heading: 254.718865 deg.

2021-12-04T10:59:14.129Z,1638615554.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.718865 deg,
      new cmd heading: 254.655867 deg.

2021-12-04T10:59:14.465Z,1638615554.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:14.558Z,1638615554.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.655867 deg,
      new cmd heading: 254.588779 deg.

2021-12-04T10:59:14.872Z,1638615554.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:14.966Z,1638615554.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 257.038050 deg,
      approachRate: -0.534098 m/s,
      LOS rate: -0.053072 deg/s,
      cmd update: -0.159216 deg/s,
      cmd heading: 254.588779 deg,
      new cmd heading: 254.522492 deg.

2021-12-04T10:59:15.295Z,1638615555.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:15.300Z,1638615555.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 254.308925 deg, deltaT: 4.407098 s, deltaX: -2.279998 m, approachRate: -0.517347 m/s, LOS rate: -0.619257 deg/s, posRepo size: 4
2021-12-04T10:59:15.302Z,1638615555.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 254.522492 deg,
      new cmd heading: 254.469282 deg.

2021-12-04T10:59:15.724Z,1638615555.724 [Micromodem](INFO): Nmea in: $SNTTA,0.030506,,,,105915.94*44

2021-12-04T10:59:15.726Z,1638615555.726 [Micromodem](INFO): Nmea in: $CAREV,105916,AUV,2.1.4000*20

2021-12-04T10:59:15.791Z,1638615555.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 253.901624 deg,
      new cmd heading: 252.989891 deg.

2021-12-04T10:59:16.096Z,1638615556.096 [Micromodem](INFO): Nmea in: $CAREV,105917,COPROC,0.20.0.39330*70

2021-12-04T10:59:16.120Z,1638615556.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 252.989891 deg,
      new cmd heading: 252.378122 deg.

2021-12-04T10:59:16.532Z,1638615556.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 252.378122 deg,
      new cmd heading: 251.616700 deg.

2021-12-04T10:59:16.945Z,1638615556.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 251.616700 deg,
      new cmd heading: 250.846578 deg.

2021-12-04T10:59:17.336Z,1638615557.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 250.846578 deg,
      new cmd heading: 250.121747 deg.

2021-12-04T10:59:17.783Z,1638615557.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 250.121747 deg,
      new cmd heading: 249.296609 deg.

2021-12-04T10:59:18.130Z,1638615558.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:18.133Z,1638615558.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 249.296609 deg,
      new cmd heading: 248.639206 deg.

2021-12-04T10:59:18.546Z,1638615558.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 248.639206 deg,
      new cmd heading: 247.872469 deg.

2021-12-04T10:59:18.941Z,1638615558.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:19.048Z,1638615559.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 247.872469 deg,
      new cmd heading: 246.938677 deg.

2021-12-04T10:59:19.311Z,1638615559.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:19.347Z,1638615559.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 254.308925 deg,
      approachRate: -0.517347 m/s,
      LOS rate: -0.619257 deg/s,
      cmd update: -1.857770 deg/s,
      cmd heading: 246.938677 deg,
      new cmd heading: 246.384467 deg.

2021-12-04T10:59:19.762Z,1638615559.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:19.767Z,1638615559.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 255.854296 deg, deltaT: 4.467158 s, deltaX: -1.020002 m, approachRate: -0.228334 m/s, LOS rate: 0.345941 deg/s, posRepo size: 4
2021-12-04T10:59:19.769Z,1638615559.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 246.384467 deg,
      new cmd heading: 245.603125 deg.

2021-12-04T10:59:20.152Z,1638615560.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105920.42*57

2021-12-04T10:59:20.153Z,1638615560.153 [Micromodem](INFO): Nmea in: $CAREV,105921,AUV,2.1.4000*24

2021-12-04T10:59:20.188Z,1638615560.188 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T10:59:20.188Z,1638615560.188 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T10:59:20.188Z,1638615560.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T10:59:20.188Z,1638615560.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:59:20.188Z,1638615560.188 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T10:59:20.189Z,1638615560.189 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-12-04T10:59:20.189Z,1638615560.189 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T10:59:20.189Z,1638615560.189 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T10:59:20.189Z,1638615560.189 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T10:59:20.196Z,1638615560.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 246.820955 deg,
      new cmd heading: 247.261457 deg.

2021-12-04T10:59:20.536Z,1638615560.536 [Micromodem](INFO): Nmea in: $CAREV,105921,COPROC,0.20.0.39330*75

2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T105920: (41.552319, -70.708603)
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T10:59:20.564Z,1638615560.564 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T10:59:20.567Z,1638615560.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 247.261457 deg,
      new cmd heading: 247.651227 deg.

2021-12-04T10:59:20.993Z,1638615560.993 [UniversalFixResidualReporter](INFO): Fix residual: 1.1 %DT, over the last 627.9 m. Residual distance 6.6 m at bearing -111.4 degrees. Fix at (41.5510, -70.6911) with 0.0 m made good.
2021-12-04T10:59:21.002Z,1638615561.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 247.651227 deg,
      new cmd heading: 248.102125 deg.

2021-12-04T10:59:21.367Z,1638615561.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 248.102125 deg,
      new cmd heading: 248.480880 deg.

2021-12-04T10:59:21.786Z,1638615561.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 248.480880 deg,
      new cmd heading: 248.916089 deg.

2021-12-04T10:59:22.188Z,1638615562.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 248.916089 deg,
      new cmd heading: 249.333129 deg.

2021-12-04T10:59:22.566Z,1638615562.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:22.569Z,1638615562.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 249.333129 deg,
      new cmd heading: 249.729139 deg.

2021-12-04T10:59:23.007Z,1638615563.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 249.729139 deg,
      new cmd heading: 250.182676 deg.

2021-12-04T10:59:23.361Z,1638615563.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:23.458Z,1638615563.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 250.182676 deg,
      new cmd heading: 250.644155 deg.

2021-12-04T10:59:23.763Z,1638615563.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:23.823Z,1638615563.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 255.854296 deg,
      approachRate: -0.228334 m/s,
      LOS rate: 0.345941 deg/s,
      cmd update: 1.037822 deg/s,
      cmd heading: 250.644155 deg,
      new cmd heading: 251.029832 deg.

2021-12-04T10:59:24.213Z,1638615564.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:24.222Z,1638615564.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.059998 m, bearing: 260.897216 deg, deltaT: 4.450466 s, deltaX: -1.500000 m, approachRate: -0.337043 m/s, LOS rate: 1.133122 deg/s, posRepo size: 4
2021-12-04T10:59:24.228Z,1638615564.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 251.029832 deg,
      new cmd heading: 251.444256 deg.

2021-12-04T10:59:24.604Z,1638615564.604 [Micromodem](INFO): Nmea in: $SNTTA,0.030792,,,,105924.84*48

2021-12-04T10:59:24.605Z,1638615564.605 [Micromodem](INFO): Nmea in: $CAREV,105925,AUV,2.1.4000*20

2021-12-04T10:59:24.627Z,1638615564.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 252.387269 deg,
      new cmd heading: 253.764723 deg.

2021-12-04T10:59:24.980Z,1638615564.980 [Micromodem](INFO): Nmea in: $CAREV,105925,COPROC,0.20.0.39330*71

2021-12-04T10:59:25.025Z,1638615565.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 253.764723 deg,
      new cmd heading: 255.118823 deg.

2021-12-04T10:59:25.407Z,1638615565.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 255.118823 deg,
      new cmd heading: 256.414137 deg.

2021-12-04T10:59:25.822Z,1638615565.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 256.414137 deg,
      new cmd heading: 257.824993 deg.

2021-12-04T10:59:26.233Z,1638615566.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 257.824993 deg,
      new cmd heading: 259.225171 deg.

2021-12-04T10:59:26.615Z,1638615566.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 259.225171 deg,
      new cmd heading: 260.522855 deg.

2021-12-04T10:59:27.023Z,1638615567.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:27.026Z,1638615567.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 260.522855 deg,
      new cmd heading: 261.918940 deg.

2021-12-04T10:59:27.414Z,1638615567.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 261.918940 deg,
      new cmd heading: 263.237659 deg.

2021-12-04T10:59:27.807Z,1638615567.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:28.009Z,1638615568.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 263.237659 deg,
      new cmd heading: 265.260353 deg.

2021-12-04T10:59:28.207Z,1638615568.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:28.255Z,1638615568.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.897216 deg,
      approachRate: -0.337043 m/s,
      LOS rate: 1.133122 deg/s,
      cmd update: 3.399365 deg/s,
      cmd heading: 265.260353 deg,
      new cmd heading: 266.096760 deg.

2021-12-04T10:59:28.621Z,1638615568.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:28.627Z,1638615568.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.059998 m, bearing: 260.839706 deg, deltaT: 4.408676 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.013045 deg/s, posRepo size: 4
2021-12-04T10:59:28.628Z,1638615568.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.096760 deg,
      new cmd heading: 267.360114 deg.

2021-12-04T10:59:29.043Z,1638615569.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105929.28*52

2021-12-04T10:59:29.044Z,1638615569.044 [Micromodem](INFO): Nmea in: $CAREV,105930,AUV,2.1.4000*24

2021-12-04T10:59:29.069Z,1638615569.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.082216 deg,
      new cmd heading: 266.064912 deg.

2021-12-04T10:59:29.432Z,1638615569.432 [Micromodem](INFO): Nmea in: $CAREV,105930,COPROC,0.20.0.39330*75

2021-12-04T10:59:29.451Z,1638615569.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.064912 deg,
      new cmd heading: 266.049964 deg.

2021-12-04T10:59:29.869Z,1638615569.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.049964 deg,
      new cmd heading: 266.033587 deg.

2021-12-04T10:59:30.275Z,1638615570.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.033587 deg,
      new cmd heading: 266.018495 deg.

2021-12-04T10:59:30.659Z,1638615570.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.018495 deg,
      new cmd heading: 266.002692 deg.

2021-12-04T10:59:31.069Z,1638615571.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 266.002692 deg,
      new cmd heading: 265.986624 deg.

2021-12-04T10:59:31.448Z,1638615571.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:31.451Z,1638615571.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 265.986624 deg,
      new cmd heading: 265.971683 deg.

2021-12-04T10:59:31.923Z,1638615571.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 265.971683 deg,
      new cmd heading: 265.953226 deg.

2021-12-04T10:59:32.241Z,1638615572.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:32.360Z,1638615572.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 265.953226 deg,
      new cmd heading: 265.936090 deg.

2021-12-04T10:59:32.659Z,1638615572.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:32.687Z,1638615572.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 260.839706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.013045 deg/s,
      cmd update: -0.039134 deg/s,
      cmd heading: 265.936090 deg,
      new cmd heading: 265.923328 deg.

2021-12-04T10:59:33.104Z,1638615573.104 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:33.113Z,1638615573.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.059998 m, bearing: 263.187898 deg, deltaT: 4.482709 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.523833 deg/s, posRepo size: 4
2021-12-04T10:59:33.114Z,1638615573.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.06 m.
2021-12-04T10:59:33.120Z,1638615573.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 265.923328 deg,
      new cmd heading: 265.906624 deg.

2021-12-04T10:59:33.488Z,1638615573.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105933.72*56

2021-12-04T10:59:33.489Z,1638615573.489 [Micromodem](INFO): Nmea in: $CAREV,105934,AUV,2.1.4000*20

2021-12-04T10:59:33.539Z,1638615573.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 266.594108 deg,
      new cmd heading: 267.262115 deg.

2021-12-04T10:59:33.871Z,1638615573.871 [Micromodem](INFO): Nmea in: $CAREV,105934,COPROC,0.20.0.39330*71

2021-12-04T10:59:33.959Z,1638615573.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting latch delay timer at range: 3.06 m.
2021-12-04T10:59:33.960Z,1638615573.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Cable is present.
2021-12-04T10:59:33.961Z,1638615573.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 267.262115 deg,
      new cmd heading: 267.925685 deg.

2021-12-04T10:59:34.303Z,1638615574.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 267.925685 deg,
      new cmd heading: 268.462763 deg.

2021-12-04T10:59:34.702Z,1638615574.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 268.462763 deg,
      new cmd heading: 269.090871 deg.

2021-12-04T10:59:35.123Z,1638615575.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 269.090871 deg,
      new cmd heading: 269.749431 deg.

2021-12-04T10:59:35.511Z,1638615575.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 269.749431 deg,
      new cmd heading: 270.361150 deg.

2021-12-04T10:59:35.962Z,1638615575.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:35.965Z,1638615575.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 270.361150 deg,
      new cmd heading: 271.075619 deg.

2021-12-04T10:59:36.329Z,1638615576.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 271.075619 deg,
      new cmd heading: 271.646789 deg.

2021-12-04T10:59:36.697Z,1638615576.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:36.803Z,1638615576.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 271.646789 deg,
      new cmd heading: 272.385027 deg.

2021-12-04T10:59:37.095Z,1638615577.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:37.158Z,1638615577.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 263.187898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.523833 deg/s,
      cmd update: 1.571500 deg/s,
      cmd heading: 272.385027 deg,
      new cmd heading: 272.949952 deg.

2021-12-04T10:59:37.538Z,1638615577.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:37.547Z,1638615577.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.179999 m, bearing: 250.354655 deg, deltaT: 4.434193 s, deltaX: 0.120001 m, approachRate: 0.027063 m/s, LOS rate: -2.894155 deg/s, posRepo size: 4
2021-12-04T10:59:37.549Z,1638615577.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 272.949952 deg,
      new cmd heading: 273.555449 deg.

2021-12-04T10:59:37.948Z,1638615577.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105938.17*5E

2021-12-04T10:59:37.949Z,1638615577.949 [Micromodem](INFO): Nmea in: $CAREV,105939,AUV,2.1.4000*2D

2021-12-04T10:59:37.999Z,1638615577.999 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T10:59:38.013Z,1638615578.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 269.604606 deg,
      new cmd heading: 265.528276 deg.

2021-12-04T10:59:38.312Z,1638615578.312 [Micromodem](INFO): Nmea in: $CAREV,105939,COPROC,0.20.0.39330*7C

2021-12-04T10:59:38.334Z,1638615578.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 265.528276 deg,
      new cmd heading: 262.738521 deg.

2021-12-04T10:59:38.747Z,1638615578.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 262.738521 deg,
      new cmd heading: 259.151734 deg.

2021-12-04T10:59:39.156Z,1638615579.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 259.151734 deg,
      new cmd heading: 255.605520 deg.

2021-12-04T10:59:39.559Z,1638615579.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 255.605520 deg,
      new cmd heading: 252.108848 deg.

2021-12-04T10:59:40.002Z,1638615580.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 252.108848 deg,
      new cmd heading: 248.257731 deg.

2021-12-04T10:59:40.358Z,1638615580.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:40.361Z,1638615580.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 248.257731 deg,
      new cmd heading: 245.141777 deg.

2021-12-04T10:59:40.771Z,1638615580.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 245.141777 deg,
      new cmd heading: 241.715910 deg.

2021-12-04T10:59:41.141Z,1638615581.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:41.253Z,1638615581.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 241.715910 deg,
      new cmd heading: 237.389976 deg.

2021-12-04T10:59:41.632Z,1638615581.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:41.694Z,1638615581.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.179999 m,
      bearing: 250.354655 deg,
      approachRate: 0.027063 m/s,
      LOS rate: -2.894155 deg/s,
      cmd update: -8.682466 deg/s,
      cmd heading: 237.389976 deg,
      new cmd heading: 233.567538 deg.

2021-12-04T10:59:42.009Z,1638615582.009 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:42.022Z,1638615582.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.000000 m, bearing: 250.874433 deg, deltaT: 4.470359 s, deltaX: -0.179999 m, approachRate: -0.040265 m/s, LOS rate: 0.116272 deg/s, posRepo size: 4
2021-12-04T10:59:42.024Z,1638615582.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 233.567538 deg,
      new cmd heading: 230.750182 deg.

2021-12-04T10:59:42.384Z,1638615582.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105942.62*51

2021-12-04T10:59:42.385Z,1638615582.385 [Micromodem](INFO): Nmea in: $CAREV,105943,AUV,2.1.4000*20

2021-12-04T10:59:42.419Z,1638615582.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 233.680724 deg,
      new cmd heading: 233.813564 deg.

2021-12-04T10:59:42.776Z,1638615582.776 [Micromodem](INFO): Nmea in: $CAREV,105943,COPROC,0.20.0.39330*71

2021-12-04T10:59:42.809Z,1638615582.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 233.813564 deg,
      new cmd heading: 233.956117 deg.

2021-12-04T10:59:43.200Z,1638615583.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 233.956117 deg,
      new cmd heading: 234.092688 deg.

2021-12-04T10:59:43.665Z,1638615583.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 234.092688 deg,
      new cmd heading: 234.254961 deg.

2021-12-04T10:59:44.039Z,1638615584.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 234.254961 deg,
      new cmd heading: 234.385393 deg.

2021-12-04T10:59:44.397Z,1638615584.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 234.385393 deg,
      new cmd heading: 234.510638 deg.

2021-12-04T10:59:44.780Z,1638615584.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:44.783Z,1638615584.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.000000 m,
      bearing: 250.874433 deg,
      approachRate: -0.040265 m/s,
      LOS rate: 0.116272 deg/s,
      cmd update: 0.348816 deg/s,
      cmd heading: 234.510638 deg,
      new cmd heading: 234.645126 deg.

2021-12-04T10:59:45.207Z,1638615585.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.00 m. Cable present.
2021-12-04T10:59:45.207Z,1638615585.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T10:59:45.207Z,1638615585.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T10:59:45.207Z,1638615585.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-12-04T10:59:45.549Z,1638615585.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:45.668Z,1638615585.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-12-04T10:59:45.669Z,1638615585.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-12-04T10:59:45.669Z,1638615585.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-12-04T10:59:45.992Z,1638615585.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:46.064Z,1638615586.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T10:59:46.065Z,1638615586.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:59:46.371Z,1638615586.371 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T10:59:46.371Z,1638615586.371 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T10:59:46.371Z,1638615586.371 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T10:59:46.371Z,1638615586.371 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T10:59:46.371Z,1638615586.371 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T10:59:46.372Z,1638615586.372 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-12-04T10:59:46.372Z,1638615586.372 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T10:59:46.372Z,1638615586.372 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-12-04T10:59:46.373Z,1638615586.373 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T10:59:46.376Z,1638615586.376 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T10:59:46.788Z,1638615586.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105947.02*52

2021-12-04T10:59:46.789Z,1638615586.789 [Micromodem](INFO): Nmea in: $CAREV,105948,AUV,2.1.4000*2B

2021-12-04T10:59:46.804Z,1638615586.804 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-12-04T10:59:46.804Z,1638615586.804 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T10:59:47.172Z,1638615587.172 [Micromodem](INFO): Nmea in: $CAREV,105948,COPROC,0.20.0.39330*7A

2021-12-04T10:59:49.202Z,1638615589.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:49.990Z,1638615589.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:50.107Z,1638615590.107 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T10:59:50.107Z,1638615590.107 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T10:59:50.107Z,1638615590.107 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T10:59:50.107Z,1638615590.107 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T10:59:50.403Z,1638615590.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:50.433Z,1638615590.433 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-12-04T10:59:50.433Z,1638615590.433 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T10:59:50.435Z,1638615590.435 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T10:59:50.436Z,1638615590.436 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T10:59:50.820Z,1638615590.820 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T10:59:50.820Z,1638615590.820 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T10:59:50.820Z,1638615590.820 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T10:59:50.820Z,1638615590.820 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T10:59:51.216Z,1638615591.216 [Micromodem](INFO): Nmea in: $SNTTA,0.006869,,,,105951.47*4B

2021-12-04T10:59:51.217Z,1638615591.217 [Micromodem](INFO): Nmea in: $CAREV,105952,AUV,2.1.4000*20

2021-12-04T10:59:51.264Z,1638615591.264 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T10:59:51.264Z,1638615591.264 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T10:59:51.664Z,1638615591.664 [Micromodem](INFO): Nmea in: $CAREV,105952,COPROC,0.20.0.39330*71

2021-12-04T10:59:51.712Z,1638615591.712 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-12-04T10:59:51.712Z,1638615591.712 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T10:59:51.712Z,1638615591.712 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T10:59:51.712Z,1638615591.712 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T10:59:51.712Z,1638615591.712 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T10:59:52.048Z,1638615592.048 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-12-04T10:59:52.048Z,1638615592.048 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T10:59:52.048Z,1638615592.048 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-12-04T10:59:52.048Z,1638615592.048 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-12-04T10:59:52.048Z,1638615592.048 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T10:59:52.049Z,1638615592.049 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-12-04T10:59:52.049Z,1638615592.049 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-12-04T10:59:53.373Z,1638615593.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:54.073Z,1638615594.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:54.471Z,1638615594.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:55.304Z,1638615595.304 [Micromodem](INFO): Nmea in: $SNTTA,0.031916,,,,105955.55*41

2021-12-04T10:59:55.305Z,1638615595.305 [Micromodem](INFO): Nmea in: $CAREV,105956,AUV,2.1.4000*24

2021-12-04T10:59:55.736Z,1638615595.736 [Micromodem](INFO): Nmea in: $CAREV,105956,COPROC,0.20.0.39330*75

2021-12-04T10:59:57.731Z,1638615597.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T10:59:58.501Z,1638615598.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T10:59:58.937Z,1638615598.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T10:59:59.757Z,1638615599.757 [Micromodem](INFO): Nmea in: $SNTTA,0.027359,,,,105959.98*4A

2021-12-04T10:59:59.758Z,1638615599.758 [Micromodem](INFO): Nmea in: $CAREV,110001,AUV,2.1.4000*2B

2021-12-04T11:00:00.144Z,1638615600.144 [Micromodem](INFO): Nmea in: $CAREV,110001,COPROC,0.20.0.39330*7A

2021-12-04T11:00:02.172Z,1638615602.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:02.973Z,1638615602.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:03.347Z,1638615603.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:04.164Z,1638615604.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110004.45*5B

2021-12-04T11:00:04.166Z,1638615604.166 [Micromodem](INFO): Nmea in: $CAREV,110005,AUV,2.1.4000*2F

2021-12-04T11:00:04.576Z,1638615604.576 [Micromodem](INFO): Nmea in: $CAREV,110005,COPROC,0.20.0.39330*7E

2021-12-04T11:00:06.593Z,1638615606.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:07.401Z,1638615607.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:07.802Z,1638615607.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:08.636Z,1638615608.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110008.88*56

2021-12-04T11:00:08.637Z,1638615608.637 [Micromodem](INFO): Nmea in: $CAREV,110009,AUV,2.1.4000*23

2021-12-04T11:00:09.020Z,1638615609.020 [Micromodem](INFO): Nmea in: $CAREV,110009,COPROC,0.20.0.39330*72

2021-12-04T11:00:11.068Z,1638615611.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:11.841Z,1638615611.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:12.243Z,1638615612.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:13.068Z,1638615613.068 [Micromodem](INFO): Nmea in: $SNTTA,0.006792,,,,110013.32*49

2021-12-04T11:00:13.069Z,1638615613.069 [Micromodem](INFO): Nmea in: $CAREV,110014,AUV,2.1.4000*2F

2021-12-04T11:00:13.476Z,1638615613.476 [Micromodem](INFO): Nmea in: $CAREV,110014,COPROC,0.20.0.39330*7E

2021-12-04T11:00:15.467Z,1638615615.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:16.277Z,1638615616.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:16.683Z,1638615616.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:17.516Z,1638615617.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110017.76*59

2021-12-04T11:00:17.517Z,1638615617.517 [Micromodem](INFO): Nmea in: $CAREV,110018,AUV,2.1.4000*23

2021-12-04T11:00:17.920Z,1638615617.920 [Micromodem](INFO): Nmea in: $CAREV,110018,COPROC,0.20.0.39330*72

2021-12-04T11:00:19.994Z,1638615619.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:20.760Z,1638615620.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:21.127Z,1638615621.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:21.976Z,1638615621.976 [Micromodem](INFO): Nmea in: $SNTTA,0.040314,,,,110022.24*44

2021-12-04T11:00:21.977Z,1638615621.977 [Micromodem](INFO): Nmea in: $CAREV,110023,AUV,2.1.4000*2B

2021-12-04T11:00:22.353Z,1638615622.353 [Micromodem](INFO): Nmea in: $CAREV,110023,COPROC,0.20.0.39330*7A

2021-12-04T11:00:24.352Z,1638615624.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:25.135Z,1638615625.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:25.560Z,1638615625.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:26.392Z,1638615626.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110026.61*5D

2021-12-04T11:00:26.393Z,1638615626.393 [Micromodem](INFO): Nmea in: $CAREV,110027,AUV,2.1.4000*2F

2021-12-04T11:00:26.804Z,1638615626.804 [Micromodem](INFO): Nmea in: $CAREV,110027,COPROC,0.20.0.39330*7E

2021-12-04T11:00:28.833Z,1638615628.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:29.640Z,1638615629.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:30.027Z,1638615630.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:30.845Z,1638615630.845 [Micromodem](INFO): Nmea in: $SNTTA,0.051727,,,,110031.12*47

2021-12-04T11:00:30.846Z,1638615630.846 [Micromodem](INFO): Nmea in: $CAREV,110032,AUV,2.1.4000*2B

2021-12-04T11:00:31.233Z,1638615631.233 [Micromodem](INFO): Nmea in: $CAREV,110032,COPROC,0.20.0.39330*7A

2021-12-04T11:00:33.267Z,1638615633.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:34.065Z,1638615634.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:34.432Z,1638615634.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:35.267Z,1638615635.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110035.54*59

2021-12-04T11:00:35.269Z,1638615635.269 [Micromodem](INFO): Nmea in: $CAREV,110036,AUV,2.1.4000*2F

2021-12-04T11:00:35.668Z,1638615635.668 [Micromodem](INFO): Nmea in: $CAREV,110036,COPROC,0.20.0.39330*7E

2021-12-04T11:00:37.737Z,1638615637.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:38.501Z,1638615638.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:38.923Z,1638615638.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:39.744Z,1638615639.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110039.98*55

2021-12-04T11:00:39.745Z,1638615639.745 [Micromodem](INFO): Nmea in: $CAREV,110041,AUV,2.1.4000*2F

2021-12-04T11:00:40.124Z,1638615640.124 [Micromodem](INFO): Nmea in: $CAREV,110041,COPROC,0.20.0.39330*7E

2021-12-04T11:00:42.167Z,1638615642.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:42.961Z,1638615642.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:43.348Z,1638615643.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:44.180Z,1638615644.180 [Micromodem](INFO): Nmea in: $SNTTA,0.030375,,,,110044.44*42

2021-12-04T11:00:44.181Z,1638615644.181 [Micromodem](INFO): Nmea in: $CAREV,110045,AUV,2.1.4000*2B

2021-12-04T11:00:44.549Z,1638615644.549 [Micromodem](INFO): Nmea in: $CAREV,110045,COPROC,0.20.0.39330*7A

2021-12-04T11:00:46.589Z,1638615646.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:47.389Z,1638615647.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:47.837Z,1638615647.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:48.628Z,1638615648.628 [Micromodem](INFO): Nmea in: $SNTTA,0.004260,,,,110048.87*43

2021-12-04T11:00:48.630Z,1638615648.630 [Micromodem](INFO): Nmea in: $CAREV,110049,AUV,2.1.4000*27

2021-12-04T11:00:49.024Z,1638615649.024 [Micromodem](INFO): Nmea in: $CAREV,110049,COPROC,0.20.0.39330*76

2021-12-04T11:00:51.061Z,1638615651.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:51.858Z,1638615651.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:52.239Z,1638615652.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:53.072Z,1638615653.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110053.34*5F

2021-12-04T11:00:53.073Z,1638615653.073 [Micromodem](INFO): Nmea in: $CAREV,110054,AUV,2.1.4000*2B

2021-12-04T11:00:53.456Z,1638615653.456 [Micromodem](INFO): Nmea in: $CAREV,110054,COPROC,0.20.0.39330*7A

2021-12-04T11:00:55.461Z,1638615655.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:00:56.349Z,1638615656.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:00:56.683Z,1638615656.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:00:57.924Z,1638615657.924 [Micromodem](INFO): Nmea in: $SNTTA,0.051925,,,,110057.83*43

2021-12-04T11:00:57.925Z,1638615657.925 [Micromodem](INFO): Nmea in: $CAREV,110058,AUV,2.1.4000*27

2021-12-04T11:00:58.308Z,1638615658.308 [Micromodem](INFO): Nmea in: $CAREV,110058,COPROC,0.20.0.39330*76

2021-12-04T11:01:00.004Z,1638615660.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:00.717Z,1638615660.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:01.127Z,1638615661.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:01.972Z,1638615661.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110102.20*5F

2021-12-04T11:01:01.973Z,1638615661.973 [Micromodem](INFO): Nmea in: $CAREV,110103,AUV,2.1.4000*28

2021-12-04T11:01:02.348Z,1638615662.348 [Micromodem](INFO): Nmea in: $CAREV,110103,COPROC,0.20.0.39330*79

2021-12-04T11:01:04.361Z,1638615664.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:05.165Z,1638615665.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:05.537Z,1638615665.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:06.472Z,1638615666.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110106.64*5B

2021-12-04T11:01:06.473Z,1638615666.473 [Micromodem](INFO): Nmea in: $CAREV,110107,AUV,2.1.4000*2C

2021-12-04T11:01:06.792Z,1638615666.792 [Micromodem](INFO): Nmea in: $CAREV,110107,COPROC,0.20.0.39330*7D

2021-12-04T11:01:08.809Z,1638615668.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:09.620Z,1638615669.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:10.022Z,1638615670.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:10.855Z,1638615670.855 [Micromodem](INFO): Nmea in: $SNTTA,0.023796,,,,110111.10*49

2021-12-04T11:01:10.857Z,1638615670.857 [Micromodem](INFO): Nmea in: $CAREV,110112,AUV,2.1.4000*28

2021-12-04T11:01:11.236Z,1638615671.236 [Micromodem](INFO): Nmea in: $CAREV,110112,COPROC,0.20.0.39330*79

2021-12-04T11:01:13.274Z,1638615673.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:14.053Z,1638615674.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:14.460Z,1638615674.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:15.296Z,1638615675.296 [Micromodem](INFO): Nmea in: $SNTTA,0.005977,,,,110115.53*4F

2021-12-04T11:01:15.297Z,1638615675.297 [Micromodem](INFO): Nmea in: $CAREV,110116,AUV,2.1.4000*2C

2021-12-04T11:01:15.668Z,1638615675.668 [Micromodem](INFO): Nmea in: $CAREV,110116,COPROC,0.20.0.39330*7D

2021-12-04T11:01:17.741Z,1638615677.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:18.497Z,1638615678.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:18.920Z,1638615678.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:19.732Z,1638615679.732 [Micromodem](INFO): Nmea in: $SNTTA,0.005843,,,,110119.97*4D

2021-12-04T11:01:19.733Z,1638615679.733 [Micromodem](INFO): Nmea in: $CAREV,110121,AUV,2.1.4000*28

2021-12-04T11:01:20.124Z,1638615680.124 [Micromodem](INFO): Nmea in: $CAREV,110121,COPROC,0.20.0.39330*79

2021-12-04T11:01:22.161Z,1638615682.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:22.953Z,1638615682.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:23.359Z,1638615683.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:24.172Z,1638615684.172 [Micromodem](INFO): Nmea in: $SNTTA,0.003434,,,,110124.43*40

2021-12-04T11:01:24.173Z,1638615684.173 [Micromodem](INFO): Nmea in: $CAREV,110125,AUV,2.1.4000*2C

2021-12-04T11:01:24.572Z,1638615684.572 [Micromodem](INFO): Nmea in: $CAREV,110125,COPROC,0.20.0.39330*7D

2021-12-04T11:01:26.668Z,1638615686.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:27.389Z,1638615687.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:27.805Z,1638615687.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:28.620Z,1638615688.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110128.87*5A

2021-12-04T11:01:28.621Z,1638615688.621 [Micromodem](INFO): Nmea in: $CAREV,110129,AUV,2.1.4000*20

2021-12-04T11:01:29.012Z,1638615689.012 [Micromodem](INFO): Nmea in: $CAREV,110129,COPROC,0.20.0.39330*71

2021-12-04T11:01:31.059Z,1638615691.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:31.833Z,1638615691.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:32.245Z,1638615692.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:33.060Z,1638615693.060 [Micromodem](INFO): Nmea in: $SNTTA,0.067281,,,,110133.31*49

2021-12-04T11:01:33.061Z,1638615693.061 [Micromodem](INFO): Nmea in: $CAREV,110134,AUV,2.1.4000*2C

2021-12-04T11:01:33.464Z,1638615693.464 [Micromodem](INFO): Nmea in: $CAREV,110134,COPROC,0.20.0.39330*7D

2021-12-04T11:01:35.477Z,1638615695.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:36.239Z,1638615696.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:36.740Z,1638615696.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:37.507Z,1638615697.507 [Micromodem](INFO): Nmea in: $SNTTA,0.047715,,,,110137.72*40

2021-12-04T11:01:37.508Z,1638615697.508 [Micromodem](INFO): Nmea in: $CAREV,110138,AUV,2.1.4000*20

2021-12-04T11:01:37.948Z,1638615697.948 [Micromodem](INFO): Nmea in: $CAREV,110138,COPROC,0.20.0.39330*71

2021-12-04T11:01:39.986Z,1638615699.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:40.717Z,1638615700.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:41.123Z,1638615701.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:41.968Z,1638615701.968 [Micromodem](INFO): Nmea in: $SNTTA,0.022772,,,,110142.19*4D

2021-12-04T11:01:41.969Z,1638615701.969 [Micromodem](INFO): Nmea in: $CAREV,110143,AUV,2.1.4000*2C

2021-12-04T11:01:42.340Z,1638615702.340 [Micromodem](INFO): Nmea in: $CAREV,110143,COPROC,0.20.0.39330*7D

2021-12-04T11:01:44.365Z,1638615704.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:45.130Z,1638615705.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:45.567Z,1638615705.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:46.356Z,1638615706.356 [Micromodem](INFO): Nmea in: $SNTTA,0.003496,,,,110146.61*4C

2021-12-04T11:01:46.357Z,1638615706.357 [Micromodem](INFO): Nmea in: $CAREV,110147,AUV,2.1.4000*28

2021-12-04T11:01:46.861Z,1638615706.861 [Micromodem](INFO): Nmea in: $CAREV,110147,COPROC,0.20.0.39330*79

2021-12-04T11:01:48.024Z,1638615708.024 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-12-04T11:01:48.810Z,1638615708.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:49.644Z,1638615709.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:50.011Z,1638615710.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:50.833Z,1638615710.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110151.12*58

2021-12-04T11:01:50.836Z,1638615710.836 [Micromodem](INFO): Nmea in: $CAREV,110152,AUV,2.1.4000*2C

2021-12-04T11:01:51.240Z,1638615711.240 [Micromodem](INFO): Nmea in: $CAREV,110152,COPROC,0.20.0.39330*7D

2021-12-04T11:01:53.264Z,1638615713.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:54.056Z,1638615714.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:54.455Z,1638615714.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:55.262Z,1638615715.262 [Micromodem](INFO): Nmea in: $SNTTA,0.035296,,,,110155.54*4B

2021-12-04T11:01:55.264Z,1638615715.264 [Micromodem](INFO): Nmea in: $CAREV,110156,AUV,2.1.4000*28

2021-12-04T11:01:55.696Z,1638615715.696 [Micromodem](INFO): Nmea in: $CAREV,110156,COPROC,0.20.0.39330*79

2021-12-04T11:01:57.732Z,1638615717.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:01:58.107Z,1638615718.107 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-12-04T11:01:58.493Z,1638615718.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:01:58.920Z,1638615718.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:01:59.724Z,1638615719.724 [Micromodem](INFO): Nmea in: $SNTTA,0.006403,,,,110159.97*42

2021-12-04T11:01:59.725Z,1638615719.725 [Micromodem](INFO): Nmea in: $CAREV,110201,AUV,2.1.4000*29

2021-12-04T11:02:00.120Z,1638615720.120 [Micromodem](INFO): Nmea in: $CAREV,110201,COPROC,0.20.0.39330*78

2021-12-04T11:02:02.155Z,1638615722.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:02.969Z,1638615722.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:02.987Z,1638615722.987 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:02:03.341Z,1638615723.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:04.161Z,1638615724.161 [Micromodem](INFO): Nmea in: $SNTTA,0.013668,,,,110204.45*4D

2021-12-04T11:02:04.171Z,1638615724.171 [Micromodem](INFO): Nmea in: $CAREV,110205,AUV,2.1.4000*2D

2021-12-04T11:02:04.568Z,1638615724.568 [Micromodem](INFO): Nmea in: $CAREV,110205,COPROC,0.20.0.39330*7C

2021-12-04T11:02:06.557Z,1638615726.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:07.381Z,1638615727.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:07.797Z,1638615727.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:08.196Z,1638615728.196 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:02:08.612Z,1638615728.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110208.86*5A

2021-12-04T11:02:08.613Z,1638615728.613 [Micromodem](INFO): Nmea in: $CAREV,110209,AUV,2.1.4000*21

2021-12-04T11:02:08.000Z,1638615729.000 [Micromodem](INFO): Nmea in: $CAREV,110209,COPROC,0.20.0.39330*70

2021-12-04T11:02:11.039Z,1638615731.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:11.821Z,1638615731.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:12.231Z,1638615732.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:13.064Z,1638615733.064 [Micromodem](INFO): Nmea in: $SNTTA,0.026126,,,,110213.30*42

2021-12-04T11:02:13.065Z,1638615733.065 [Micromodem](INFO): Nmea in: $CAREV,110214,AUV,2.1.4000*2D

2021-12-04T11:02:13.071Z,1638615733.071 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:02:13.460Z,1638615733.460 [Micromodem](INFO): Nmea in: $CAREV,110214,COPROC,0.20.0.39330*7C

2021-12-04T11:02:15.443Z,1638615735.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:16.241Z,1638615736.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:16.651Z,1638615736.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:17.500Z,1638615737.500 [Micromodem](INFO): Nmea in: $SNTTA,0.006502,,,,110217.72*40

2021-12-04T11:02:17.501Z,1638615737.501 [Micromodem](INFO): Nmea in: $CAREV,110218,AUV,2.1.4000*21

2021-12-04T11:02:17.932Z,1638615737.932 [Micromodem](INFO): Nmea in: $CAREV,110218,COPROC,0.20.0.39330*70

2021-12-04T11:02:19.964Z,1638615739.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:20.718Z,1638615740.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:21.119Z,1638615741.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:21.971Z,1638615741.971 [Micromodem](INFO): Nmea in: $SNTTA,0.045770,,,,110222.20*41

2021-12-04T11:02:21.972Z,1638615741.972 [Micromodem](INFO): Nmea in: $CAREV,110223,AUV,2.1.4000*29

2021-12-04T11:02:22.353Z,1638615742.353 [Micromodem](INFO): Nmea in: $CAREV,110223,COPROC,0.20.0.39330*78

2021-12-04T11:02:24.361Z,1638615744.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:25.157Z,1638615745.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:25.529Z,1638615745.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:26.361Z,1638615746.361 [Micromodem](INFO): Nmea in: $SNTTA,0.016006,,,,110226.63*42

2021-12-04T11:02:26.362Z,1638615746.362 [Micromodem](INFO): Nmea in: $CAREV,110227,AUV,2.1.4000*2D

2021-12-04T11:02:26.760Z,1638615746.760 [Micromodem](INFO): Nmea in: $CAREV,110227,COPROC,0.20.0.39330*7C

2021-12-04T11:02:28.059Z,1638615748.059 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T11:02:28.814Z,1638615748.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:29.627Z,1638615749.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:30.007Z,1638615750.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:30.837Z,1638615750.837 [Micromodem](INFO): Nmea in: $SNTTA,0.157532,,,,110231.11*47

2021-12-04T11:02:30.838Z,1638615750.838 [Micromodem](INFO): Nmea in: $CAREV,110232,AUV,2.1.4000*29

2021-12-04T11:02:31.240Z,1638615751.240 [Micromodem](INFO): Nmea in: $CAREV,110232,COPROC,0.20.0.39330*78

2021-12-04T11:02:33.278Z,1638615753.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:34.057Z,1638615754.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:34.455Z,1638615754.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:35.288Z,1638615755.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110235.54*5B

2021-12-04T11:02:35.289Z,1638615755.289 [Micromodem](INFO): Nmea in: $CAREV,110236,AUV,2.1.4000*2D

2021-12-04T11:02:35.670Z,1638615755.670 [Micromodem](INFO): Nmea in: $CAREV,110236,COPROC,0.20.0.39330*7C

2021-12-04T11:02:37.724Z,1638615757.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:38.489Z,1638615758.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:38.912Z,1638615758.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:39.731Z,1638615759.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110239.97*58

2021-12-04T11:02:39.732Z,1638615759.732 [Micromodem](INFO): Nmea in: $CAREV,110241,AUV,2.1.4000*2D

2021-12-04T11:02:40.120Z,1638615760.120 [Micromodem](INFO): Nmea in: $CAREV,110241,COPROC,0.20.0.39330*7C

2021-12-04T11:02:42.152Z,1638615762.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:42.977Z,1638615762.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:43.347Z,1638615763.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:44.161Z,1638615764.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110244.45*5D

2021-12-04T11:02:44.163Z,1638615764.163 [Micromodem](INFO): Nmea in: $CAREV,110245,AUV,2.1.4000*29

2021-12-04T11:02:44.564Z,1638615764.564 [Micromodem](INFO): Nmea in: $CAREV,110245,COPROC,0.20.0.39330*78

2021-12-04T11:02:46.551Z,1638615766.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:47.449Z,1638615767.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:47.796Z,1638615767.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:49.004Z,1638615769.004 [Micromodem](INFO): Nmea in: $SNTTA,0.027917,,,,110248.93*4E

2021-12-04T11:02:49.005Z,1638615769.005 [Micromodem](INFO): Nmea in: $CAREV,110249,AUV,2.1.4000*25

2021-12-04T11:02:49.420Z,1638615769.420 [Micromodem](INFO): Nmea in: $CAREV,110249,COPROC,0.20.0.39330*74

2021-12-04T11:02:51.046Z,1638615771.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:51.821Z,1638615771.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:52.243Z,1638615772.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:53.067Z,1638615773.067 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110253.30*59

2021-12-04T11:02:53.068Z,1638615773.068 [Micromodem](INFO): Nmea in: $CAREV,110254,AUV,2.1.4000*29

2021-12-04T11:02:53.452Z,1638615773.452 [Micromodem](INFO): Nmea in: $CAREV,110254,COPROC,0.20.0.39330*78

2021-12-04T11:02:55.481Z,1638615775.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:02:56.269Z,1638615776.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:02:56.647Z,1638615776.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:02:57.583Z,1638615777.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110257.75*5C

2021-12-04T11:02:57.588Z,1638615777.588 [Micromodem](INFO): Nmea in: $CAREV,110258,AUV,2.1.4000*25

2021-12-04T11:02:57.925Z,1638615777.925 [Micromodem](INFO): Nmea in: $CAREV,110258,COPROC,0.20.0.39330*74

2021-12-04T11:02:57.939Z,1638615777.939 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T11:02:59.992Z,1638615779.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:00.713Z,1638615780.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:01.119Z,1638615781.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:01.967Z,1638615781.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110302.19*57

2021-12-04T11:03:01.968Z,1638615781.968 [Micromodem](INFO): Nmea in: $CAREV,110303,AUV,2.1.4000*2A

2021-12-04T11:03:02.344Z,1638615782.344 [Micromodem](INFO): Nmea in: $CAREV,110303,COPROC,0.20.0.39330*7B

2021-12-04T11:03:04.361Z,1638615784.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:05.154Z,1638615785.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:05.587Z,1638615785.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:06.400Z,1638615786.400 [Micromodem](INFO): Nmea in: $SNTTA,0.015075,,,,110306.64*41

2021-12-04T11:03:06.401Z,1638615786.401 [Micromodem](INFO): Nmea in: $CAREV,110307,AUV,2.1.4000*2E

2021-12-04T11:03:06.752Z,1638615786.752 [Micromodem](INFO): Nmea in: $CAREV,110307,COPROC,0.20.0.39330*7F

2021-12-04T11:03:08.820Z,1638615788.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:09.647Z,1638615789.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:10.011Z,1638615790.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:10.850Z,1638615790.850 [Micromodem](INFO): Nmea in: $SNTTA,0.049725,,,,110311.12*4D

2021-12-04T11:03:10.852Z,1638615790.852 [Micromodem](INFO): Nmea in: $CAREV,110312,AUV,2.1.4000*2A

2021-12-04T11:03:11.236Z,1638615791.236 [Micromodem](INFO): Nmea in: $CAREV,110312,COPROC,0.20.0.39330*7B

2021-12-04T11:03:13.259Z,1638615793.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:14.045Z,1638615794.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:14.452Z,1638615794.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:15.292Z,1638615795.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110315.52*5E

2021-12-04T11:03:15.294Z,1638615795.294 [Micromodem](INFO): Nmea in: $CAREV,110316,AUV,2.1.4000*2E

2021-12-04T11:03:15.704Z,1638615795.704 [Micromodem](INFO): Nmea in: $CAREV,110316,COPROC,0.20.0.39330*7F

2021-12-04T11:03:17.799Z,1638615797.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:18.489Z,1638615798.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:18.913Z,1638615798.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:19.732Z,1638615799.732 [Micromodem](INFO): Nmea in: $SNTTA,0.017244,,,,110319.97*41

2021-12-04T11:03:19.733Z,1638615799.733 [Micromodem](INFO): Nmea in: $CAREV,110321,AUV,2.1.4000*2A

2021-12-04T11:03:20.116Z,1638615800.116 [Micromodem](INFO): Nmea in: $CAREV,110321,COPROC,0.20.0.39330*7B

2021-12-04T11:03:22.149Z,1638615802.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:22.970Z,1638615802.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:23.335Z,1638615803.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:24.171Z,1638615804.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110324.45*5A

2021-12-04T11:03:24.173Z,1638615804.173 [Micromodem](INFO): Nmea in: $CAREV,110325,AUV,2.1.4000*2E

2021-12-04T11:03:24.560Z,1638615804.560 [Micromodem](INFO): Nmea in: $CAREV,110325,COPROC,0.20.0.39330*7F

2021-12-04T11:03:26.577Z,1638615806.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:27.353Z,1638615807.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:27.862Z,1638615807.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:28.612Z,1638615808.612 [Micromodem](INFO): Nmea in: $SNTTA,0.006297,,,,110328.83*48

2021-12-04T11:03:28.613Z,1638615808.613 [Micromodem](INFO): Nmea in: $CAREV,110329,AUV,2.1.4000*22

2021-12-04T11:03:29.004Z,1638615809.004 [Micromodem](INFO): Nmea in: $CAREV,110329,COPROC,0.20.0.39330*73

2021-12-04T11:03:31.039Z,1638615811.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:31.817Z,1638615811.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:32.231Z,1638615812.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:33.073Z,1638615813.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110333.29*56

2021-12-04T11:03:33.077Z,1638615813.077 [Micromodem](INFO): Nmea in: $CAREV,110334,AUV,2.1.4000*2E

2021-12-04T11:03:33.448Z,1638615813.448 [Micromodem](INFO): Nmea in: $CAREV,110334,COPROC,0.20.0.39330*7F

2021-12-04T11:03:35.476Z,1638615815.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:36.237Z,1638615816.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:36.671Z,1638615816.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:37.466Z,1638615817.466 [Micromodem](INFO): Nmea in: $SNTTA,0.005906,,,,110337.72*48

2021-12-04T11:03:37.467Z,1638615817.467 [Micromodem](INFO): Nmea in: $CAREV,110338,AUV,2.1.4000*22

2021-12-04T11:03:37.976Z,1638615817.976 [Micromodem](INFO): Nmea in: $CAREV,110338,COPROC,0.20.0.39330*73

2021-12-04T11:03:39.984Z,1638615819.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:40.709Z,1638615820.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:41.119Z,1638615821.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:41.965Z,1638615821.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110342.19*53

2021-12-04T11:03:41.966Z,1638615821.966 [Micromodem](INFO): Nmea in: $CAREV,110343,AUV,2.1.4000*2E

2021-12-04T11:03:42.340Z,1638615822.340 [Micromodem](INFO): Nmea in: $CAREV,110343,COPROC,0.20.0.39330*7F

2021-12-04T11:03:44.374Z,1638615824.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:45.153Z,1638615825.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:45.571Z,1638615825.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:46.372Z,1638615826.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110346.63*5A

2021-12-04T11:03:46.373Z,1638615826.373 [Micromodem](INFO): Nmea in: $CAREV,110347,AUV,2.1.4000*2A

2021-12-04T11:03:46.776Z,1638615826.776 [Micromodem](INFO): Nmea in: $CAREV,110347,COPROC,0.20.0.39330*7B

2021-12-04T11:03:48.809Z,1638615828.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:49.612Z,1638615829.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:50.013Z,1638615830.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:50.840Z,1638615830.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110351.09*50

2021-12-04T11:03:50.841Z,1638615830.841 [Micromodem](INFO): Nmea in: $CAREV,110352,AUV,2.1.4000*2E

2021-12-04T11:03:51.224Z,1638615831.224 [Micromodem](INFO): Nmea in: $CAREV,110352,COPROC,0.20.0.39330*7F

2021-12-04T11:03:53.259Z,1638615833.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:54.049Z,1638615834.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:54.451Z,1638615834.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:55.284Z,1638615835.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110355.53*5B

2021-12-04T11:03:55.285Z,1638615835.285 [Micromodem](INFO): Nmea in: $CAREV,110356,AUV,2.1.4000*2A

2021-12-04T11:03:55.700Z,1638615835.700 [Micromodem](INFO): Nmea in: $CAREV,110356,COPROC,0.20.0.39330*7B

2021-12-04T11:03:57.701Z,1638615837.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:03:58.500Z,1638615838.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:03:58.904Z,1638615838.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:03:59.716Z,1638615839.716 [Micromodem](INFO): Nmea in: $SNTTA,0.061233,,,,110359.98*4B

2021-12-04T11:03:59.717Z,1638615839.717 [Micromodem](INFO): Nmea in: $CAREV,110401,AUV,2.1.4000*2F

2021-12-04T11:04:00.116Z,1638615840.116 [Micromodem](INFO): Nmea in: $CAREV,110401,COPROC,0.20.0.39330*7E

2021-12-04T11:04:02.153Z,1638615842.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:02.949Z,1638615842.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:03.350Z,1638615843.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:04.156Z,1638615844.156 [Micromodem](INFO): Nmea in: $SNTTA,0.060984,,,,110404.43*44

2021-12-04T11:04:04.158Z,1638615844.158 [Micromodem](INFO): Nmea in: $CAREV,110405,AUV,2.1.4000*2B

2021-12-04T11:04:04.556Z,1638615844.556 [Micromodem](INFO): Nmea in: $CAREV,110405,COPROC,0.20.0.39330*7A

2021-12-04T11:04:06.546Z,1638615846.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:07.345Z,1638615847.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:07.748Z,1638615847.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:08.608Z,1638615848.608 [Micromodem](INFO): Nmea in: $SNTTA,0.031287,,,,110408.83*48

2021-12-04T11:04:08.609Z,1638615848.609 [Micromodem](INFO): Nmea in: $CAREV,110409,AUV,2.1.4000*27

2021-12-04T11:04:08.996Z,1638615848.996 [Micromodem](INFO): Nmea in: $CAREV,110409,COPROC,0.20.0.39330*76

2021-12-04T11:04:11.035Z,1638615851.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:11.809Z,1638615851.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:12.232Z,1638615852.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:13.080Z,1638615853.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110413.29*53

2021-12-04T11:04:13.081Z,1638615853.081 [Micromodem](INFO): Nmea in: $CAREV,110414,AUV,2.1.4000*2B

2021-12-04T11:04:13.436Z,1638615853.436 [Micromodem](INFO): Nmea in: $CAREV,110414,COPROC,0.20.0.39330*7A

2021-12-04T11:04:15.477Z,1638615855.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:16.263Z,1638615856.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:16.639Z,1638615856.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:17.080Z,1638615857.080 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:04:17.468Z,1638615857.468 [Micromodem](INFO): Nmea in: $SNTTA,0.072020,,,,110417.74*46

2021-12-04T11:04:17.469Z,1638615857.469 [Micromodem](INFO): Nmea in: $CAREV,110418,AUV,2.1.4000*27

2021-12-04T11:04:17.866Z,1638615857.866 [Micromodem](INFO): Nmea in: $CAREV,110418,COPROC,0.20.0.39330*76

2021-12-04T11:04:19.969Z,1638615859.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:20.705Z,1638615860.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:20.789Z,1638615860.789 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T11:04:20.789Z,1638615860.789 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T11:04:20.790Z,1638615860.790 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T11:04:20.790Z,1638615860.790 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T11:04:20.795Z,1638615860.795 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T11:04:20.796Z,1638615860.796 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.099999 m 
2021-12-04T11:04:20.796Z,1638615860.796 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T11:04:20.796Z,1638615860.796 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T11:04:20.796Z,1638615860.796 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T11:04:21.119Z,1638615861.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:21.158Z,1638615861.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T110421: (41.552319, -70.708603)
2021-12-04T11:04:21.158Z,1638615861.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T11:04:21.158Z,1638615861.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T11:04:21.158Z,1638615861.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T11:04:21.158Z,1638615861.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T11:04:21.158Z,1638615861.158 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T11:04:21.178Z,1638615861.178 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T11:04:21.178Z,1638615861.178 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T11:04:21.179Z,1638615861.179 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T11:04:21.960Z,1638615861.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110422.19*52

2021-12-04T11:04:21.961Z,1638615861.961 [Micromodem](INFO): Nmea in: $CAREV,110423,AUV,2.1.4000*2F

2021-12-04T11:04:22.332Z,1638615862.332 [Micromodem](INFO): Nmea in: $CAREV,110423,COPROC,0.20.0.39330*7E

2021-12-04T11:04:24.357Z,1638615864.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:25.149Z,1638615865.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:25.555Z,1638615865.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:26.396Z,1638615866.396 [Micromodem](INFO): Nmea in: $SNTTA,0.014726,,,,110426.63*43

2021-12-04T11:04:26.397Z,1638615866.397 [Micromodem](INFO): Nmea in: $CAREV,110427,AUV,2.1.4000*2B

2021-12-04T11:04:26.748Z,1638615866.748 [Micromodem](INFO): Nmea in: $CAREV,110427,COPROC,0.20.0.39330*7A

2021-12-04T11:04:28.811Z,1638615868.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:29.600Z,1638615869.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:29.000Z,1638615870.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:30.828Z,1638615870.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110431.08*50

2021-12-04T11:04:30.829Z,1638615870.829 [Micromodem](INFO): Nmea in: $CAREV,110432,AUV,2.1.4000*2F

2021-12-04T11:04:31.216Z,1638615871.216 [Micromodem](INFO): Nmea in: $CAREV,110432,COPROC,0.20.0.39330*7E

2021-12-04T11:04:33.254Z,1638615873.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:34.033Z,1638615874.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:34.443Z,1638615874.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:35.284Z,1638615875.284 [Micromodem](INFO): Nmea in: $SNTTA,0.033425,,,,110435.51*45

2021-12-04T11:04:35.285Z,1638615875.285 [Micromodem](INFO): Nmea in: $CAREV,110436,AUV,2.1.4000*2B

2021-12-04T11:04:35.700Z,1638615875.700 [Micromodem](INFO): Nmea in: $CAREV,110436,COPROC,0.20.0.39330*7A

2021-12-04T11:04:37.691Z,1638615877.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:38.550Z,1638615878.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:38.909Z,1638615878.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:40.108Z,1638615880.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110440.03*5D

2021-12-04T11:04:40.109Z,1638615880.109 [Micromodem](INFO): Nmea in: $CAREV,110441,AUV,2.1.4000*2B

2021-12-04T11:04:40.512Z,1638615880.512 [Micromodem](INFO): Nmea in: $CAREV,110441,COPROC,0.20.0.39330*7A

2021-12-04T11:04:42.138Z,1638615882.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:42.945Z,1638615882.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:43.336Z,1638615883.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:44.152Z,1638615884.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110444.42*5C

2021-12-04T11:04:44.153Z,1638615884.153 [Micromodem](INFO): Nmea in: $CAREV,110445,AUV,2.1.4000*2F

2021-12-04T11:04:44.556Z,1638615884.556 [Micromodem](INFO): Nmea in: $CAREV,110445,COPROC,0.20.0.39330*7E

2021-12-04T11:04:46.589Z,1638615886.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:47.374Z,1638615887.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:47.745Z,1638615887.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:48.672Z,1638615888.672 [Micromodem](INFO): Nmea in: $SNTTA,0.003461,,,,110448.85*45

2021-12-04T11:04:48.673Z,1638615888.673 [Micromodem](INFO): Nmea in: $CAREV,110449,AUV,2.1.4000*23

2021-12-04T11:04:48.000Z,1638615889.000 [Micromodem](INFO): Nmea in: $CAREV,110449,COPROC,0.20.0.39330*72

2021-12-04T11:04:51.043Z,1638615891.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:51.817Z,1638615891.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:52.230Z,1638615892.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:52.260Z,1638615892.260 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-12-04T10:59:52.0Z
2021-12-04T11:04:52.260Z,1638615892.260 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-12-04T11:04:52.260Z,1638615892.260 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-12-04T11:04:52.260Z,1638615892.260 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T11:04:52.260Z,1638615892.260 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-12-04T11:04:52.608Z,1638615892.608 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.099999 m .
2021-12-04T11:04:52.608Z,1638615892.608 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-12-04T11:04:52.608Z,1638615892.608 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-12-04T11:04:52.608Z,1638615892.608 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-12-04T11:04:52.608Z,1638615892.608 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T11:04:53.064Z,1638615893.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110453.30*5F

2021-12-04T11:04:53.065Z,1638615893.065 [Micromodem](INFO): Nmea in: $CAREV,110454,AUV,2.1.4000*2F

2021-12-04T11:04:53.424Z,1638615893.424 [Micromodem](INFO): Nmea in: $CAREV,110454,COPROC,0.20.0.39330*7E

2021-12-04T11:04:55.481Z,1638615895.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:04:56.054Z,1638615896.054 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-12-04T11:04:56.262Z,1638615896.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:04:56.360Z,1638615896.360 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T11:04:56.663Z,1638615896.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:04:57.092Z,1638615897.092 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T11:04:57.496Z,1638615897.496 [Micromodem](INFO): Nmea in: $SNTTA,0.034005,,,,110457.74*47

2021-12-04T11:04:57.497Z,1638615897.497 [Micromodem](INFO): Nmea in: $CAREV,110458,AUV,2.1.4000*23

2021-12-04T11:04:57.904Z,1638615897.904 [Micromodem](INFO): Nmea in: $CAREV,110458,COPROC,0.20.0.39330*72

2021-12-04T11:04:59.948Z,1638615899.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:00.693Z,1638615900.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:01.108Z,1638615901.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:01.965Z,1638615901.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110502.17*5F

2021-12-04T11:05:01.967Z,1638615901.967 [Micromodem](INFO): Nmea in: $CAREV,110503,AUV,2.1.4000*2C

2021-12-04T11:05:02.329Z,1638615902.329 [Micromodem](INFO): Nmea in: $CAREV,110503,COPROC,0.20.0.39330*7D

2021-12-04T11:05:04.345Z,1638615904.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:05.145Z,1638615905.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:05.543Z,1638615905.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:06.387Z,1638615906.387 [Micromodem](INFO): Nmea in: $SNTTA,0.020501,,,,110506.62*41

2021-12-04T11:05:06.388Z,1638615906.388 [Micromodem](INFO): Nmea in: $CAREV,110507,AUV,2.1.4000*28

2021-12-04T11:05:06.408Z,1638615906.408 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-12-04T11:05:06.768Z,1638615906.768 [Micromodem](INFO): Nmea in: $CAREV,110507,COPROC,0.20.0.39330*79

2021-12-04T11:05:08.809Z,1638615908.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:09.596Z,1638615909.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:10.004Z,1638615910.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:10.832Z,1638615910.832 [Micromodem](INFO): Nmea in: $SNTTA,0.022709,,,,110511.08*43

2021-12-04T11:05:10.833Z,1638615910.833 [Micromodem](INFO): Nmea in: $CAREV,110512,AUV,2.1.4000*2C

2021-12-04T11:05:11.216Z,1638615911.216 [Micromodem](INFO): Nmea in: $CAREV,110512,COPROC,0.20.0.39330*7D

2021-12-04T11:05:13.252Z,1638615913.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:14.033Z,1638615914.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:14.443Z,1638615914.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:15.268Z,1638615915.268 [Micromodem](INFO): Nmea in: $SNTTA,0.023381,,,,110515.51*4E

2021-12-04T11:05:15.269Z,1638615915.269 [Micromodem](INFO): Nmea in: $CAREV,110516,AUV,2.1.4000*28

2021-12-04T11:05:15.696Z,1638615915.696 [Micromodem](INFO): Nmea in: $CAREV,110516,COPROC,0.20.0.39330*79

2021-12-04T11:05:17.728Z,1638615917.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:18.473Z,1638615918.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:18.915Z,1638615918.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:19.720Z,1638615919.720 [Micromodem](INFO): Nmea in: $SNTTA,0.047549,,,,110519.95*4A

2021-12-04T11:05:19.721Z,1638615919.721 [Micromodem](INFO): Nmea in: $CAREV,110521,AUV,2.1.4000*2C

2021-12-04T11:05:20.104Z,1638615920.104 [Micromodem](INFO): Nmea in: $CAREV,110521,COPROC,0.20.0.39330*7D

2021-12-04T11:05:22.140Z,1638615922.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:22.959Z,1638615922.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:23.327Z,1638615923.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:24.160Z,1638615924.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110524.44*5D

2021-12-04T11:05:24.161Z,1638615924.161 [Micromodem](INFO): Nmea in: $CAREV,110525,AUV,2.1.4000*28

2021-12-04T11:05:24.549Z,1638615924.549 [Micromodem](INFO): Nmea in: $CAREV,110525,COPROC,0.20.0.39330*79

2021-12-04T11:05:26.576Z,1638615926.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:27.399Z,1638615927.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:27.787Z,1638615927.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:28.612Z,1638615928.612 [Micromodem](INFO): Nmea in: $SNTTA,0.027345,,,,110528.88*48

2021-12-04T11:05:28.613Z,1638615928.613 [Micromodem](INFO): Nmea in: $CAREV,110529,AUV,2.1.4000*24

2021-12-04T11:05:29.004Z,1638615929.004 [Micromodem](INFO): Nmea in: $CAREV,110529,COPROC,0.20.0.39330*75

2021-12-04T11:05:31.030Z,1638615931.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:31.809Z,1638615931.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:32.219Z,1638615932.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:33.052Z,1638615933.052 [Micromodem](INFO): Nmea in: $SNTTA,0.005400,,,,110533.29*4F

2021-12-04T11:05:33.053Z,1638615933.053 [Micromodem](INFO): Nmea in: $CAREV,110534,AUV,2.1.4000*28

2021-12-04T11:05:33.447Z,1638615933.447 [Micromodem](INFO): Nmea in: $CAREV,110534,COPROC,0.20.0.39330*79

2021-12-04T11:05:35.464Z,1638615935.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:36.257Z,1638615936.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:36.663Z,1638615936.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:37.492Z,1638615937.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110537.74*5C

2021-12-04T11:05:37.493Z,1638615937.493 [Micromodem](INFO): Nmea in: $CAREV,110538,AUV,2.1.4000*24

2021-12-04T11:05:37.512Z,1638615937.512 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T11:05:37.903Z,1638615937.903 [Micromodem](INFO): Nmea in: $CAREV,110538,COPROC,0.20.0.39330*75

2021-12-04T11:05:39.955Z,1638615939.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:40.697Z,1638615940.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:41.111Z,1638615941.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:41.962Z,1638615941.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110542.18*54

2021-12-04T11:05:41.963Z,1638615941.963 [Micromodem](INFO): Nmea in: $CAREV,110543,AUV,2.1.4000*28

2021-12-04T11:05:42.329Z,1638615942.329 [Micromodem](INFO): Nmea in: $CAREV,110543,COPROC,0.20.0.39330*79

2021-12-04T11:05:44.372Z,1638615944.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:45.158Z,1638615945.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:45.568Z,1638615945.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:46.372Z,1638615946.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110546.64*5B

2021-12-04T11:05:46.373Z,1638615946.373 [Micromodem](INFO): Nmea in: $CAREV,110547,AUV,2.1.4000*2C

2021-12-04T11:05:46.776Z,1638615946.776 [Micromodem](INFO): Nmea in: $CAREV,110547,COPROC,0.20.0.39330*7D

2021-12-04T11:05:48.793Z,1638615948.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:49.612Z,1638615949.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:49.999Z,1638615949.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:50.817Z,1638615950.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110551.09*56

2021-12-04T11:05:50.819Z,1638615950.819 [Micromodem](INFO): Nmea in: $CAREV,110552,AUV,2.1.4000*28

2021-12-04T11:05:51.212Z,1638615951.212 [Micromodem](INFO): Nmea in: $CAREV,110552,COPROC,0.20.0.39330*79

2021-12-04T11:05:53.269Z,1638615953.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:54.033Z,1638615954.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:54.439Z,1638615954.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:55.284Z,1638615955.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110555.52*5C

2021-12-04T11:05:55.285Z,1638615955.285 [Micromodem](INFO): Nmea in: $CAREV,110556,AUV,2.1.4000*2C

2021-12-04T11:05:55.735Z,1638615955.735 [Micromodem](INFO): Nmea in: $CAREV,110556,COPROC,0.20.0.39330*7D

2021-12-04T11:05:57.405Z,1638615957.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:05:57.854Z,1638615957.854 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 12.60 m. Transitioning DDM to standby.
2021-12-04T11:05:58.207Z,1638615958.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:05:58.603Z,1638615958.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:05:59.436Z,1638615959.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110559.69*58

2021-12-04T11:05:59.437Z,1638615959.437 [Micromodem](INFO): Nmea in: $CAREV,110600,AUV,2.1.4000*2C

2021-12-04T11:05:59.852Z,1638615959.852 [Micromodem](INFO): Nmea in: $CAREV,110600,COPROC,0.20.0.39330*7D

2021-12-04T11:05:59.945Z,1638615959.945 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-12-04T11:06:00.247Z,1638615960.247 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T11:06:00.247Z,1638615960.247 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-12-04T11:06:00.247Z,1638615960.247 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-12-04T11:06:00.247Z,1638615960.247 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-12-04T11:06:00.247Z,1638615960.247 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T11:06:00.247Z,1638615960.247 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap] Stopped
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap](INFO): Running loop #3
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap] Running Loop=3
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T11:06:00.248Z,1638615960.248 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T11:06:00.632Z,1638615960.632 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T11:06:00.633Z,1638615960.633 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T11:06:00.633Z,1638615960.633 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T11:06:01.056Z,1638615961.056 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T11:06:01.057Z,1638615961.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T11:06:01.058Z,1638615961.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T11:06:01.060Z,1638615961.060 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T11:06:01.060Z,1638615961.060 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T11:06:01.436Z,1638615961.436 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T11:06:01.436Z,1638615961.436 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T11:06:01.843Z,1638615961.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:01.844Z,1638615961.844 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T11:06:01.844Z,1638615961.844 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T11:06:02.261Z,1638615962.261 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T11:06:02.261Z,1638615962.261 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T11:06:02.609Z,1638615962.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:02.692Z,1638615962.692 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T11:06:02.692Z,1638615962.692 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T11:06:02.692Z,1638615962.692 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T11:06:02.693Z,1638615962.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T11:06:02.693Z,1638615962.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T11:06:02.693Z,1638615962.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T11:06:02.693Z,1638615962.693 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T11:06:02.694Z,1638615962.694 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T11:06:02.694Z,1638615962.694 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T11:06:02.694Z,1638615962.694 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T11:06:02.700Z,1638615962.700 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T11:06:02.700Z,1638615962.700 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T11:06:02.701Z,1638615962.701 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T11:06:02.701Z,1638615962.701 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T11:06:02.701Z,1638615962.701 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T11:06:02.701Z,1638615962.701 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T11:06:02.701Z,1638615962.701 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T11:06:02.702Z,1638615962.702 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T11:06:02.702Z,1638615962.702 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T11:06:02.708Z,1638615962.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T11:06:02.708Z,1638615962.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T11:06:02.708Z,1638615962.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T11:06:02.708Z,1638615962.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T11:06:02.708Z,1638615962.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T11:06:02.708Z,1638615962.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T11:06:02.709Z,1638615962.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T11:06:02.709Z,1638615962.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T11:06:02.709Z,1638615962.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T11:06:03.015Z,1638615963.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T11:06:03.080Z,1638615963.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T11:06:03.081Z,1638615963.081 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T11:06:03.952Z,1638615963.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110604.09*55

2021-12-04T11:06:03.953Z,1638615963.953 [Micromodem](INFO): Nmea in: $CAREV,110605,AUV,2.1.4000*29

2021-12-04T11:06:04.280Z,1638615964.280 [Micromodem](INFO): Nmea in: $CAREV,110605,COPROC,0.20.0.39330*78

2021-12-04T11:06:05.545Z,1638615965.545 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T11:06:05.974Z,1638615965.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:05.976Z,1638615965.976 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T11:06:06.303Z,1638615966.303 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T11:06:06.674Z,1638615966.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:06.734Z,1638615966.734 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T11:06:07.090Z,1638615967.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:07.932Z,1638615967.932 [Micromodem](INFO): Nmea in: $SNTTA,0.028500,,,,110608.15*45

2021-12-04T11:06:07.934Z,1638615967.934 [Micromodem](INFO): Nmea in: $CAREV,110609,AUV,2.1.4000*25

2021-12-04T11:06:08.304Z,1638615968.304 [Micromodem](INFO): Nmea in: $CAREV,110609,COPROC,0.20.0.39330*74

2021-12-04T11:06:10.361Z,1638615970.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:11.126Z,1638615971.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:11.540Z,1638615971.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:12.369Z,1638615972.369 [Micromodem](INFO): Nmea in: $SNTTA,0.025075,,,,110612.61*47

2021-12-04T11:06:12.370Z,1638615972.370 [Micromodem](INFO): Nmea in: $CAREV,110613,AUV,2.1.4000*2E

2021-12-04T11:06:12.760Z,1638615972.760 [Micromodem](INFO): Nmea in: $CAREV,110613,COPROC,0.20.0.39330*7F

2021-12-04T11:06:14.781Z,1638615974.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:15.564Z,1638615975.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:16.003Z,1638615976.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:16.828Z,1638615976.828 [Micromodem](INFO): Nmea in: $SNTTA,0.031110,,,,110617.04*46

2021-12-04T11:06:16.829Z,1638615976.829 [Micromodem](INFO): Nmea in: $CAREV,110618,AUV,2.1.4000*25

2021-12-04T11:06:17.208Z,1638615977.208 [Micromodem](INFO): Nmea in: $CAREV,110618,COPROC,0.20.0.39330*74

2021-12-04T11:06:19.246Z,1638615979.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:20.025Z,1638615980.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:20.431Z,1638615980.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:21.256Z,1638615981.256 [Micromodem](INFO): Nmea in: $SNTTA,0.062898,,,,110621.51*4C

2021-12-04T11:06:21.257Z,1638615981.257 [Micromodem](INFO): Nmea in: $CAREV,110622,AUV,2.1.4000*2C

2021-12-04T11:06:21.684Z,1638615981.684 [Micromodem](INFO): Nmea in: $CAREV,110622,COPROC,0.20.0.39330*7D

2021-12-04T11:06:23.728Z,1638615983.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:24.457Z,1638615984.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:24.867Z,1638615984.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:25.708Z,1638615985.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110625.94*52

2021-12-04T11:06:25.709Z,1638615985.709 [Micromodem](INFO): Nmea in: $CAREV,110626,AUV,2.1.4000*28

2021-12-04T11:06:26.092Z,1638615986.092 [Micromodem](INFO): Nmea in: $CAREV,110626,COPROC,0.20.0.39330*79

2021-12-04T11:06:26.937Z,1638615986.937 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 18.30 m. Transitioning DDM to standby.
2021-12-04T11:06:28.164Z,1638615988.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:28.929Z,1638615988.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:29.044Z,1638615989.044 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T11:06:29.307Z,1638615989.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:29.337Z,1638615989.337 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T11:06:29.337Z,1638615989.337 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T11:06:29.337Z,1638615989.337 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T11:06:29.783Z,1638615989.783 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T11:06:29.783Z,1638615989.783 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T11:06:29.783Z,1638615989.783 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T11:06:30.240Z,1638615990.240 [Micromodem](INFO): Nmea in: $SNTTA,0.033842,,,,110630.41*4E

2021-12-04T11:06:30.241Z,1638615990.241 [Micromodem](INFO): Nmea in: $CAREV,110631,AUV,2.1.4000*2E

2021-12-04T11:06:30.263Z,1638615990.263 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T11:06:30.264Z,1638615990.264 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T11:06:30.264Z,1638615990.264 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T11:06:30.264Z,1638615990.264 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T11:06:30.264Z,1638615990.264 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T11:06:30.528Z,1638615990.528 [Micromodem](INFO): Nmea in: $CAREV,110631,COPROC,0.20.0.39330*7F

2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T11:06:30.545Z,1638615990.545 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T11:06:30.546Z,1638615990.546 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T11:06:30.559Z,1638615990.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T11:06:30.559Z,1638615990.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T11:06:30.559Z,1638615990.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T11:06:30.560Z,1638615990.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 19.020000 m 
2021-12-04T11:06:30.560Z,1638615990.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T11:06:30.560Z,1638615990.560 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T11:06:30.561Z,1638615990.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T11:06:30.561Z,1638615990.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T11:06:30.561Z,1638615990.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T11:06:30.561Z,1638615990.561 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T11:06:30.981Z,1638615990.981 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T11:06:30.981Z,1638615990.981 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T11:06:30.981Z,1638615990.981 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T11:06:30.982Z,1638615990.982 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T11:06:30.983Z,1638615990.983 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T11:06:31.342Z,1638615991.342 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T11:06:31.342Z,1638615991.342 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T11:06:31.343Z,1638615991.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T11:06:31.343Z,1638615991.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T11:06:31.343Z,1638615991.343 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T11:06:31.344Z,1638615991.344 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 19.020000 m (mode 0 count ).
2021-12-04T11:06:31.344Z,1638615991.344 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T11:06:31.344Z,1638615991.344 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T11:06:31.345Z,1638615991.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T11:06:31.345Z,1638615991.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T11:06:31.346Z,1638615991.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T11:06:31.347Z,1638615991.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T11:06:31.347Z,1638615991.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T11:06:31.348Z,1638615991.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T11:06:31.348Z,1638615991.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T11:06:31.348Z,1638615991.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T11:06:31.348Z,1638615991.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T11:06:31.348Z,1638615991.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T11:06:31.349Z,1638615991.349 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T11:06:31.350Z,1638615991.350 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T11:06:31.350Z,1638615991.350 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T11:06:31.350Z,1638615991.350 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T11:06:31.760Z,1638615991.760 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T11:06:31.760Z,1638615991.760 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T11:06:31.760Z,1638615991.760 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T11:06:31.760Z,1638615991.760 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T11:06:31.763Z,1638615991.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 243.169160 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T11:06:31.763Z,1638615991.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 19.02 m.
2021-12-04T11:06:31.764Z,1638615991.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 243.169160deg and heading rate command to 0 deg/s.
2021-12-04T11:06:32.624Z,1638615992.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:33.401Z,1638615993.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:33.804Z,1638615993.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:34.249Z,1638615994.249 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:06:34.254Z,1638615994.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 238.716587 deg, deltaT: 4.469293 s, deltaX: 0.719999 m, approachRate: 0.161099 m/s, LOS rate: -0.996259 deg/s, posRepo size: 2
2021-12-04T11:06:34.255Z,1638615994.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 19.74 m.
2021-12-04T11:06:34.256Z,1638615994.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 238.716587 deg,
      approachRate: 0.161099 m/s,
      LOS rate: -0.996259 deg/s,
      cmd update: -2.988777 deg/s,
      cmd heading: 243.169160 deg,
      new cmd heading: 243.169160 deg.

2021-12-04T11:06:34.607Z,1638615994.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110634.88*5F

2021-12-04T11:06:34.608Z,1638615994.608 [Micromodem](INFO): Nmea in: $CAREV,110635,AUV,2.1.4000*2A

2021-12-04T11:06:34.000Z,1638615995.000 [Micromodem](INFO): Nmea in: $CAREV,110635,COPROC,0.20.0.39330*7B

2021-12-04T11:06:37.030Z,1638615997.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:37.813Z,1638615997.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:38.227Z,1638615998.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:38.641Z,1638615998.641 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:06:38.647Z,1638615998.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 238.315545 deg, deltaT: 4.392946 s, deltaX: 0.779997 m, approachRate: 0.177557 m/s, LOS rate: -0.091292 deg/s, posRepo size: 3
2021-12-04T11:06:38.648Z,1638615998.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 20.52 m.
2021-12-04T11:06:38.650Z,1638615998.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 238.315545 deg,
      approachRate: 0.177557 m/s,
      LOS rate: -0.091292 deg/s,
      cmd update: -0.273876 deg/s,
      cmd heading: 229.957452 deg,
      new cmd heading: 228.844244 deg.

2021-12-04T11:06:39.072Z,1638615999.072 [Micromodem](INFO): Nmea in: $SNTTA,0.027688,,,,110639.29*44

2021-12-04T11:06:39.073Z,1638615999.073 [Micromodem](INFO): Nmea in: $CAREV,110640,AUV,2.1.4000*28

2021-12-04T11:06:39.440Z,1638615999.440 [Micromodem](INFO): Nmea in: $CAREV,110640,COPROC,0.20.0.39330*79

2021-12-04T11:06:41.469Z,1638616001.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:42.261Z,1638616002.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:42.731Z,1638616002.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:43.157Z,1638616003.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:06:43.175Z,1638616003.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 284.442381 deg, deltaT: 4.515965 s, deltaX: 0.240002 m, approachRate: 0.053145 m/s, LOS rate: 10.214171 deg/s, posRepo size: 4
2021-12-04T11:06:43.175Z,1638616003.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 20.76 m.
2021-12-04T11:06:43.175Z,1638616003.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 20.76 m.
2021-12-04T11:06:43.176Z,1638616003.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 20.76 m.
2021-12-04T11:06:43.176Z,1638616003.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T11:06:43.178Z,1638616003.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 228.728142 deg,
      new cmd heading: 228.616449 deg.

2021-12-04T11:06:43.579Z,1638616003.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110643.74*5C

2021-12-04T11:06:43.588Z,1638616003.588 [Micromodem](INFO): Nmea in: $CAREV,110644,AUV,2.1.4000*2C

2021-12-04T11:06:43.659Z,1638616003.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.621994 deg,
      new cmd heading: 239.430966 deg.

2021-12-04T11:06:43.922Z,1638616003.922 [Micromodem](INFO): Nmea in: $CAREV,110644,COPROC,0.20.0.39330*7D

2021-12-04T11:06:44.002Z,1638616004.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 20.76 m.
2021-12-04T11:06:44.008Z,1638616004.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 239.430966 deg,
      new cmd heading: 243.611526 deg.

2021-12-04T11:06:44.317Z,1638616004.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 20.76 m.
2021-12-04T11:06:44.320Z,1638616004.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.611526 deg,
      new cmd heading: 247.401534 deg.

2021-12-04T11:06:44.725Z,1638616004.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 247.401534 deg,
      new cmd heading: 252.105426 deg.

2021-12-04T11:06:45.148Z,1638616005.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.105426 deg,
      new cmd heading: 257.339958 deg.

2021-12-04T11:06:45.532Z,1638616005.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 257.339958 deg,
      new cmd heading: 261.946099 deg.

2021-12-04T11:06:45.980Z,1638616005.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:45.981Z,1638616005.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 20.76 m.
2021-12-04T11:06:45.987Z,1638616005.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.946099 deg,
      new cmd heading: 267.369499 deg.

2021-12-04T11:06:46.343Z,1638616006.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 20.76 m.
2021-12-04T11:06:46.345Z,1638616006.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 267.369499 deg,
      new cmd heading: 271.712011 deg.

2021-12-04T11:06:46.705Z,1638616006.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:46.798Z,1638616006.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.712011 deg,
      new cmd heading: 277.024927 deg.

2021-12-04T11:06:47.114Z,1638616007.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:47.184Z,1638616007.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 284.442381 deg,
      approachRate: 0.053145 m/s,
      LOS rate: 10.214171 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.024927 deg,
      new cmd heading: 281.726263 deg.

2021-12-04T11:06:47.527Z,1638616007.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:06:47.532Z,1638616007.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 222.967236 deg, deltaT: 4.369587 s, deltaX: -0.299999 m, approachRate: -0.068656 m/s, LOS rate: -14.068869 deg/s, posRepo size: 4
2021-12-04T11:06:47.533Z,1638616007.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:47.956Z,1638616007.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110648.18*5D

2021-12-04T11:06:47.957Z,1638616007.957 [Micromodem](INFO): Nmea in: $CAREV,110649,AUV,2.1.4000*21

2021-12-04T11:06:48.055Z,1638616008.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 20.46 m.
2021-12-04T11:06:48.056Z,1638616008.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:48.332Z,1638616008.332 [Micromodem](INFO): Nmea in: $CAREV,110649,COPROC,0.20.0.39330*70

2021-12-04T11:06:48.361Z,1638616008.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 20.46 m.
2021-12-04T11:06:48.362Z,1638616008.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:48.774Z,1638616008.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:49.166Z,1638616009.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:49.644Z,1638616009.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:50.033Z,1638616010.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:50.035Z,1638616010.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 20.46 m.
2021-12-04T11:06:50.035Z,1638616010.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:50.388Z,1638616010.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 20.46 m.
2021-12-04T11:06:50.389Z,1638616010.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:50.749Z,1638616010.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:50.851Z,1638616010.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:51.165Z,1638616011.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:51.239Z,1638616011.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.068869 deg/s. Setting heading cmd to target bearing of 222.967236deg and heading rate command to 0 deg/s.
2021-12-04T11:06:51.596Z,1638616011.596 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:06:51.637Z,1638616011.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 226.163614 deg, deltaT: 4.070133 s, deltaX: -0.660002 m, approachRate: -0.162157 m/s, LOS rate: 0.785325 deg/s, posRepo size: 4
2021-12-04T11:06:51.643Z,1638616011.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 222.967236 deg,
      new cmd heading: 222.967236 deg.

2021-12-04T11:06:52.004Z,1638616012.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110652.23*5E

2021-12-04T11:06:52.005Z,1638616012.005 [Micromodem](INFO): Nmea in: $CAREV,110653,AUV,2.1.4000*2A

2021-12-04T11:06:52.087Z,1638616012.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.80 m.
2021-12-04T11:06:52.089Z,1638616012.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 223.912020 deg,
      new cmd heading: 224.977611 deg.

2021-12-04T11:06:52.372Z,1638616012.372 [Micromodem](INFO): Nmea in: $CAREV,110653,COPROC,0.20.0.39330*7B

2021-12-04T11:06:52.416Z,1638616012.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 19.80 m.
2021-12-04T11:06:52.418Z,1638616012.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 224.977611 deg,
      new cmd heading: 225.751806 deg.

2021-12-04T11:06:52.819Z,1638616012.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 225.751806 deg,
      new cmd heading: 226.696225 deg.

2021-12-04T11:06:53.229Z,1638616013.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 226.696225 deg,
      new cmd heading: 227.660745 deg.

2021-12-04T11:06:53.682Z,1638616013.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.80 m.
2021-12-04T11:06:53.685Z,1638616013.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 227.660745 deg,
      new cmd heading: 228.733892 deg.

2021-12-04T11:06:54.021Z,1638616014.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 19.80 m.
2021-12-04T11:06:54.044Z,1638616014.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 228.733892 deg,
      new cmd heading: 229.532872 deg.

2021-12-04T11:06:54.419Z,1638616014.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:54.423Z,1638616014.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 229.532872 deg,
      new cmd heading: 230.475302 deg.

2021-12-04T11:06:54.815Z,1638616014.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 230.475302 deg,
      new cmd heading: 231.399742 deg.

2021-12-04T11:06:55.210Z,1638616015.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:55.329Z,1638616015.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 231.399742 deg,
      new cmd heading: 232.611651 deg.

2021-12-04T11:06:55.633Z,1638616015.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:06:55.681Z,1638616015.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 19.80 m.
2021-12-04T11:06:55.683Z,1638616015.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 226.163614 deg,
      approachRate: -0.162157 m/s,
      LOS rate: 0.785325 deg/s,
      cmd update: 2.355976 deg/s,
      cmd heading: 232.611651 deg,
      new cmd heading: 233.443528 deg.

2021-12-04T11:06:56.123Z,1638616016.123 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:06:56.128Z,1638616016.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 220.533435 deg, deltaT: 4.525780 s, deltaX: -0.839996 m, approachRate: -0.185603 m/s, LOS rate: -1.244024 deg/s, posRepo size: 4
2021-12-04T11:06:56.128Z,1638616016.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 18.96 m.
2021-12-04T11:06:56.130Z,1638616016.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 233.443528 deg,
      new cmd heading: 234.493164 deg.

2021-12-04T11:06:56.448Z,1638616016.448 [Micromodem](INFO): Nmea in: $SNTTA,0.025913,,,,110656.69*46

2021-12-04T11:06:56.449Z,1638616016.449 [Micromodem](INFO): Nmea in: $CAREV,110657,AUV,2.1.4000*2E

2021-12-04T11:06:56.465Z,1638616016.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 231.780811 deg,
      new cmd heading: 230.521363 deg.

2021-12-04T11:06:56.828Z,1638616016.828 [Micromodem](INFO): Nmea in: $CAREV,110657,COPROC,0.20.0.39330*7F

2021-12-04T11:06:56.881Z,1638616016.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 230.521363 deg,
      new cmd heading: 229.082575 deg.

2021-12-04T11:06:57.272Z,1638616017.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 229.082575 deg,
      new cmd heading: 227.512346 deg.

2021-12-04T11:06:57.780Z,1638616017.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 18.96 m.
2021-12-04T11:06:57.782Z,1638616017.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 227.512346 deg,
      new cmd heading: 225.608933 deg.

2021-12-04T11:06:58.079Z,1638616018.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 18.96 m.
2021-12-04T11:06:58.080Z,1638616018.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 225.608933 deg,
      new cmd heading: 224.511241 deg.

2021-12-04T11:06:58.482Z,1638616018.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 224.511241 deg,
      new cmd heading: 223.007403 deg.

2021-12-04T11:06:58.873Z,1638616018.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:06:58.876Z,1638616018.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 223.007403 deg,
      new cmd heading: 221.525617 deg.

2021-12-04T11:06:59.294Z,1638616019.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 221.525617 deg,
      new cmd heading: 219.965327 deg.

2021-12-04T11:06:59.677Z,1638616019.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:06:59.788Z,1638616019.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 18.96 m.
2021-12-04T11:06:59.790Z,1638616019.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 219.965327 deg,
      new cmd heading: 218.114323 deg.

2021-12-04T11:07:00.041Z,1638616020.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:00.105Z,1638616020.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 18.96 m.
2021-12-04T11:07:00.107Z,1638616020.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 220.533435 deg,
      approachRate: -0.185603 m/s,
      LOS rate: -1.244024 deg/s,
      cmd update: -3.732073 deg/s,
      cmd heading: 218.114323 deg,
      new cmd heading: 216.932387 deg.

2021-12-04T11:07:00.458Z,1638616020.458 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:00.463Z,1638616020.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 218.023272 deg, deltaT: 4.334652 s, deltaX: -1.559999 m, approachRate: -0.359890 m/s, LOS rate: -0.579092 deg/s, posRepo size: 4
2021-12-04T11:07:00.465Z,1638616020.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 216.932387 deg,
      new cmd heading: 215.600888 deg.

2021-12-04T11:07:00.882Z,1638616020.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110701.16*5F

2021-12-04T11:07:00.887Z,1638616020.887 [Micromodem](INFO): Nmea in: $CAREV,110702,AUV,2.1.4000*2F

2021-12-04T11:07:00.949Z,1638616020.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 216.312575 deg,
      new cmd heading: 215.468158 deg.

2021-12-04T11:07:01.264Z,1638616021.264 [Micromodem](INFO): Nmea in: $CAREV,110702,COPROC,0.20.0.39330*7E

2021-12-04T11:07:01.300Z,1638616021.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 215.468158 deg,
      new cmd heading: 214.859665 deg.

2021-12-04T11:07:01.738Z,1638616021.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 17.40 m.
2021-12-04T11:07:01.740Z,1638616021.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 214.859665 deg,
      new cmd heading: 214.095658 deg.

2021-12-04T11:07:02.094Z,1638616022.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 17.40 m.
2021-12-04T11:07:02.096Z,1638616022.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 214.095658 deg,
      new cmd heading: 213.477260 deg.

2021-12-04T11:07:02.521Z,1638616022.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 213.477260 deg,
      new cmd heading: 212.742928 deg.

2021-12-04T11:07:02.933Z,1638616022.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 212.742928 deg,
      new cmd heading: 212.021193 deg.

2021-12-04T11:07:03.309Z,1638616023.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:03.314Z,1638616023.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 212.021193 deg,
      new cmd heading: 211.361270 deg.

2021-12-04T11:07:03.734Z,1638616023.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 17.40 m.
2021-12-04T11:07:03.736Z,1638616023.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 211.361270 deg,
      new cmd heading: 210.628275 deg.

2021-12-04T11:07:04.077Z,1638616024.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:04.189Z,1638616024.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 17.40 m.
2021-12-04T11:07:04.195Z,1638616024.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 210.628275 deg,
      new cmd heading: 209.837583 deg.

2021-12-04T11:07:04.483Z,1638616024.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:04.523Z,1638616024.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 218.023272 deg,
      approachRate: -0.359890 m/s,
      LOS rate: -0.579092 deg/s,
      cmd update: -1.737276 deg/s,
      cmd heading: 209.837583 deg,
      new cmd heading: 209.260034 deg.

2021-12-04T11:07:04.964Z,1638616024.964 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:04.981Z,1638616024.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 211.593346 deg, deltaT: 4.506360 s, deltaX: -1.500004 m, approachRate: -0.332864 m/s, LOS rate: -1.426856 deg/s, posRepo size: 4
2021-12-04T11:07:04.982Z,1638616024.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 15.90 m.
2021-12-04T11:07:04.988Z,1638616024.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 209.260034 deg,
      new cmd heading: 208.463371 deg.

2021-12-04T11:07:05.320Z,1638616025.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110705.56*5F

2021-12-04T11:07:05.321Z,1638616025.321 [Micromodem](INFO): Nmea in: $CAREV,110706,AUV,2.1.4000*2B

2021-12-04T11:07:05.364Z,1638616025.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 207.297094 deg,
      new cmd heading: 205.658009 deg.

2021-12-04T11:07:05.733Z,1638616025.733 [Micromodem](INFO): Nmea in: $CAREV,110706,COPROC,0.20.0.39330*7A

2021-12-04T11:07:05.876Z,1638616025.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 205.658009 deg,
      new cmd heading: 203.487175 deg.

2021-12-04T11:07:06.136Z,1638616026.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 203.487175 deg,
      new cmd heading: 202.352983 deg.

2021-12-04T11:07:06.526Z,1638616026.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 202.352983 deg,
      new cmd heading: 200.684093 deg.

2021-12-04T11:07:06.959Z,1638616026.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 200.684093 deg,
      new cmd heading: 198.832850 deg.

2021-12-04T11:07:07.336Z,1638616027.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 198.832850 deg,
      new cmd heading: 197.220167 deg.

2021-12-04T11:07:07.752Z,1638616027.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:07.756Z,1638616027.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 197.220167 deg,
      new cmd heading: 195.422380 deg.

2021-12-04T11:07:08.193Z,1638616028.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 195.422380 deg,
      new cmd heading: 193.551036 deg.

2021-12-04T11:07:08.521Z,1638616028.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:08.593Z,1638616028.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 193.551036 deg,
      new cmd heading: 191.862485 deg.

2021-12-04T11:07:08.961Z,1638616028.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:09.041Z,1638616029.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 211.593346 deg,
      approachRate: -0.332864 m/s,
      LOS rate: -1.426856 deg/s,
      cmd update: -4.280567 deg/s,
      cmd heading: 191.862485 deg,
      new cmd heading: 189.942026 deg.

2021-12-04T11:07:09.426Z,1638616029.426 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:09.431Z,1638616029.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 205.836124 deg, deltaT: 4.461644 s, deltaX: -1.739999 m, approachRate: -0.389991 m/s, LOS rate: -1.290381 deg/s, posRepo size: 4
2021-12-04T11:07:09.433Z,1638616029.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 189.942026 deg,
      new cmd heading: 188.248590 deg.

2021-12-04T11:07:09.784Z,1638616029.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110710.01*59

2021-12-04T11:07:09.785Z,1638616029.785 [Micromodem](INFO): Nmea in: $CAREV,110711,AUV,2.1.4000*2D

2021-12-04T11:07:09.868Z,1638616029.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 188.410563 deg,
      new cmd heading: 186.738860 deg.

2021-12-04T11:07:10.160Z,1638616030.160 [Micromodem](INFO): Nmea in: $CAREV,110711,COPROC,0.20.0.39330*7C

2021-12-04T11:07:10.185Z,1638616030.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 186.738860 deg,
      new cmd heading: 185.494152 deg.

2021-12-04T11:07:10.583Z,1638616030.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 185.494152 deg,
      new cmd heading: 183.951373 deg.

2021-12-04T11:07:11.070Z,1638616031.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 183.951373 deg,
      new cmd heading: 182.067524 deg.

2021-12-04T11:07:11.394Z,1638616031.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 182.067524 deg,
      new cmd heading: 180.812290 deg.

2021-12-04T11:07:11.809Z,1638616031.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 180.812290 deg,
      new cmd heading: 179.205607 deg.

2021-12-04T11:07:12.189Z,1638616032.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:12.193Z,1638616032.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 179.205607 deg,
      new cmd heading: 177.721074 deg.

2021-12-04T11:07:12.587Z,1638616032.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 177.721074 deg,
      new cmd heading: 176.196246 deg.

2021-12-04T11:07:12.969Z,1638616032.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:13.094Z,1638616033.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 176.196246 deg,
      new cmd heading: 174.235547 deg.

2021-12-04T11:07:13.371Z,1638616033.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:13.415Z,1638616033.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 205.836124 deg,
      approachRate: -0.389991 m/s,
      LOS rate: -1.290381 deg/s,
      cmd update: -3.871143 deg/s,
      cmd heading: 174.235547 deg,
      new cmd heading: 172.989697 deg.

2021-12-04T11:07:13.817Z,1638616033.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:13.831Z,1638616033.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 205.589268 deg, deltaT: 4.391839 s, deltaX: -2.160000 m, approachRate: -0.491821 m/s, LOS rate: -0.056208 deg/s, posRepo size: 4
2021-12-04T11:07:13.833Z,1638616033.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.989697 deg,
      new cmd heading: 171.395777 deg.

2021-12-04T11:07:14.204Z,1638616034.204 [Micromodem](INFO): Nmea in: $SNTTA,0.031489,,,,110714.45*44

2021-12-04T11:07:14.205Z,1638616034.205 [Micromodem](INFO): Nmea in: $CAREV,110715,AUV,2.1.4000*29

2021-12-04T11:07:14.230Z,1638616034.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.920267 deg,
      new cmd heading: 172.852270 deg.

2021-12-04T11:07:14.596Z,1638616034.596 [Micromodem](INFO): Nmea in: $CAREV,110715,COPROC,0.20.0.39330*78

2021-12-04T11:07:14.611Z,1638616034.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.852270 deg,
      new cmd heading: 172.787947 deg.

2021-12-04T11:07:15.020Z,1638616035.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.787947 deg,
      new cmd heading: 172.719061 deg.

2021-12-04T11:07:15.419Z,1638616035.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.719061 deg,
      new cmd heading: 172.651821 deg.

2021-12-04T11:07:15.841Z,1638616035.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.651821 deg,
      new cmd heading: 172.580508 deg.

2021-12-04T11:07:16.236Z,1638616036.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.580508 deg,
      new cmd heading: 172.514080 deg.

2021-12-04T11:07:16.612Z,1638616036.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:16.641Z,1638616036.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.514080 deg,
      new cmd heading: 172.450029 deg.

2021-12-04T11:07:17.054Z,1638616037.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.450029 deg,
      new cmd heading: 172.376063 deg.

2021-12-04T11:07:17.409Z,1638616037.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:17.514Z,1638616037.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.376063 deg,
      new cmd heading: 172.298531 deg.

2021-12-04T11:07:17.818Z,1638616037.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:17.924Z,1638616037.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 205.589268 deg,
      approachRate: -0.491821 m/s,
      LOS rate: -0.056208 deg/s,
      cmd update: -0.168624 deg/s,
      cmd heading: 172.298531 deg,
      new cmd heading: 172.230341 deg.

2021-12-04T11:07:18.246Z,1638616038.246 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:18.251Z,1638616038.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 209.016424 deg, deltaT: 4.429063 s, deltaX: -1.919998 m, approachRate: -0.433500 m/s, LOS rate: 0.773788 deg/s, posRepo size: 4
2021-12-04T11:07:18.253Z,1638616038.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 172.230341 deg,
      new cmd heading: 172.174135 deg.

2021-12-04T11:07:18.644Z,1638616038.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110718.89*51

2021-12-04T11:07:18.645Z,1638616038.645 [Micromodem](INFO): Nmea in: $CAREV,110719,AUV,2.1.4000*25

2021-12-04T11:07:18.668Z,1638616038.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 173.004103 deg,
      new cmd heading: 173.969280 deg.

2021-12-04T11:07:19.040Z,1638616039.040 [Micromodem](INFO): Nmea in: $CAREV,110719,COPROC,0.20.0.39330*74

2021-12-04T11:07:19.076Z,1638616039.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 173.969280 deg,
      new cmd heading: 174.918780 deg.

2021-12-04T11:07:19.459Z,1638616039.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 174.918780 deg,
      new cmd heading: 175.808023 deg.

2021-12-04T11:07:19.939Z,1638616039.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 175.808023 deg,
      new cmd heading: 176.911716 deg.

2021-12-04T11:07:20.288Z,1638616040.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 176.911716 deg,
      new cmd heading: 177.730308 deg.

2021-12-04T11:07:20.672Z,1638616040.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 177.730308 deg,
      new cmd heading: 178.621691 deg.

2021-12-04T11:07:21.076Z,1638616041.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:21.079Z,1638616041.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 178.621691 deg,
      new cmd heading: 179.568165 deg.

2021-12-04T11:07:21.470Z,1638616041.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 179.568165 deg,
      new cmd heading: 180.474813 deg.

2021-12-04T11:07:21.859Z,1638616041.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:21.988Z,1638616041.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 180.474813 deg,
      new cmd heading: 181.679239 deg.

2021-12-04T11:07:22.268Z,1638616042.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:22.303Z,1638616042.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 209.016424 deg,
      approachRate: -0.433500 m/s,
      LOS rate: 0.773788 deg/s,
      cmd update: 2.321364 deg/s,
      cmd heading: 181.679239 deg,
      new cmd heading: 182.408893 deg.

2021-12-04T11:07:22.754Z,1638616042.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:22.759Z,1638616042.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 217.982523 deg, deltaT: 4.507582 s, deltaX: -1.500003 m, approachRate: -0.332773 m/s, LOS rate: 1.989115 deg/s, posRepo size: 4
2021-12-04T11:07:22.761Z,1638616042.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 182.408893 deg,
      new cmd heading: 183.467869 deg.

2021-12-04T11:07:23.132Z,1638616043.132 [Micromodem](INFO): Nmea in: $SNTTA,0.018695,,,,110723.34*42

2021-12-04T11:07:23.133Z,1638616043.133 [Micromodem](INFO): Nmea in: $CAREV,110724,AUV,2.1.4000*2B

2021-12-04T11:07:23.213Z,1638616043.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 185.131118 deg,
      new cmd heading: 187.840101 deg.

2021-12-04T11:07:23.492Z,1638616043.492 [Micromodem](INFO): Nmea in: $CAREV,110724,COPROC,0.20.0.39330*7A

2021-12-04T11:07:23.511Z,1638616043.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 187.840101 deg,
      new cmd heading: 189.616693 deg.

2021-12-04T11:07:23.988Z,1638616043.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 189.616693 deg,
      new cmd heading: 192.432869 deg.

2021-12-04T11:07:24.367Z,1638616044.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 192.432869 deg,
      new cmd heading: 194.727253 deg.

2021-12-04T11:07:24.718Z,1638616044.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 194.727253 deg,
      new cmd heading: 196.820699 deg.

2021-12-04T11:07:25.123Z,1638616045.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 196.820699 deg,
      new cmd heading: 199.236549 deg.

2021-12-04T11:07:25.522Z,1638616045.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:25.525Z,1638616045.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 199.236549 deg,
      new cmd heading: 201.635815 deg.

2021-12-04T11:07:25.967Z,1638616045.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 201.635815 deg,
      new cmd heading: 204.272690 deg.

2021-12-04T11:07:26.303Z,1638616046.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:26.404Z,1638616046.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 204.272690 deg,
      new cmd heading: 206.885993 deg.

2021-12-04T11:07:26.703Z,1638616046.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:26.760Z,1638616046.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 217.982523 deg,
      approachRate: -0.332773 m/s,
      LOS rate: 1.989115 deg/s,
      cmd update: 5.967345 deg/s,
      cmd heading: 206.885993 deg,
      new cmd heading: 208.999698 deg.

2021-12-04T11:07:27.149Z,1638616047.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:27.154Z,1638616047.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 179.601341 deg, deltaT: 4.394700 s, deltaX: -0.959999 m, approachRate: -0.218445 m/s, LOS rate: -8.733516 deg/s, posRepo size: 4
2021-12-04T11:07:27.156Z,1638616047.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 208.999698 deg,
      new cmd heading: 211.356961 deg.

2021-12-04T11:07:27.536Z,1638616047.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110727.78*53

2021-12-04T11:07:27.537Z,1638616047.537 [Micromodem](INFO): Nmea in: $CAREV,110728,AUV,2.1.4000*27

2021-12-04T11:07:27.640Z,1638616047.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 204.259374 deg,
      new cmd heading: 198.499830 deg.

2021-12-04T11:07:27.944Z,1638616047.944 [Micromodem](INFO): Nmea in: $CAREV,110728,COPROC,0.20.0.39330*76

2021-12-04T11:07:28.077Z,1638616048.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 198.499830 deg,
      new cmd heading: 193.186866 deg.

2021-12-04T11:07:28.352Z,1638616048.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 193.186866 deg,
      new cmd heading: 189.874902 deg.

2021-12-04T11:07:28.760Z,1638616048.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 189.874902 deg,
      new cmd heading: 184.993266 deg.

2021-12-04T11:07:29.165Z,1638616049.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 184.993266 deg,
      new cmd heading: 180.127493 deg.

2021-12-04T11:07:29.593Z,1638616049.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 180.127493 deg,
      new cmd heading: 175.079321 deg.

2021-12-04T11:07:30.013Z,1638616050.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:30.020Z,1638616050.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 175.079321 deg,
      new cmd heading: 169.916837 deg.

2021-12-04T11:07:30.373Z,1638616050.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 169.916837 deg,
      new cmd heading: 165.628853 deg.

2021-12-04T11:07:30.742Z,1638616050.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:30.836Z,1638616050.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 165.628853 deg,
      new cmd heading: 160.220033 deg.

2021-12-04T11:07:31.154Z,1638616051.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:31.213Z,1638616051.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.619999 m,
      bearing: 179.601341 deg,
      approachRate: -0.218445 m/s,
      LOS rate: -8.733516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 160.220033 deg,
      new cmd heading: 155.546933 deg.

2021-12-04T11:07:31.610Z,1638616051.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:31.644Z,1638616051.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 211.894530 deg, deltaT: 4.462640 s, deltaX: -0.300000 m, approachRate: -0.067225 m/s, LOS rate: 7.236342 deg/s, posRepo size: 4
2021-12-04T11:07:31.646Z,1638616051.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 155.546933 deg,
      new cmd heading: 150.525737 deg.

2021-12-04T11:07:31.992Z,1638616051.992 [Micromodem](INFO): Nmea in: $SNTTA,0.021729,,,,110732.22*49

2021-12-04T11:07:31.993Z,1638616051.993 [Micromodem](INFO): Nmea in: $CAREV,110733,AUV,2.1.4000*2D

2021-12-04T11:07:32.036Z,1638616052.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 160.568129 deg,
      new cmd heading: 165.419729 deg.

2021-12-04T11:07:32.369Z,1638616052.369 [Micromodem](INFO): Nmea in: $CAREV,110733,COPROC,0.20.0.39330*7C

2021-12-04T11:07:32.391Z,1638616052.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 165.419729 deg,
      new cmd heading: 169.677857 deg.

2021-12-04T11:07:32.796Z,1638616052.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 169.677857 deg,
      new cmd heading: 174.543785 deg.

2021-12-04T11:07:33.228Z,1638616053.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 174.543785 deg,
      new cmd heading: 179.729261 deg.

2021-12-04T11:07:33.648Z,1638616053.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 179.729261 deg,
      new cmd heading: 184.759038 deg.

2021-12-04T11:07:34.055Z,1638616054.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 184.759038 deg,
      new cmd heading: 189.448602 deg.

2021-12-04T11:07:34.401Z,1638616054.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:34.404Z,1638616054.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.448602 deg,
      new cmd heading: 193.839354 deg.

2021-12-04T11:07:34.820Z,1638616054.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 193.839354 deg,
      new cmd heading: 198.831054 deg.

2021-12-04T11:07:35.188Z,1638616055.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:35.304Z,1638616055.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 198.831054 deg,
      new cmd heading: 204.576102 deg.

2021-12-04T11:07:35.633Z,1638616055.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:35.683Z,1638616055.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 211.894530 deg,
      approachRate: -0.067225 m/s,
      LOS rate: 7.236342 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.576102 deg,
      new cmd heading: 209.180226 deg.

2021-12-04T11:07:36.012Z,1638616056.012 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:36.017Z,1638616056.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 231.424048 deg, deltaT: 4.400675 s, deltaX: 0.060000 m, approachRate: 0.013634 m/s, LOS rate: 4.437846 deg/s, posRepo size: 4
2021-12-04T11:07:36.018Z,1638616056.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 7.38 m.
2021-12-04T11:07:36.019Z,1638616056.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.180226 deg,
      new cmd heading: 213.194574 deg.

2021-12-04T11:07:36.496Z,1638616056.496 [Micromodem](INFO): Nmea in: $SNTTA,0.034992,,,,110736.67*46

2021-12-04T11:07:36.497Z,1638616056.497 [Micromodem](INFO): Nmea in: $CAREV,110737,AUV,2.1.4000*29

2021-12-04T11:07:36.517Z,1638616056.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 213.194574 deg,
      new cmd heading: 219.192139 deg.

2021-12-04T11:07:36.832Z,1638616056.832 [Micromodem](INFO): Nmea in: $CAREV,110737,COPROC,0.20.0.39330*78

2021-12-04T11:07:36.884Z,1638616056.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 219.192139 deg,
      new cmd heading: 223.432087 deg.

2021-12-04T11:07:37.261Z,1638616057.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 223.432087 deg,
      new cmd heading: 228.117055 deg.

2021-12-04T11:07:37.777Z,1638616057.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.38 m.
2021-12-04T11:07:37.780Z,1638616057.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 228.117055 deg,
      new cmd heading: 234.333355 deg.

2021-12-04T11:07:38.087Z,1638616058.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 7.38 m.
2021-12-04T11:07:38.089Z,1638616058.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.333355 deg,
      new cmd heading: 238.054603 deg.

2021-12-04T11:07:38.459Z,1638616058.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 238.054603 deg,
      new cmd heading: 242.498407 deg.

2021-12-04T11:07:38.845Z,1638616058.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:38.848Z,1638616058.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.498407 deg,
      new cmd heading: 247.159387 deg.

2021-12-04T11:07:39.267Z,1638616059.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 247.159387 deg,
      new cmd heading: 252.190003 deg.

2021-12-04T11:07:39.661Z,1638616059.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:39.793Z,1638616059.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.38 m.
2021-12-04T11:07:39.799Z,1638616059.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.190003 deg,
      new cmd heading: 258.524312 deg.

2021-12-04T11:07:40.035Z,1638616060.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:40.093Z,1638616060.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 7.38 m.
2021-12-04T11:07:40.099Z,1638616060.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 231.424048 deg,
      approachRate: 0.013634 m/s,
      LOS rate: 4.437846 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 258.524312 deg,
      new cmd heading: 262.124792 deg.

2021-12-04T11:07:40.451Z,1638616060.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:40.456Z,1638616060.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 208.963682 deg, deltaT: 4.439072 s, deltaX: 1.259998 m, approachRate: 0.283843 m/s, LOS rate: -5.059699 deg/s, posRepo size: 4
2021-12-04T11:07:40.458Z,1638616060.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 262.124792 deg,
      new cmd heading: 266.463176 deg.

2021-12-04T11:07:40.864Z,1638616060.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110741.15*58

2021-12-04T11:07:40.865Z,1638616060.865 [Micromodem](INFO): Nmea in: $CAREV,110742,AUV,2.1.4000*2B

2021-12-04T11:07:40.921Z,1638616060.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.786408 deg,
      new cmd heading: 252.202447 deg.

2021-12-04T11:07:41.256Z,1638616061.256 [Micromodem](INFO): Nmea in: $CAREV,110742,COPROC,0.20.0.39330*7A

2021-12-04T11:07:41.301Z,1638616061.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 252.202447 deg,
      new cmd heading: 247.651867 deg.

2021-12-04T11:07:41.727Z,1638616061.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.64 m.
2021-12-04T11:07:41.728Z,1638616061.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.651867 deg,
      new cmd heading: 242.522263 deg.

2021-12-04T11:07:42.093Z,1638616062.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.64 m.
2021-12-04T11:07:42.095Z,1638616062.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 242.522263 deg,
      new cmd heading: 238.128139 deg.

2021-12-04T11:07:42.499Z,1638616062.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.128139 deg,
      new cmd heading: 233.271331 deg.

2021-12-04T11:07:42.925Z,1638616062.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 233.271331 deg,
      new cmd heading: 228.157039 deg.

2021-12-04T11:07:43.292Z,1638616063.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:43.295Z,1638616063.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 228.157039 deg,
      new cmd heading: 223.722151 deg.

2021-12-04T11:07:43.736Z,1638616063.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.64 m.
2021-12-04T11:07:43.737Z,1638616063.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 223.722151 deg,
      new cmd heading: 218.416963 deg.

2021-12-04T11:07:44.077Z,1638616064.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:44.197Z,1638616064.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.64 m.
2021-12-04T11:07:44.203Z,1638616064.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 218.416963 deg,
      new cmd heading: 212.882646 deg.

2021-12-04T11:07:44.479Z,1638616064.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:44.522Z,1638616064.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 208.963682 deg,
      approachRate: 0.283843 m/s,
      LOS rate: -5.059699 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.882646 deg,
      new cmd heading: 208.996266 deg.

2021-12-04T11:07:44.939Z,1638616064.939 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:44.944Z,1638616064.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.559999 m, bearing: 236.236217 deg, deltaT: 4.487686 s, deltaX: 1.920001 m, approachRate: 0.427838 m/s, LOS rate: 6.077193 deg/s, posRepo size: 4
2021-12-04T11:07:44.946Z,1638616064.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 208.996266 deg,
      new cmd heading: 203.936394 deg.

2021-12-04T11:07:45.344Z,1638616065.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110745.56*5B

2021-12-04T11:07:45.345Z,1638616065.345 [Micromodem](INFO): Nmea in: $CAREV,110746,AUV,2.1.4000*2F

2021-12-04T11:07:45.384Z,1638616065.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 214.056138 deg,
      new cmd heading: 219.325003 deg.

2021-12-04T11:07:45.774Z,1638616065.774 [Micromodem](INFO): Nmea in: $CAREV,110746,COPROC,0.20.0.39330*7E

2021-12-04T11:07:45.975Z,1638616065.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.56 m.
2021-12-04T11:07:45.977Z,1638616065.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 219.325003 deg,
      new cmd heading: 226.448683 deg.

2021-12-04T11:07:46.167Z,1638616066.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.56 m.
2021-12-04T11:07:46.169Z,1638616066.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 226.448683 deg,
      new cmd heading: 228.756583 deg.

2021-12-04T11:07:46.563Z,1638616066.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 228.756583 deg,
      new cmd heading: 233.485771 deg.

2021-12-04T11:07:47.005Z,1638616067.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.485771 deg,
      new cmd heading: 238.788967 deg.

2021-12-04T11:07:47.383Z,1638616067.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 238.788967 deg,
      new cmd heading: 243.324235 deg.

2021-12-04T11:07:47.792Z,1638616067.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:47.793Z,1638616067.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.56 m.
2021-12-04T11:07:47.800Z,1638616067.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.324235 deg,
      new cmd heading: 248.265871 deg.

2021-12-04T11:07:48.225Z,1638616068.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.56 m.
2021-12-04T11:07:48.229Z,1638616068.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 248.265871 deg,
      new cmd heading: 253.448047 deg.

2021-12-04T11:07:48.549Z,1638616068.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:48.656Z,1638616068.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 253.448047 deg,
      new cmd heading: 258.608108 deg.

2021-12-04T11:07:48.967Z,1638616068.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:49.018Z,1638616069.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 236.236217 deg,
      approachRate: 0.427838 m/s,
      LOS rate: 6.077193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 258.608108 deg,
      new cmd heading: 262.943480 deg.

2021-12-04T11:07:49.371Z,1638616069.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:49.376Z,1638616069.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 246.608597 deg, deltaT: 4.431943 s, deltaX: 1.140000 m, approachRate: 0.257224 m/s, LOS rate: 2.340369 deg/s, posRepo size: 4
2021-12-04T11:07:49.376Z,1638616069.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.70 m.
2021-12-04T11:07:49.378Z,1638616069.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 262.943480 deg,
      new cmd heading: 267.238976 deg.

2021-12-04T11:07:49.860Z,1638616069.860 [Micromodem](INFO): Nmea in: $SNTTA,0.046318,,,,110750.03*49

2021-12-04T11:07:49.861Z,1638616069.861 [Micromodem](INFO): Nmea in: $CAREV,110751,AUV,2.1.4000*29

2021-12-04T11:07:49.960Z,1638616069.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 265.456741 deg,
      new cmd heading: 269.558183 deg.

2021-12-04T11:07:50.192Z,1638616070.192 [Micromodem](INFO): Nmea in: $CAREV,110751,COPROC,0.20.0.39330*78

2021-12-04T11:07:50.215Z,1638616070.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 269.558183 deg,
      new cmd heading: 271.348284 deg.

2021-12-04T11:07:50.611Z,1638616070.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 271.348284 deg,
      new cmd heading: 274.131085 deg.

2021-12-04T11:07:51.082Z,1638616071.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 274.131085 deg,
      new cmd heading: 277.438356 deg.

2021-12-04T11:07:51.495Z,1638616071.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 277.438356 deg,
      new cmd heading: 280.333516 deg.

2021-12-04T11:07:51.841Z,1638616071.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 280.333516 deg,
      new cmd heading: 282.767305 deg.

2021-12-04T11:07:52.231Z,1638616072.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:52.234Z,1638616072.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 282.767305 deg,
      new cmd heading: 285.523356 deg.

2021-12-04T11:07:52.611Z,1638616072.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 285.523356 deg,
      new cmd heading: 288.168761 deg.

2021-12-04T11:07:53.007Z,1638616073.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:53.132Z,1638616073.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 288.168761 deg,
      new cmd heading: 291.801706 deg.

2021-12-04T11:07:53.395Z,1638616073.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:53.427Z,1638616073.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 246.608597 deg,
      approachRate: 0.257224 m/s,
      LOS rate: 2.340369 deg/s,
      cmd update: 7.021106 deg/s,
      cmd heading: 291.801706 deg,
      new cmd heading: 293.902217 deg.

2021-12-04T11:07:53.897Z,1638616073.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:53.914Z,1638616073.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 293.253981 deg, deltaT: 4.531683 s, deltaX: 0.840001 m, approachRate: 0.185362 m/s, LOS rate: 10.293170 deg/s, posRepo size: 4
2021-12-04T11:07:53.920Z,1638616073.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.902217 deg,
      new cmd heading: 297.321138 deg.

2021-12-04T11:07:54.244Z,1638616074.244 [Micromodem](INFO): Nmea in: $SNTTA,0.034177,,,,110754.49*4D

2021-12-04T11:07:54.245Z,1638616074.245 [Micromodem](INFO): Nmea in: $CAREV,110755,AUV,2.1.4000*2D

2021-12-04T11:07:54.289Z,1638616074.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.745605 deg,
      new cmd heading: 304.227113 deg.

2021-12-04T11:07:54.636Z,1638616074.636 [Micromodem](INFO): Nmea in: $CAREV,110755,COPROC,0.20.0.39330*7C

2021-12-04T11:07:54.659Z,1638616074.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 304.227113 deg,
      new cmd heading: 308.680890 deg.

2021-12-04T11:07:55.060Z,1638616075.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 308.680890 deg,
      new cmd heading: 313.491450 deg.

2021-12-04T11:07:55.472Z,1638616075.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 313.491450 deg,
      new cmd heading: 318.439242 deg.

2021-12-04T11:07:55.866Z,1638616075.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 318.439242 deg,
      new cmd heading: 323.166318 deg.

2021-12-04T11:07:56.280Z,1638616076.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.166318 deg,
      new cmd heading: 328.141014 deg.

2021-12-04T11:07:56.644Z,1638616076.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:07:56.648Z,1638616076.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.141014 deg,
      new cmd heading: 332.545938 deg.

2021-12-04T11:07:57.111Z,1638616077.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.545938 deg,
      new cmd heading: 338.062950 deg.

2021-12-04T11:07:57.437Z,1638616077.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:07:57.543Z,1638616077.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 338.062950 deg,
      new cmd heading: 343.242931 deg.

2021-12-04T11:07:57.852Z,1638616077.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:07:57.970Z,1638616077.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 293.253981 deg,
      approachRate: 0.185362 m/s,
      LOS rate: 10.293170 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.242931 deg,
      new cmd heading: 348.417151 deg.

2021-12-04T11:07:58.261Z,1638616078.261 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:07:58.266Z,1638616078.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 305.692192 deg, deltaT: 4.358150 s, deltaX: 0.299999 m, approachRate: 0.068836 m/s, LOS rate: 2.854012 deg/s, posRepo size: 4
2021-12-04T11:07:58.284Z,1638616078.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 348.417151 deg,
      new cmd heading: 351.966547 deg.

2021-12-04T11:07:58.689Z,1638616078.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110758.92*5F

2021-12-04T11:07:58.692Z,1638616078.692 [Micromodem](INFO): Nmea in: $CAREV,110759,AUV,2.1.4000*21

2021-12-04T11:07:58.716Z,1638616078.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 350.949655 deg,
      new cmd heading: 354.803487 deg.

2021-12-04T11:07:59.064Z,1638616079.064 [Micromodem](INFO): Nmea in: $CAREV,110759,COPROC,0.20.0.39330*70

2021-12-04T11:07:59.108Z,1638616079.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 354.803487 deg,
      new cmd heading: 358.155884 deg.

2021-12-04T11:07:59.518Z,1638616079.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 358.155884 deg,
      new cmd heading: 1.635427 deg.

2021-12-04T11:07:59.953Z,1638616079.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 1.635427 deg,
      new cmd heading: 5.398921 deg.

2021-12-04T11:08:00.330Z,1638616080.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 5.398921 deg,
      new cmd heading: 8.526025 deg.

2021-12-04T11:08:00.711Z,1638616080.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 8.526025 deg,
      new cmd heading: 11.882608 deg.

2021-12-04T11:08:01.118Z,1638616081.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:01.123Z,1638616081.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 11.882608 deg,
      new cmd heading: 15.402042 deg.

2021-12-04T11:08:01.503Z,1638616081.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 15.402042 deg,
      new cmd heading: 18.664905 deg.

2021-12-04T11:08:01.906Z,1638616081.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:02.041Z,1638616082.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 18.664905 deg,
      new cmd heading: 23.277445 deg.

2021-12-04T11:08:02.289Z,1638616082.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:02.352Z,1638616082.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 305.692192 deg,
      approachRate: 0.068836 m/s,
      LOS rate: 2.854012 deg/s,
      cmd update: 8.562036 deg/s,
      cmd heading: 23.277445 deg,
      new cmd heading: 25.897642 deg.

2021-12-04T11:08:02.720Z,1638616082.720 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:02.728Z,1638616082.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 311.520092 deg, deltaT: 4.458927 s, deltaX: 1.260001 m, approachRate: 0.282579 m/s, LOS rate: 1.307018 deg/s, posRepo size: 4
2021-12-04T11:08:02.728Z,1638616082.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 14.10 m.
2021-12-04T11:08:02.731Z,1638616082.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 25.897642 deg,
      new cmd heading: 29.140119 deg.

2021-12-04T11:08:03.197Z,1638616083.197 [Micromodem](INFO): Nmea in: $SNTTA,0.037191,,,,110803.39*4C

2021-12-04T11:08:03.198Z,1638616083.198 [Micromodem](INFO): Nmea in: $CAREV,110804,AUV,2.1.4000*26

2021-12-04T11:08:03.255Z,1638616083.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 27.382561 deg,
      new cmd heading: 29.454886 deg.

2021-12-04T11:08:03.537Z,1638616083.537 [Micromodem](INFO): Nmea in: $CAREV,110804,COPROC,0.20.0.39330*77

2021-12-04T11:08:03.621Z,1638616083.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 29.454886 deg,
      new cmd heading: 30.774490 deg.

2021-12-04T11:08:03.993Z,1638616083.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 14.10 m.
2021-12-04T11:08:03.995Z,1638616083.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 30.774490 deg,
      new cmd heading: 32.355138 deg.

2021-12-04T11:08:04.377Z,1638616084.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 14.10 m.
2021-12-04T11:08:04.379Z,1638616084.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 32.355138 deg,
      new cmd heading: 33.859553 deg.

2021-12-04T11:08:04.808Z,1638616084.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 33.859553 deg,
      new cmd heading: 35.541732 deg.

2021-12-04T11:08:05.201Z,1638616085.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 35.541732 deg,
      new cmd heading: 37.064713 deg.

2021-12-04T11:08:05.560Z,1638616085.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:05.563Z,1638616085.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 37.064713 deg,
      new cmd heading: 38.503819 deg.

2021-12-04T11:08:06.025Z,1638616086.025 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:08:06.045Z,1638616086.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 14.10 m.
2021-12-04T11:08:06.046Z,1638616086.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 38.503819 deg,
      new cmd heading: 40.399594 deg.

2021-12-04T11:08:06.329Z,1638616086.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:06.411Z,1638616086.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 14.10 m.
2021-12-04T11:08:06.427Z,1638616086.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 40.399594 deg,
      new cmd heading: 41.817695 deg.

2021-12-04T11:08:06.735Z,1638616086.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:06.789Z,1638616086.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 311.520092 deg,
      approachRate: 0.282579 m/s,
      LOS rate: 1.307018 deg/s,
      cmd update: 3.921055 deg/s,
      cmd heading: 41.817695 deg,
      new cmd heading: 43.301179 deg.

2021-12-04T11:08:07.160Z,1638616087.160 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:07.165Z,1638616087.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 284.098577 deg, deltaT: 4.440283 s, deltaX: -2.100002 m, approachRate: -0.472943 m/s, LOS rate: -6.175624 deg/s, posRepo size: 4
2021-12-04T11:08:07.167Z,1638616087.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 43.301179 deg,
      new cmd heading: 44.787059 deg.

2021-12-04T11:08:07.579Z,1638616087.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110807.81*58

2021-12-04T11:08:07.583Z,1638616087.583 [Micromodem](INFO): Nmea in: $CAREV,110808,AUV,2.1.4000*2A

2021-12-04T11:08:07.679Z,1638616087.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 38.753791 deg,
      new cmd heading: 32.638099 deg.

2021-12-04T11:08:07.972Z,1638616087.972 [Micromodem](INFO): Nmea in: $CAREV,110808,COPROC,0.20.0.39330*7B

2021-12-04T11:08:08.032Z,1638616088.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.00 m.
2021-12-04T11:08:08.034Z,1638616088.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 32.638099 deg,
      new cmd heading: 28.331419 deg.

2021-12-04T11:08:08.383Z,1638616088.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.00 m.
2021-12-04T11:08:08.385Z,1638616088.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 28.331419 deg,
      new cmd heading: 24.119491 deg.

2021-12-04T11:08:08.775Z,1638616088.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 24.119491 deg,
      new cmd heading: 19.429999 deg.

2021-12-04T11:08:09.196Z,1638616089.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 19.429999 deg,
      new cmd heading: 14.384875 deg.

2021-12-04T11:08:09.644Z,1638616089.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 14.384875 deg,
      new cmd heading: 9.076170 deg.

2021-12-04T11:08:10.026Z,1638616090.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:10.028Z,1638616090.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.00 m.
2021-12-04T11:08:10.030Z,1638616090.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 9.076170 deg,
      new cmd heading: 4.376346 deg.

2021-12-04T11:08:10.401Z,1638616090.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.00 m.
2021-12-04T11:08:10.403Z,1638616090.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 4.376346 deg,
      new cmd heading: 359.906550 deg.

2021-12-04T11:08:10.769Z,1638616090.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:10.878Z,1638616090.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 359.906550 deg,
      new cmd heading: 354.380946 deg.

2021-12-04T11:08:11.171Z,1638616091.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:11.219Z,1638616091.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 284.098577 deg,
      approachRate: -0.472943 m/s,
      LOS rate: -6.175624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 354.380946 deg,
      new cmd heading: 350.111058 deg.

2021-12-04T11:08:11.641Z,1638616091.641 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:11.654Z,1638616091.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.859999 m, bearing: 317.029377 deg, deltaT: 4.480858 s, deltaX: -1.140000 m, approachRate: -0.254416 m/s, LOS rate: 7.349218 deg/s, posRepo size: 4
2021-12-04T11:08:11.656Z,1638616091.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 350.111058 deg,
      new cmd heading: 344.929746 deg.

2021-12-04T11:08:12.004Z,1638616092.004 [Micromodem](INFO): Nmea in: $SNTTA,,0.490942,,,110812.25*4E

2021-12-04T11:08:12.005Z,1638616092.005 [Micromodem](INFO): Nmea in: $CAREV,110813,AUV,2.1.4000*20

2021-12-04T11:08:12.083Z,1638616092.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.86 m.
2021-12-04T11:08:12.084Z,1638616092.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 355.292370 deg,
      new cmd heading: 0.446346 deg.

2021-12-04T11:08:12.392Z,1638616092.392 [Micromodem](INFO): Nmea in: $CAREV,110813,COPROC,0.20.0.39330*71

2021-12-04T11:08:12.425Z,1638616092.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.86 m.
2021-12-04T11:08:12.432Z,1638616092.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 0.446346 deg,
      new cmd heading: 4.610574 deg.

2021-12-04T11:08:12.819Z,1638616092.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.610574 deg,
      new cmd heading: 9.315150 deg.

2021-12-04T11:08:13.247Z,1638616093.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 9.315150 deg,
      new cmd heading: 14.448559 deg.

2021-12-04T11:08:13.660Z,1638616093.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.448559 deg,
      new cmd heading: 19.352875 deg.

2021-12-04T11:08:14.056Z,1638616094.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.86 m.
2021-12-04T11:08:14.058Z,1638616094.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 19.352875 deg,
      new cmd heading: 24.182203 deg.

2021-12-04T11:08:14.434Z,1638616094.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:14.436Z,1638616094.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.86 m.
2021-12-04T11:08:14.437Z,1638616094.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 24.182203 deg,
      new cmd heading: 28.733023 deg.

2021-12-04T11:08:14.834Z,1638616094.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 28.733023 deg,
      new cmd heading: 33.494155 deg.

2021-12-04T11:08:15.213Z,1638616095.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:15.335Z,1638616095.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 33.494155 deg,
      new cmd heading: 39.457555 deg.

2021-12-04T11:08:15.648Z,1638616095.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:15.793Z,1638616095.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.86 m.
2021-12-04T11:08:15.800Z,1638616095.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 317.029377 deg,
      approachRate: -0.254416 m/s,
      LOS rate: 7.349218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 39.457555 deg,
      new cmd heading: 45.013327 deg.

2021-12-04T11:08:16.065Z,1638616096.065 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:16.074Z,1638616096.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 339.255223 deg, deltaT: 4.423844 s, deltaX: -1.500000 m, approachRate: -0.339072 m/s, LOS rate: 5.024102 deg/s, posRepo size: 4
2021-12-04T11:08:16.074Z,1638616096.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.36 m.
2021-12-04T11:08:16.087Z,1638616096.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.013327 deg,
      new cmd heading: 48.374071 deg.

2021-12-04T11:08:16.524Z,1638616096.524 [Micromodem](INFO): Nmea in: $SNTTA,0.030880,,,,110816.69*43

2021-12-04T11:08:16.525Z,1638616096.525 [Micromodem](INFO): Nmea in: $CAREV,110817,AUV,2.1.4000*24

2021-12-04T11:08:16.550Z,1638616096.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 48.374071 deg,
      new cmd heading: 54.081044 deg.

2021-12-04T11:08:16.853Z,1638616096.853 [Micromodem](INFO): Nmea in: $CAREV,110817,COPROC,0.20.0.39330*75

2021-12-04T11:08:16.914Z,1638616096.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 54.081044 deg,
      new cmd heading: 58.428128 deg.

2021-12-04T11:08:17.287Z,1638616097.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.428128 deg,
      new cmd heading: 62.927948 deg.

2021-12-04T11:08:17.744Z,1638616097.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.36 m.
2021-12-04T11:08:17.746Z,1638616097.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 62.927948 deg,
      new cmd heading: 68.436236 deg.

2021-12-04T11:08:18.074Z,1638616098.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.36 m.
2021-12-04T11:08:18.076Z,1638616098.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 68.436236 deg,
      new cmd heading: 72.389876 deg.

2021-12-04T11:08:18.479Z,1638616098.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 72.389876 deg,
      new cmd heading: 77.230376 deg.

2021-12-04T11:08:18.969Z,1638616098.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:18.972Z,1638616098.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.230376 deg,
      new cmd heading: 83.157584 deg.

2021-12-04T11:08:19.315Z,1638616099.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 83.157584 deg,
      new cmd heading: 87.223509 deg.

2021-12-04T11:08:19.689Z,1638616099.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:19.831Z,1638616099.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.36 m.
2021-12-04T11:08:19.839Z,1638616099.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 87.223509 deg,
      new cmd heading: 93.475341 deg.

2021-12-04T11:08:20.071Z,1638616100.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:20.125Z,1638616100.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.36 m.
2021-12-04T11:08:20.127Z,1638616100.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 339.255223 deg,
      approachRate: -0.339072 m/s,
      LOS rate: 5.024102 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 93.475341 deg,
      new cmd heading: 97.007421 deg.

2021-12-04T11:08:20.482Z,1638616100.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:20.487Z,1638616100.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 356.985001 deg, deltaT: 4.417088 s, deltaX: -1.860000 m, approachRate: -0.421092 m/s, LOS rate: 4.013906 deg/s, posRepo size: 4
2021-12-04T11:08:20.487Z,1638616100.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.50 m.
2021-12-04T11:08:20.489Z,1638616100.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 97.007421 deg,
      new cmd heading: 101.329677 deg.

2021-12-04T11:08:20.901Z,1638616100.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110821.17*53

2021-12-04T11:08:20.904Z,1638616100.904 [Micromodem](INFO): Nmea in: $CAREV,110822,AUV,2.1.4000*22

2021-12-04T11:08:20.933Z,1638616100.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 101.329677 deg,
      new cmd heading: 106.683849 deg.

2021-12-04T11:08:21.284Z,1638616101.284 [Micromodem](INFO): Nmea in: $CAREV,110822,COPROC,0.20.0.39330*73

2021-12-04T11:08:21.312Z,1638616101.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 106.683849 deg,
      new cmd heading: 111.240297 deg.

2021-12-04T11:08:21.733Z,1638616101.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 111.240297 deg,
      new cmd heading: 116.280525 deg.

2021-12-04T11:08:22.144Z,1638616102.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.280525 deg,
      new cmd heading: 121.205602 deg.

2021-12-04T11:08:22.523Z,1638616102.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 121.205602 deg,
      new cmd heading: 125.761594 deg.

2021-12-04T11:08:22.940Z,1638616102.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 125.761594 deg,
      new cmd heading: 130.764202 deg.

2021-12-04T11:08:23.308Z,1638616103.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:23.311Z,1638616103.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 130.764202 deg,
      new cmd heading: 135.222730 deg.

2021-12-04T11:08:23.749Z,1638616103.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 135.222730 deg,
      new cmd heading: 140.479690 deg.

2021-12-04T11:08:24.101Z,1638616104.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:24.217Z,1638616104.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.479690 deg,
      new cmd heading: 146.094994 deg.

2021-12-04T11:08:24.517Z,1638616104.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:24.551Z,1638616104.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 356.985001 deg,
      approachRate: -0.421092 m/s,
      LOS rate: 4.013906 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 146.094994 deg,
      new cmd heading: 150.096514 deg.

2021-12-04T11:08:24.957Z,1638616104.957 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:24.962Z,1638616104.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 70.553785 deg, deltaT: 4.475289 s, deltaX: -1.800000 m, approachRate: -0.402209 m/s, LOS rate: 16.438889 deg/s, posRepo size: 4
2021-12-04T11:08:24.963Z,1638616104.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:25.336Z,1638616105.336 [Micromodem](INFO): Nmea in: $SNTTA,0.029199,,,,110825.58*48

2021-12-04T11:08:25.337Z,1638616105.337 [Micromodem](INFO): Nmea in: $CAREV,110826,AUV,2.1.4000*26

2021-12-04T11:08:25.373Z,1638616105.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:25.732Z,1638616105.732 [Micromodem](INFO): Nmea in: $CAREV,110826,COPROC,0.20.0.39330*77

2021-12-04T11:08:25.789Z,1638616105.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:26.162Z,1638616106.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:26.545Z,1638616106.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:26.999Z,1638616106.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:27.370Z,1638616107.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:27.781Z,1638616107.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:27.783Z,1638616107.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:28.169Z,1638616108.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:28.549Z,1638616108.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:28.634Z,1638616108.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:28.952Z,1638616108.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:28.986Z,1638616108.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.438889 deg/s. Setting heading cmd to target bearing of 70.553785deg and heading rate command to 0 deg/s.
2021-12-04T11:08:29.380Z,1638616109.380 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:29.385Z,1638616109.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.619999 m, bearing: 74.794615 deg, deltaT: 4.423425 s, deltaX: -1.080000 m, approachRate: -0.244155 m/s, LOS rate: 0.958721 deg/s, posRepo size: 4
2021-12-04T11:08:29.387Z,1638616109.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 70.553785 deg,
      new cmd heading: 70.553785 deg.

2021-12-04T11:08:29.787Z,1638616109.787 [Micromodem](INFO): Nmea in: $SNTTA,0.047502,,,,110830.03*4C

2021-12-04T11:08:29.788Z,1638616109.788 [Micromodem](INFO): Nmea in: $CAREV,110831,AUV,2.1.4000*20

2021-12-04T11:08:29.823Z,1638616109.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 71.700122 deg,
      new cmd heading: 72.958061 deg.

2021-12-04T11:08:30.239Z,1638616110.239 [Micromodem](INFO): Nmea in: $CAREV,110831,COPROC,0.20.0.39330*71

2021-12-04T11:08:30.285Z,1638616110.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 72.958061 deg,
      new cmd heading: 74.288847 deg.

2021-12-04T11:08:30.603Z,1638616110.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 74.288847 deg,
      new cmd heading: 75.179664 deg.

2021-12-04T11:08:31.008Z,1638616111.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 75.179664 deg,
      new cmd heading: 76.364223 deg.

2021-12-04T11:08:31.423Z,1638616111.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 76.364223 deg,
      new cmd heading: 77.559574 deg.

2021-12-04T11:08:31.829Z,1638616111.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 77.559574 deg,
      new cmd heading: 78.727348 deg.

2021-12-04T11:08:32.280Z,1638616112.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:32.284Z,1638616112.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 78.727348 deg,
      new cmd heading: 80.034763 deg.

2021-12-04T11:08:32.628Z,1638616112.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 80.034763 deg,
      new cmd heading: 81.027904 deg.

2021-12-04T11:08:33.001Z,1638616113.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:33.123Z,1638616113.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 81.027904 deg,
      new cmd heading: 82.436925 deg.

2021-12-04T11:08:33.403Z,1638616113.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:33.442Z,1638616113.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 74.794615 deg,
      approachRate: -0.244155 m/s,
      LOS rate: 0.958721 deg/s,
      cmd update: 2.876163 deg/s,
      cmd heading: 82.436925 deg,
      new cmd heading: 83.366863 deg.

2021-12-04T11:08:33.865Z,1638616113.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:33.909Z,1638616113.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 25.408114 deg, deltaT: 4.485107 s, deltaX: 0.540001 m, approachRate: 0.120399 m/s, LOS rate: -11.011220 deg/s, posRepo size: 4
2021-12-04T11:08:33.915Z,1638616113.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.366863 deg,
      new cmd heading: 84.688219 deg.

2021-12-04T11:08:34.220Z,1638616114.220 [Micromodem](INFO): Nmea in: $SNTTA,0.037515,,,,110834.48*46

2021-12-04T11:08:34.221Z,1638616114.221 [Micromodem](INFO): Nmea in: $CAREV,110835,AUV,2.1.4000*24

2021-12-04T11:08:34.268Z,1638616114.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.853871 deg,
      new cmd heading: 73.454167 deg.

2021-12-04T11:08:34.624Z,1638616114.624 [Micromodem](INFO): Nmea in: $CAREV,110835,COPROC,0.20.0.39330*75

2021-12-04T11:08:34.647Z,1638616114.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 73.454167 deg,
      new cmd heading: 68.909527 deg.

2021-12-04T11:08:35.056Z,1638616115.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.909527 deg,
      new cmd heading: 64.002583 deg.

2021-12-04T11:08:35.440Z,1638616115.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 64.002583 deg,
      new cmd heading: 59.384971 deg.

2021-12-04T11:08:35.912Z,1638616115.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.384971 deg,
      new cmd heading: 53.779327 deg.

2021-12-04T11:08:36.262Z,1638616116.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 53.779327 deg,
      new cmd heading: 49.525483 deg.

2021-12-04T11:08:36.641Z,1638616116.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:36.657Z,1638616116.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 49.525483 deg,
      new cmd heading: 44.784462 deg.

2021-12-04T11:08:37.084Z,1638616117.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 44.784462 deg,
      new cmd heading: 39.811638 deg.

2021-12-04T11:08:37.437Z,1638616117.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:37.546Z,1638616117.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 39.811638 deg,
      new cmd heading: 34.191858 deg.

2021-12-04T11:08:37.847Z,1638616117.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:37.960Z,1638616117.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 25.408114 deg,
      approachRate: 0.120399 m/s,
      LOS rate: -11.011220 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 34.191858 deg,
      new cmd heading: 29.153238 deg.

2021-12-04T11:08:38.271Z,1638616118.271 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:38.276Z,1638616118.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 33.326474 deg, deltaT: 4.405674 s, deltaX: 1.920001 m, approachRate: 0.435802 m/s, LOS rate: 1.797309 deg/s, posRepo size: 4
2021-12-04T11:08:38.277Z,1638616118.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 7.08 m.
2021-12-04T11:08:38.282Z,1638616118.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 29.153238 deg,
      new cmd heading: 25.354782 deg.

2021-12-04T11:08:38.680Z,1638616118.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110838.92*56

2021-12-04T11:08:38.681Z,1638616118.681 [Micromodem](INFO): Nmea in: $CAREV,110839,AUV,2.1.4000*28

2021-12-04T11:08:38.703Z,1638616118.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 30.859988 deg,
      new cmd heading: 33.159263 deg.

2021-12-04T11:08:39.068Z,1638616119.068 [Micromodem](INFO): Nmea in: $CAREV,110839,COPROC,0.20.0.39330*79

2021-12-04T11:08:39.092Z,1638616119.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 33.159263 deg,
      new cmd heading: 35.258426 deg.

2021-12-04T11:08:39.497Z,1638616119.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 35.258426 deg,
      new cmd heading: 37.367468 deg.

2021-12-04T11:08:39.943Z,1638616119.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.08 m.
2021-12-04T11:08:39.945Z,1638616119.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 37.367468 deg,
      new cmd heading: 39.857315 deg.

2021-12-04T11:08:40.308Z,1638616120.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 7.08 m.
2021-12-04T11:08:40.310Z,1638616120.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 39.857315 deg,
      new cmd heading: 41.825762 deg.

2021-12-04T11:08:40.699Z,1638616120.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 41.825762 deg,
      new cmd heading: 43.923233 deg.

2021-12-04T11:08:41.102Z,1638616121.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:41.105Z,1638616121.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 43.923233 deg,
      new cmd heading: 46.111191 deg.

2021-12-04T11:08:41.514Z,1638616121.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 46.111191 deg,
      new cmd heading: 48.316361 deg.

2021-12-04T11:08:41.896Z,1638616121.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:42.044Z,1638616122.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.08 m.
2021-12-04T11:08:42.052Z,1638616122.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 48.316361 deg,
      new cmd heading: 51.183982 deg.

2021-12-04T11:08:42.284Z,1638616122.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:42.335Z,1638616122.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 7.08 m.
2021-12-04T11:08:42.337Z,1638616122.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 33.326474 deg,
      approachRate: 0.435802 m/s,
      LOS rate: 1.797309 deg/s,
      cmd update: 5.391928 deg/s,
      cmd heading: 51.183982 deg,
      new cmd heading: 52.753804 deg.

2021-12-04T11:08:42.727Z,1638616122.727 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:42.736Z,1638616122.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 92.166941 deg, deltaT: 4.456298 s, deltaX: 2.819996 m, approachRate: 0.632811 m/s, LOS rate: 13.203889 deg/s, posRepo size: 4
2021-12-04T11:08:42.737Z,1638616122.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.90 m.
2021-12-04T11:08:42.737Z,1638616122.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:43.112Z,1638616123.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110843.38*5A

2021-12-04T11:08:43.113Z,1638616123.113 [Micromodem](INFO): Nmea in: $CAREV,110844,AUV,2.1.4000*22

2021-12-04T11:08:43.166Z,1638616123.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:43.508Z,1638616123.508 [Micromodem](INFO): Nmea in: $CAREV,110844,COPROC,0.20.0.39330*73

2021-12-04T11:08:43.526Z,1638616123.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:44.050Z,1638616124.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:44.379Z,1638616124.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:44.750Z,1638616124.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:45.228Z,1638616125.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:45.230Z,1638616125.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:45.568Z,1638616125.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:45.957Z,1638616125.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:46.102Z,1638616126.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:46.411Z,1638616126.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:46.450Z,1638616126.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.203889 deg/s. Setting heading cmd to target bearing of 92.166941deg and heading rate command to 0 deg/s.
2021-12-04T11:08:46.817Z,1638616126.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:46.821Z,1638616126.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 113.077634 deg, deltaT: 4.089179 s, deltaX: 2.940003 m, approachRate: 0.718972 m/s, LOS rate: 5.113665 deg/s, posRepo size: 4
2021-12-04T11:08:46.824Z,1638616126.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 92.166941 deg,
      new cmd heading: 92.166941 deg.

2021-12-04T11:08:47.220Z,1638616127.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110847.44*55

2021-12-04T11:08:47.221Z,1638616127.221 [Micromodem](INFO): Nmea in: $CAREV,110848,AUV,2.1.4000*2E

2021-12-04T11:08:47.246Z,1638616127.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 96.618846 deg,
      new cmd heading: 101.709558 deg.

2021-12-04T11:08:47.627Z,1638616127.627 [Micromodem](INFO): Nmea in: $CAREV,110848,COPROC,0.20.0.39330*7F

2021-12-04T11:08:47.705Z,1638616127.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 101.709558 deg,
      new cmd heading: 107.218182 deg.

2021-12-04T11:08:48.044Z,1638616128.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 107.218182 deg,
      new cmd heading: 111.285282 deg.

2021-12-04T11:08:48.435Z,1638616128.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 111.285282 deg,
      new cmd heading: 115.980570 deg.

2021-12-04T11:08:48.852Z,1638616128.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 115.980570 deg,
      new cmd heading: 120.981642 deg.

2021-12-04T11:08:49.263Z,1638616129.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 120.981642 deg,
      new cmd heading: 125.910378 deg.

2021-12-04T11:08:49.689Z,1638616129.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:49.712Z,1638616129.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 125.910378 deg,
      new cmd heading: 131.058427 deg.

2021-12-04T11:08:50.075Z,1638616130.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 131.058427 deg,
      new cmd heading: 135.658135 deg.

2021-12-04T11:08:50.429Z,1638616130.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:50.531Z,1638616130.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 135.658135 deg,
      new cmd heading: 141.066619 deg.

2021-12-04T11:08:50.853Z,1638616130.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:50.935Z,1638616130.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 113.077634 deg,
      approachRate: 0.718972 m/s,
      LOS rate: 5.113665 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 141.066619 deg,
      new cmd heading: 145.927435 deg.

2021-12-04T11:08:51.256Z,1638616131.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:08:51.278Z,1638616131.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 111.584650 deg, deltaT: 4.439682 s, deltaX: 3.599998 m, approachRate: 0.810869 m/s, LOS rate: -0.336282 deg/s, posRepo size: 4
2021-12-04T11:08:51.283Z,1638616131.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.44 m. Rolling out.
2021-12-04T11:08:51.283Z,1638616131.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-12-04T11:08:51.688Z,1638616131.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110851.91*5A

2021-12-04T11:08:51.689Z,1638616131.689 [Micromodem](INFO): Nmea in: $CAREV,110852,AUV,2.1.4000*25

2021-12-04T11:08:51.725Z,1638616131.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T11:08:51.725Z,1638616131.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T11:08:51.725Z,1638616131.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T11:08:51.727Z,1638616131.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 16.439999 m (mode 4 count ).
2021-12-04T11:08:51.727Z,1638616131.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T11:08:51.727Z,1638616131.727 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T11:08:51.730Z,1638616131.730 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T11:08:52.064Z,1638616132.064 [Micromodem](INFO): Nmea in: $CAREV,110852,COPROC,0.20.0.39330*74

2021-12-04T11:08:52.086Z,1638616132.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T11:08:52.086Z,1638616132.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T11:08:52.086Z,1638616132.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T11:08:52.086Z,1638616132.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T11:08:54.104Z,1638616134.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:54.896Z,1638616134.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:55.279Z,1638616135.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:08:55.743Z,1638616135.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 141.884845 deg, deltaT: 4.481050 s, deltaX: 3.300001 m, approachRate: 0.736435 m/s, LOS rate: 6.761851 deg/s, posRepo size: 4
2021-12-04T11:08:56.116Z,1638616136.116 [Micromodem](INFO): Nmea in: $SNTTA,0.030667,,,,110856.38*44

2021-12-04T11:08:56.117Z,1638616136.117 [Micromodem](INFO): Nmea in: $CAREV,110857,AUV,2.1.4000*20

2021-12-04T11:08:56.524Z,1638616136.524 [Micromodem](INFO): Nmea in: $CAREV,110857,COPROC,0.20.0.39330*71

2021-12-04T11:08:58.608Z,1638616138.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:08:59.337Z,1638616139.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:08:59.733Z,1638616139.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:00.153Z,1638616140.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 62.142974 deg, deltaT: 4.410310 s, deltaX: 2.160000 m, approachRate: 0.489761 m/s, LOS rate: -18.080786 deg/s, posRepo size: 4
2021-12-04T11:09:00.580Z,1638616140.580 [Micromodem](INFO): Nmea in: $SNTTA,0.025883,,,,110900.82*47

2021-12-04T11:09:00.581Z,1638616140.581 [Micromodem](INFO): Nmea in: $CAREV,110901,AUV,2.1.4000*22

2021-12-04T11:09:00.976Z,1638616140.976 [Micromodem](INFO): Nmea in: $CAREV,110901,COPROC,0.20.0.39330*73

2021-12-04T11:09:03.006Z,1638616143.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:03.765Z,1638616143.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:04.179Z,1638616144.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:04.625Z,1638616144.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 135.328000 deg, deltaT: 4.461974 s, deltaX: 2.520002 m, approachRate: 0.564773 m/s, LOS rate: 16.401939 deg/s, posRepo size: 4
2021-12-04T11:09:05.012Z,1638616145.012 [Micromodem](INFO): Nmea in: $SNTTA,0.045913,,,,110905.25*41

2021-12-04T11:09:05.013Z,1638616145.013 [Micromodem](INFO): Nmea in: $CAREV,110906,AUV,2.1.4000*25

2021-12-04T11:09:05.426Z,1638616145.426 [Micromodem](INFO): Nmea in: $CAREV,110906,COPROC,0.20.0.39330*74

2021-12-04T11:09:07.409Z,1638616147.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:08.201Z,1638616148.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:08.627Z,1638616148.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:09.069Z,1638616149.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 127.772567 deg, deltaT: 4.450669 s, deltaX: 0.659996 m, approachRate: 0.148291 m/s, LOS rate: -1.697595 deg/s, posRepo size: 4
2021-12-04T11:09:09.448Z,1638616149.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110909.69*51

2021-12-04T11:09:09.449Z,1638616149.449 [Micromodem](INFO): Nmea in: $CAREV,110910,AUV,2.1.4000*22

2021-12-04T11:09:09.836Z,1638616149.836 [Micromodem](INFO): Nmea in: $CAREV,110910,COPROC,0.20.0.39330*73

2021-12-04T11:09:12.019Z,1638616152.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:12.673Z,1638616152.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:13.075Z,1638616153.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:13.477Z,1638616153.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 116.586971 deg, deltaT: 4.411950 s, deltaX: 1.380003 m, approachRate: 0.312788 m/s, LOS rate: -2.535295 deg/s, posRepo size: 4
2021-12-04T11:09:13.888Z,1638616153.888 [Micromodem](INFO): Nmea in: $SNTTA,0.017217,,,,110914.16*49

2021-12-04T11:09:13.892Z,1638616153.892 [Micromodem](INFO): Nmea in: $CAREV,110915,AUV,2.1.4000*27

2021-12-04T11:09:14.284Z,1638616154.284 [Micromodem](INFO): Nmea in: $CAREV,110915,COPROC,0.20.0.39330*76

2021-12-04T11:09:16.297Z,1638616156.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:17.093Z,1638616157.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:17.509Z,1638616157.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:17.998Z,1638616157.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 148.601953 deg, deltaT: 4.492984 s, deltaX: 1.319998 m, approachRate: 0.293791 m/s, LOS rate: 7.125550 deg/s, posRepo size: 4
2021-12-04T11:09:18.352Z,1638616158.352 [Micromodem](INFO): Nmea in: $SNTTA,0.074826,,,,110918.58*42

2021-12-04T11:09:18.353Z,1638616158.353 [Micromodem](INFO): Nmea in: $CAREV,110919,AUV,2.1.4000*2B

2021-12-04T11:09:18.716Z,1638616158.716 [Micromodem](INFO): Nmea in: $CAREV,110919,COPROC,0.20.0.39330*7A

2021-12-04T11:09:20.752Z,1638616160.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:21.545Z,1638616161.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:21.947Z,1638616161.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:22.364Z,1638616162.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 160.311343 deg, deltaT: 4.393663 s, deltaX: 0.720001 m, approachRate: 0.163873 m/s, LOS rate: 2.665063 deg/s, posRepo size: 4
2021-12-04T11:09:22.772Z,1638616162.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110923.03*55

2021-12-04T11:09:22.773Z,1638616162.773 [Micromodem](INFO): Nmea in: $CAREV,110924,AUV,2.1.4000*25

2021-12-04T11:09:23.171Z,1638616163.171 [Micromodem](INFO): Nmea in: $CAREV,110924,COPROC,0.20.0.39330*74

2021-12-04T11:09:24.911Z,1638616164.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:25.632Z,1638616165.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:26.011Z,1638616166.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:26.415Z,1638616166.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 134.875855 deg, deltaT: 4.051354 s, deltaX: 1.859999 m, approachRate: 0.459105 m/s, LOS rate: -6.278268 deg/s, posRepo size: 4
2021-12-04T11:09:26.813Z,1638616166.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110927.12*51

2021-12-04T11:09:26.816Z,1638616166.816 [Micromodem](INFO): Nmea in: $CAREV,110928,AUV,2.1.4000*29

2021-12-04T11:09:27.208Z,1638616167.208 [Micromodem](INFO): Nmea in: $CAREV,110928,COPROC,0.20.0.39330*78

2021-12-04T11:09:29.250Z,1638616169.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:30.018Z,1638616170.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:30.427Z,1638616170.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:30.870Z,1638616170.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 183.480369 deg, deltaT: 4.432322 s, deltaX: 0.360003 m, approachRate: 0.081222 m/s, LOS rate: 10.965926 deg/s, posRepo size: 4
2021-12-04T11:09:31.273Z,1638616171.273 [Micromodem](INFO): Nmea in: $SNTTA,0.079558,,,,110931.50*48

2021-12-04T11:09:31.274Z,1638616171.274 [Micromodem](INFO): Nmea in: $CAREV,110932,AUV,2.1.4000*22

2021-12-04T11:09:31.688Z,1638616171.688 [Micromodem](INFO): Nmea in: $CAREV,110932,COPROC,0.20.0.39330*73

2021-12-04T11:09:33.737Z,1638616173.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:34.465Z,1638616174.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:34.905Z,1638616174.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:35.306Z,1638616175.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 183.010097 deg, deltaT: 4.458501 s, deltaX: 1.020000 m, approachRate: 0.228777 m/s, LOS rate: -0.105478 deg/s, posRepo size: 4
2021-12-04T11:09:35.756Z,1638616175.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110935.95*5D

2021-12-04T11:09:35.757Z,1638616175.757 [Micromodem](INFO): Nmea in: $CAREV,110937,AUV,2.1.4000*27

2021-12-04T11:09:36.132Z,1638616176.132 [Micromodem](INFO): Nmea in: $CAREV,110937,COPROC,0.20.0.39330*76

2021-12-04T11:09:37.805Z,1638616177.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:38.641Z,1638616178.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:39.007Z,1638616179.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:39.426Z,1638616179.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 185.108700 deg, deltaT: 4.119880 s, deltaX: 0.840000 m, approachRate: 0.203889 m/s, LOS rate: 0.509384 deg/s, posRepo size: 4
2021-12-04T11:09:40.187Z,1638616180.187 [Micromodem](INFO): Nmea in: $SNTTA,0.044483,,,,110940.12*41

2021-12-04T11:09:40.188Z,1638616180.188 [Micromodem](INFO): Nmea in: $CAREV,110941,AUV,2.1.4000*26

2021-12-04T11:09:40.580Z,1638616180.580 [Micromodem](INFO): Nmea in: $CAREV,110941,COPROC,0.20.0.39330*77

2021-12-04T11:09:42.234Z,1638616182.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:43.004Z,1638616183.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:43.403Z,1638616183.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:43.913Z,1638616183.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.360001 m, bearing: 182.956780 deg, deltaT: 4.463853 s, deltaX: 0.779999 m, approachRate: 0.174737 m/s, LOS rate: -0.482077 deg/s, posRepo size: 4
2021-12-04T11:09:44.244Z,1638616184.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110944.49*5A

2021-12-04T11:09:44.245Z,1638616184.245 [Micromodem](INFO): Nmea in: $CAREV,110945,AUV,2.1.4000*22

2021-12-04T11:09:44.624Z,1638616184.624 [Micromodem](INFO): Nmea in: $CAREV,110945,COPROC,0.20.0.39330*73

2021-12-04T11:09:46.649Z,1638616186.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:47.448Z,1638616187.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:47.847Z,1638616187.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:48.318Z,1638616188.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 181.426517 deg, deltaT: 4.416104 s, deltaX: 0.899998 m, approachRate: 0.203799 m/s, LOS rate: -0.346519 deg/s, posRepo size: 4
2021-12-04T11:09:48.676Z,1638616188.676 [Micromodem](INFO): Nmea in: $SNTTA,0.039214,,,,110948.93*42

2021-12-04T11:09:48.677Z,1638616188.677 [Micromodem](INFO): Nmea in: $CAREV,110949,AUV,2.1.4000*2E

2021-12-04T11:09:49.068Z,1638616189.068 [Micromodem](INFO): Nmea in: $CAREV,110949,COPROC,0.20.0.39330*7F

2021-12-04T11:09:51.099Z,1638616191.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:51.917Z,1638616191.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:52.379Z,1638616192.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:52.785Z,1638616192.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 185.542430 deg, deltaT: 4.475209 s, deltaX: 0.960003 m, approachRate: 0.214516 m/s, LOS rate: 0.919714 deg/s, posRepo size: 4
2021-12-04T11:09:53.136Z,1638616193.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110953.40*55

2021-12-04T11:09:53.137Z,1638616193.137 [Micromodem](INFO): Nmea in: $CAREV,110954,AUV,2.1.4000*22

2021-12-04T11:09:53.547Z,1638616193.547 [Micromodem](INFO): Nmea in: $CAREV,110954,COPROC,0.20.0.39330*73

2021-12-04T11:09:55.544Z,1638616195.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:09:56.341Z,1638616196.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:09:56.757Z,1638616196.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:09:57.205Z,1638616197.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 189.291507 deg, deltaT: 4.400030 s, deltaX: 1.139999 m, approachRate: 0.259089 m/s, LOS rate: 0.852057 deg/s, posRepo size: 4
2021-12-04T11:09:57.617Z,1638616197.617 [Micromodem](INFO): Nmea in: $SNTTA,0.023836,,,,110957.82*4D

2021-12-04T11:09:57.622Z,1638616197.622 [Micromodem](INFO): Nmea in: $CAREV,110958,AUV,2.1.4000*2E

2021-12-04T11:09:57.968Z,1638616197.968 [Micromodem](INFO): Nmea in: $CAREV,110958,COPROC,0.20.0.39330*7F

2021-12-04T11:10:00.042Z,1638616200.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:00.791Z,1638616200.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:01.203Z,1638616201.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:01.722Z,1638616201.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 192.008092 deg, deltaT: 4.513601 s, deltaX: 1.079998 m, approachRate: 0.239276 m/s, LOS rate: 0.601866 deg/s, posRepo size: 4
2021-12-04T11:10:02.040Z,1638616202.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111002.28*57

2021-12-04T11:10:02.041Z,1638616202.041 [Micromodem](INFO): Nmea in: $CAREV,111003,AUV,2.1.4000*28

2021-12-04T11:10:02.453Z,1638616202.453 [Micromodem](INFO): Nmea in: $CAREV,111003,COPROC,0.20.0.39330*79

2021-12-04T11:10:04.466Z,1638616204.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:05.317Z,1638616205.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:05.808Z,1638616205.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:06.185Z,1638616206.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.399998 m, bearing: 202.139148 deg, deltaT: 4.486262 s, deltaX: 0.959999 m, approachRate: 0.213986 m/s, LOS rate: 2.258240 deg/s, posRepo size: 4
2021-12-04T11:10:06.568Z,1638616206.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111006.80*51

2021-12-04T11:10:06.569Z,1638616206.569 [Micromodem](INFO): Nmea in: $CAREV,111007,AUV,2.1.4000*2C

2021-12-04T11:10:06.960Z,1638616206.960 [Micromodem](INFO): Nmea in: $CAREV,111007,COPROC,0.20.0.39330*7D

2021-12-04T11:10:08.986Z,1638616208.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:09.758Z,1638616209.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:10.165Z,1638616210.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:10.608Z,1638616210.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 206.392635 deg, deltaT: 4.427181 s, deltaX: 0.720001 m, approachRate: 0.162632 m/s, LOS rate: 0.960766 deg/s, posRepo size: 4
2021-12-04T11:10:10.000Z,1638616211.000 [Micromodem](INFO): Nmea in: $SNTTA,0.025720,,,,111011.25*44

2021-12-04T11:10:11.001Z,1638616211.001 [Micromodem](INFO): Nmea in: $CAREV,111012,AUV,2.1.4000*28

2021-12-04T11:10:11.388Z,1638616211.388 [Micromodem](INFO): Nmea in: $CAREV,111012,COPROC,0.20.0.39330*79

2021-12-04T11:10:13.402Z,1638616213.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:14.197Z,1638616214.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:14.607Z,1638616214.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:15.057Z,1638616215.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 203.733055 deg, deltaT: 4.429336 s, deltaX: 0.840000 m, approachRate: 0.189645 m/s, LOS rate: -0.600447 deg/s, posRepo size: 4
2021-12-04T11:10:15.440Z,1638616215.440 [Micromodem](INFO): Nmea in: $SNTTA,0.040888,,,,111015.68*47

2021-12-04T11:10:15.442Z,1638616215.442 [Micromodem](INFO): Nmea in: $CAREV,111016,AUV,2.1.4000*2C

2021-12-04T11:10:15.828Z,1638616215.828 [Micromodem](INFO): Nmea in: $CAREV,111016,COPROC,0.20.0.39330*7D

2021-12-04T11:10:17.925Z,1638616217.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:18.641Z,1638616218.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:19.179Z,1638616219.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:19.528Z,1638616219.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 214.320872 deg, deltaT: 4.480051 s, deltaX: 0.899998 m, approachRate: 0.200890 m/s, LOS rate: 2.363325 deg/s, posRepo size: 4
2021-12-04T11:10:19.928Z,1638616219.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111020.13*5F

2021-12-04T11:10:19.929Z,1638616219.929 [Micromodem](INFO): Nmea in: $CAREV,111021,AUV,2.1.4000*28

2021-12-04T11:10:20.294Z,1638616220.294 [Micromodem](INFO): Nmea in: $CAREV,111021,COPROC,0.20.0.39330*79

2021-12-04T11:10:22.296Z,1638616222.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:23.085Z,1638616223.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:23.495Z,1638616223.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:23.979Z,1638616223.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 175.169886 deg, deltaT: 4.461975 s, deltaX: 0.480003 m, approachRate: 0.107576 m/s, LOS rate: -8.774362 deg/s, posRepo size: 4
2021-12-04T11:10:24.328Z,1638616224.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111024.57*5B

2021-12-04T11:10:24.329Z,1638616224.329 [Micromodem](INFO): Nmea in: $CAREV,111025,AUV,2.1.4000*2C

2021-12-04T11:10:24.712Z,1638616224.712 [Micromodem](INFO): Nmea in: $CAREV,111025,COPROC,0.20.0.39330*7D

2021-12-04T11:10:26.728Z,1638616226.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:27.529Z,1638616227.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:27.960Z,1638616227.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:28.373Z,1638616228.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 181.193321 deg, deltaT: 4.393964 s, deltaX: 0.720001 m, approachRate: 0.163861 m/s, LOS rate: 1.370843 deg/s, posRepo size: 4
2021-12-04T11:10:28.780Z,1638616228.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111029.01*55

2021-12-04T11:10:28.781Z,1638616228.781 [Micromodem](INFO): Nmea in: $CAREV,111030,AUV,2.1.4000*28

2021-12-04T11:10:29.168Z,1638616229.168 [Micromodem](INFO): Nmea in: $CAREV,111030,COPROC,0.20.0.39330*79

2021-12-04T11:10:31.186Z,1638616231.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:31.973Z,1638616231.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:32.383Z,1638616232.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:32.997Z,1638616232.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 185.055725 deg, deltaT: 4.607592 s, deltaX: 0.959995 m, approachRate: 0.208351 m/s, LOS rate: 0.838269 deg/s, posRepo size: 4
2021-12-04T11:10:33.236Z,1638616233.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111033.46*5D

2021-12-04T11:10:33.237Z,1638616233.237 [Micromodem](INFO): Nmea in: $CAREV,111034,AUV,2.1.4000*2C

2021-12-04T11:10:33.648Z,1638616233.648 [Micromodem](INFO): Nmea in: $CAREV,111034,COPROC,0.20.0.39330*7D

2021-12-04T11:10:35.671Z,1638616235.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:36.417Z,1638616236.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:36.843Z,1638616236.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:37.273Z,1638616237.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 128.554487 deg, deltaT: 4.291687 s, deltaX: 0.599998 m, approachRate: 0.139805 m/s, LOS rate: -13.165274 deg/s, posRepo size: 4
2021-12-04T11:10:37.696Z,1638616237.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111037.90*52

2021-12-04T11:10:37.697Z,1638616237.697 [Micromodem](INFO): Nmea in: $CAREV,111038,AUV,2.1.4000*20

2021-12-04T11:10:38.052Z,1638616238.052 [Micromodem](INFO): Nmea in: $CAREV,111038,COPROC,0.20.0.39330*71

2021-12-04T11:10:40.090Z,1638616240.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:40.865Z,1638616240.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:41.275Z,1638616241.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:41.729Z,1638616241.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 128.170426 deg, deltaT: 4.455936 s, deltaX: 0.780006 m, approachRate: 0.175049 m/s, LOS rate: -0.086191 deg/s, posRepo size: 4
2021-12-04T11:10:42.104Z,1638616242.104 [Micromodem](INFO): Nmea in: $SNTTA,0.066242,,,,111042.35*45

2021-12-04T11:10:42.105Z,1638616242.105 [Micromodem](INFO): Nmea in: $CAREV,111043,AUV,2.1.4000*2C

2021-12-04T11:10:42.492Z,1638616242.492 [Micromodem](INFO): Nmea in: $CAREV,111043,COPROC,0.20.0.39330*7D

2021-12-04T11:10:44.516Z,1638616244.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:45.305Z,1638616245.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:45.719Z,1638616245.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:46.265Z,1638616246.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.179996 m, bearing: 184.570822 deg, deltaT: 4.536780 s, deltaX: 0.779995 m, approachRate: 0.171927 m/s, LOS rate: 12.431812 deg/s, posRepo size: 4
2021-12-04T11:10:46.576Z,1638616246.576 [Micromodem](INFO): Nmea in: $SNTTA,0.029739,,,,111046.79*4B

2021-12-04T11:10:46.577Z,1638616246.577 [Micromodem](INFO): Nmea in: $CAREV,111047,AUV,2.1.4000*28

2021-12-04T11:10:46.980Z,1638616246.980 [Micromodem](INFO): Nmea in: $CAREV,111047,COPROC,0.20.0.39330*79

2021-12-04T11:10:48.978Z,1638616248.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:49.757Z,1638616249.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:50.207Z,1638616250.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:50.624Z,1638616250.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 182.093677 deg, deltaT: 4.359126 s, deltaX: 0.840000 m, approachRate: 0.192699 m/s, LOS rate: -0.568267 deg/s, posRepo size: 4
2021-12-04T11:10:51.012Z,1638616251.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111051.24*5D

2021-12-04T11:10:51.013Z,1638616251.013 [Micromodem](INFO): Nmea in: $CAREV,111052,AUV,2.1.4000*2C

2021-12-04T11:10:51.416Z,1638616251.416 [Micromodem](INFO): Nmea in: $CAREV,111052,COPROC,0.20.0.39330*7D

2021-12-04T11:10:53.432Z,1638616253.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:54.229Z,1638616254.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:54.636Z,1638616254.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:55.081Z,1638616255.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 180.301776 deg, deltaT: 4.440964 s, deltaX: 0.780006 m, approachRate: 0.175639 m/s, LOS rate: -0.403494 deg/s, posRepo size: 4
2021-12-04T11:10:55.468Z,1638616255.468 [Micromodem](INFO): Nmea in: $SNTTA,0.044442,,,,111055.71*45

2021-12-04T11:10:55.469Z,1638616255.469 [Micromodem](INFO): Nmea in: $CAREV,111056,AUV,2.1.4000*28

2021-12-04T11:10:55.856Z,1638616255.856 [Micromodem](INFO): Nmea in: $CAREV,111056,COPROC,0.20.0.39330*79

2021-12-04T11:10:57.960Z,1638616257.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:10:58.677Z,1638616258.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:10:59.088Z,1638616259.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:10:59.639Z,1638616259.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 217.550896 deg, deltaT: 4.534273 s, deltaX: 0.659996 m, approachRate: 0.145557 m/s, LOS rate: 8.215015 deg/s, posRepo size: 4
2021-12-04T11:11:00.044Z,1638616260.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111100.16*59

2021-12-04T11:11:00.045Z,1638616260.045 [Micromodem](INFO): Nmea in: $CAREV,111101,AUV,2.1.4000*2B

2021-12-04T11:11:00.360Z,1638616260.360 [Micromodem](INFO): Nmea in: $CAREV,111101,COPROC,0.20.0.39330*7A

2021-12-04T11:11:02.356Z,1638616262.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:03.141Z,1638616263.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:03.558Z,1638616263.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:04.048Z,1638616264.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 215.158991 deg, deltaT: 4.431997 s, deltaX: 0.420002 m, approachRate: 0.094766 m/s, LOS rate: -0.539690 deg/s, posRepo size: 4
2021-12-04T11:11:04.385Z,1638616264.385 [Micromodem](INFO): Nmea in: $SNTTA,0.046554,,,,111104.63*47

2021-12-04T11:11:04.386Z,1638616264.386 [Micromodem](INFO): Nmea in: $CAREV,111105,AUV,2.1.4000*2F

2021-12-04T11:11:04.769Z,1638616264.769 [Micromodem](INFO): Nmea in: $CAREV,111105,COPROC,0.20.0.39330*7E

2021-12-04T11:11:06.812Z,1638616266.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:07.613Z,1638616267.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:07.996Z,1638616267.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:08.455Z,1638616268.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 213.884833 deg, deltaT: 4.423718 s, deltaX: 0.899994 m, approachRate: 0.203447 m/s, LOS rate: -0.288029 deg/s, posRepo size: 4
2021-12-04T11:11:08.828Z,1638616268.828 [Micromodem](INFO): Nmea in: $SNTTA,0.080098,,,,111109.10*41

2021-12-04T11:11:08.829Z,1638616268.829 [Micromodem](INFO): Nmea in: $CAREV,111110,AUV,2.1.4000*2B

2021-12-04T11:11:09.232Z,1638616269.232 [Micromodem](INFO): Nmea in: $CAREV,111110,COPROC,0.20.0.39330*7A

2021-12-04T11:11:11.257Z,1638616271.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:12.029Z,1638616272.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:12.448Z,1638616272.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:12.966Z,1638616272.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 212.633324 deg, deltaT: 4.490732 s, deltaX: 0.780006 m, approachRate: 0.173692 m/s, LOS rate: -0.278687 deg/s, posRepo size: 4
2021-12-04T11:11:13.408Z,1638616273.408 [Micromodem](INFO): Nmea in: $SNTTA,,0.062484,,,111113.51*4A

2021-12-04T11:11:13.409Z,1638616273.409 [Micromodem](INFO): Nmea in: $CAREV,111114,AUV,2.1.4000*2F

2021-12-04T11:11:13.716Z,1638616273.716 [Micromodem](INFO): Nmea in: $CAREV,111114,COPROC,0.20.0.39330*7E

2021-12-04T11:11:15.736Z,1638616275.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:16.504Z,1638616276.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:16.920Z,1638616276.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:17.346Z,1638616277.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 209.796569 deg, deltaT: 4.374857 s, deltaX: 0.600002 m, approachRate: 0.137148 m/s, LOS rate: -0.648422 deg/s, posRepo size: 4
2021-12-04T11:11:17.724Z,1638616277.724 [Micromodem](INFO): Nmea in: $SNTTA,0.064368,,,,111117.99*49

2021-12-04T11:11:17.725Z,1638616277.725 [Micromodem](INFO): Nmea in: $CAREV,111119,AUV,2.1.4000*22

2021-12-04T11:11:18.115Z,1638616278.115 [Micromodem](INFO): Nmea in: $CAREV,111119,COPROC,0.20.0.39330*73

2021-12-04T11:11:20.155Z,1638616280.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:20.953Z,1638616280.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:21.335Z,1638616281.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:21.783Z,1638616281.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 214.662136 deg, deltaT: 4.462057 s, deltaX: 1.019997 m, approachRate: 0.228593 m/s, LOS rate: 1.090431 deg/s, posRepo size: 4
2021-12-04T11:11:22.164Z,1638616282.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111122.44*5E

2021-12-04T11:11:22.165Z,1638616282.165 [Micromodem](INFO): Nmea in: $CAREV,111123,AUV,2.1.4000*2B

2021-12-04T11:11:22.560Z,1638616282.560 [Micromodem](INFO): Nmea in: $CAREV,111123,COPROC,0.20.0.39330*7A

2021-12-04T11:11:24.581Z,1638616284.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:25.369Z,1638616285.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:25.779Z,1638616285.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:26.307Z,1638616286.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 216.213873 deg, deltaT: 4.500123 s, deltaX: 0.719994 m, approachRate: 0.159994 m/s, LOS rate: 0.344821 deg/s, posRepo size: 4
2021-12-04T11:11:26.712Z,1638616286.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111126.85*57

2021-12-04T11:11:26.713Z,1638616286.713 [Micromodem](INFO): Nmea in: $CAREV,111127,AUV,2.1.4000*2F

2021-12-04T11:11:27.028Z,1638616287.028 [Micromodem](INFO): Nmea in: $CAREV,111127,COPROC,0.20.0.39330*7E

2021-12-04T11:11:29.037Z,1638616289.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:29.817Z,1638616289.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:30.219Z,1638616290.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:30.645Z,1638616290.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 217.643882 deg, deltaT: 4.361943 s, deltaX: 0.780010 m, approachRate: 0.178822 m/s, LOS rate: 0.327838 deg/s, posRepo size: 4
2021-12-04T11:11:31.064Z,1638616291.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111131.30*5F

2021-12-04T11:11:31.065Z,1638616291.065 [Micromodem](INFO): Nmea in: $CAREV,111132,AUV,2.1.4000*2B

2021-12-04T11:11:31.436Z,1638616291.436 [Micromodem](INFO): Nmea in: $CAREV,111132,COPROC,0.20.0.39330*7A

2021-12-04T11:11:33.477Z,1638616293.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:34.269Z,1638616294.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:34.675Z,1638616294.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:35.115Z,1638616295.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 171.458116 deg, deltaT: 4.470208 s, deltaX: 0.779999 m, approachRate: 0.174488 m/s, LOS rate: -10.331905 deg/s, posRepo size: 4
2021-12-04T11:11:35.509Z,1638616295.509 [Micromodem](INFO): Nmea in: $SNTTA,0.078302,,,,111135.75*4A

2021-12-04T11:11:35.510Z,1638616295.510 [Micromodem](INFO): Nmea in: $CAREV,111136,AUV,2.1.4000*2F

2021-12-04T11:11:35.891Z,1638616295.891 [Micromodem](INFO): Nmea in: $CAREV,111136,COPROC,0.20.0.39330*7E

2021-12-04T11:11:37.964Z,1638616297.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:38.709Z,1638616298.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:39.111Z,1638616299.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:39.658Z,1638616299.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 174.330388 deg, deltaT: 4.538298 s, deltaX: 0.899990 m, approachRate: 0.198310 m/s, LOS rate: 0.632896 deg/s, posRepo size: 4
2021-12-04T11:11:39.984Z,1638616299.984 [Micromodem](INFO): Nmea in: $SNTTA,0.050555,,,,111140.19*4C

2021-12-04T11:11:39.985Z,1638616299.985 [Micromodem](INFO): Nmea in: $CAREV,111141,AUV,2.1.4000*2F

2021-12-04T11:11:40.408Z,1638616300.408 [Micromodem](INFO): Nmea in: $CAREV,111141,COPROC,0.20.0.39330*7E

2021-12-04T11:11:42.404Z,1638616302.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:43.157Z,1638616303.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:43.591Z,1638616303.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:44.026Z,1638616304.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 118.427639 deg, deltaT: 4.371792 s, deltaX: 0.720009 m, approachRate: 0.164694 m/s, LOS rate: -12.787147 deg/s, posRepo size: 4
2021-12-04T11:11:44.401Z,1638616304.401 [Micromodem](INFO): Nmea in: $SNTTA,0.080555,,,,111144.64*4F

2021-12-04T11:11:44.402Z,1638616304.402 [Micromodem](INFO): Nmea in: $CAREV,111145,AUV,2.1.4000*2B

2021-12-04T11:11:44.780Z,1638616304.780 [Micromodem](INFO): Nmea in: $CAREV,111145,COPROC,0.20.0.39330*7A

2021-12-04T11:11:46.812Z,1638616306.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:47.635Z,1638616307.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:48.007Z,1638616308.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:48.448Z,1638616308.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 177.737901 deg, deltaT: 4.422257 s, deltaX: 0.959995 m, approachRate: 0.217083 m/s, LOS rate: 13.411763 deg/s, posRepo size: 4
2021-12-04T11:11:48.822Z,1638616308.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111149.12*50

2021-12-04T11:11:48.824Z,1638616308.824 [Micromodem](INFO): Nmea in: $CAREV,111150,AUV,2.1.4000*2F

2021-12-04T11:11:49.256Z,1638616309.256 [Micromodem](INFO): Nmea in: $CAREV,111150,COPROC,0.20.0.39330*7E

2021-12-04T11:11:51.297Z,1638616311.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:52.069Z,1638616312.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:52.483Z,1638616312.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:52.955Z,1638616312.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.580002 m, bearing: 173.119300 deg, deltaT: 4.503048 s, deltaX: 0.540005 m, approachRate: 0.119920 m/s, LOS rate: -1.025661 deg/s, posRepo size: 4
2021-12-04T11:11:53.390Z,1638616313.390 [Micromodem](INFO): Nmea in: $SNTTA,0.063163,,,,111153.56*44

2021-12-04T11:11:53.391Z,1638616313.391 [Micromodem](INFO): Nmea in: $CAREV,111154,AUV,2.1.4000*2B

2021-12-04T11:11:53.788Z,1638616313.788 [Micromodem](INFO): Nmea in: $CAREV,111154,COPROC,0.20.0.39330*7A

2021-12-04T11:11:55.743Z,1638616315.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:11:56.517Z,1638616316.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:11:56.943Z,1638616316.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:11:57.370Z,1638616317.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.360001 m, bearing: 180.760191 deg, deltaT: 4.415066 s, deltaX: 0.779999 m, approachRate: 0.176668 m/s, LOS rate: 1.730640 deg/s, posRepo size: 4
2021-12-04T11:11:57.760Z,1638616317.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111158.00*53

2021-12-04T11:11:57.761Z,1638616317.761 [Micromodem](INFO): Nmea in: $CAREV,111159,AUV,2.1.4000*26

2021-12-04T11:11:58.140Z,1638616318.140 [Micromodem](INFO): Nmea in: $CAREV,111159,COPROC,0.20.0.39330*77

2021-12-04T11:12:00.182Z,1638616320.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:00.957Z,1638616320.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:01.374Z,1638616321.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:01.811Z,1638616321.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 129.008217 deg, deltaT: 4.444233 s, deltaX: 0.540009 m, approachRate: 0.121508 m/s, LOS rate: -11.644749 deg/s, posRepo size: 4
2021-12-04T11:12:02.206Z,1638616322.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111202.44*5F

2021-12-04T11:12:02.207Z,1638616322.207 [Micromodem](INFO): Nmea in: $CAREV,111203,AUV,2.1.4000*2A

2021-12-04T11:12:02.588Z,1638616322.588 [Micromodem](INFO): Nmea in: $CAREV,111203,COPROC,0.20.0.39330*7B

2021-12-04T11:12:04.617Z,1638616324.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:05.407Z,1638616325.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:05.815Z,1638616325.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:06.254Z,1638616326.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 137.280450 deg, deltaT: 4.443591 s, deltaX: 0.599998 m, approachRate: 0.135026 m/s, LOS rate: 1.861610 deg/s, posRepo size: 4
2021-12-04T11:12:06.780Z,1638616326.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111206.89*5A

2021-12-04T11:12:06.781Z,1638616326.781 [Micromodem](INFO): Nmea in: $CAREV,111207,AUV,2.1.4000*2E

2021-12-04T11:12:07.080Z,1638616327.080 [Micromodem](INFO): Nmea in: $CAREV,111207,COPROC,0.20.0.39330*7F

2021-12-04T11:12:09.059Z,1638616329.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:09.841Z,1638616329.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:10.254Z,1638616330.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:10.680Z,1638616330.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.520004 m, bearing: 140.865179 deg, deltaT: 4.426434 s, deltaX: 1.019997 m, approachRate: 0.230433 m/s, LOS rate: 0.809846 deg/s, posRepo size: 4
2021-12-04T11:12:11.098Z,1638616331.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111211.33*5D

2021-12-04T11:12:11.099Z,1638616331.099 [Micromodem](INFO): Nmea in: $CAREV,111212,AUV,2.1.4000*2A

2021-12-04T11:12:11.473Z,1638616331.473 [Micromodem](INFO): Nmea in: $CAREV,111212,COPROC,0.20.0.39330*7B

2021-12-04T11:12:13.499Z,1638616333.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:14.297Z,1638616334.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:14.698Z,1638616334.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:15.154Z,1638616335.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.120007 m, bearing: 205.141863 deg, deltaT: 4.472043 s, deltaX: 0.600002 m, approachRate: 0.134167 m/s, LOS rate: 14.373003 deg/s, posRepo size: 4
2021-12-04T11:12:15.528Z,1638616335.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111215.78*56

2021-12-04T11:12:15.529Z,1638616335.529 [Micromodem](INFO): Nmea in: $CAREV,111216,AUV,2.1.4000*2E

2021-12-04T11:12:15.945Z,1638616335.945 [Micromodem](INFO): Nmea in: $CAREV,111216,COPROC,0.20.0.39330*7F

2021-12-04T11:12:17.995Z,1638616337.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:18.733Z,1638616338.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:19.139Z,1638616339.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:19.689Z,1638616339.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.019997 m, bearing: 143.014531 deg, deltaT: 4.525254 s, deltaX: 0.899990 m, approachRate: 0.198882 m/s, LOS rate: -13.729027 deg/s, posRepo size: 4
2021-12-04T11:12:20.084Z,1638616340.084 [Micromodem](INFO): Nmea in: $SNTTA,0.065523,,,,111220.22*46

2021-12-04T11:12:20.085Z,1638616340.085 [Micromodem](INFO): Nmea in: $CAREV,111221,AUV,2.1.4000*2A

2021-12-04T11:12:20.388Z,1638616340.388 [Micromodem](INFO): Nmea in: $CAREV,111221,COPROC,0.20.0.39330*7B

2021-12-04T11:12:22.381Z,1638616342.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:23.180Z,1638616343.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:23.614Z,1638616343.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:24.008Z,1638616344.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.039997 m, bearing: 206.810137 deg, deltaT: 4.330963 s, deltaX: 1.020000 m, approachRate: 0.235514 m/s, LOS rate: 14.730121 deg/s, posRepo size: 4
2021-12-04T11:12:24.420Z,1638616344.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111224.67*5A

2021-12-04T11:12:24.421Z,1638616344.421 [Micromodem](INFO): Nmea in: $CAREV,111225,AUV,2.1.4000*2E

2021-12-04T11:12:24.804Z,1638616344.804 [Micromodem](INFO): Nmea in: $CAREV,111225,COPROC,0.20.0.39330*7F

2021-12-04T11:12:26.832Z,1638616346.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:27.661Z,1638616347.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:28.035Z,1638616348.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:28.481Z,1638616348.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.000004 m, bearing: 138.683071 deg, deltaT: 4.468168 s, deltaX: 0.960007 m, approachRate: 0.214855 m/s, LOS rate: -15.247204 deg/s, posRepo size: 4
2021-12-04T11:12:28.864Z,1638616348.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111229.15*52

2021-12-04T11:12:28.868Z,1638616348.868 [Micromodem](INFO): Nmea in: $CAREV,111230,AUV,2.1.4000*2A

2021-12-04T11:12:29.252Z,1638616349.252 [Micromodem](INFO): Nmea in: $CAREV,111230,COPROC,0.20.0.39330*7B

2021-12-04T11:12:31.281Z,1638616351.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:32.065Z,1638616352.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:32.479Z,1638616352.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:33.013Z,1638616353.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.780003 m, bearing: 206.133975 deg, deltaT: 4.536502 s, deltaX: 0.779999 m, approachRate: 0.171938 m/s, LOS rate: 14.868483 deg/s, posRepo size: 4
2021-12-04T11:12:33.268Z,1638616353.268 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T11:12:33.271Z,1638616353.271 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T11:12:33.333Z,1638616353.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111233.55*5D

2021-12-04T11:12:33.334Z,1638616353.334 [Micromodem](INFO): Nmea in: $CAREV,111234,AUV,2.1.4000*2E

2021-12-04T11:12:33.692Z,1638616353.692 [Micromodem](INFO): Nmea in: $CAREV,111234,COPROC,0.20.0.39330*7F

2021-12-04T11:12:35.748Z,1638616355.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:36.505Z,1638616356.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:36.939Z,1638616356.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:37.332Z,1638616357.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 203.764501 deg, deltaT: 4.318176 s, deltaX: 1.139996 m, approachRate: 0.263999 m/s, LOS rate: -0.548721 deg/s, posRepo size: 4
2021-12-04T11:12:37.728Z,1638616357.728 [Micromodem](INFO): Nmea in: $SNTTA,0.060804,0.445360,,,111237.99*53

2021-12-04T11:12:37.729Z,1638616357.729 [Micromodem](INFO): Nmea in: $CAREV,111238,AUV,2.1.4000*22

2021-12-04T11:12:38.128Z,1638616358.128 [Micromodem](INFO): Nmea in: $CAREV,111238,COPROC,0.20.0.39330*73

2021-12-04T11:12:40.176Z,1638616360.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:40.953Z,1638616360.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:41.373Z,1638616361.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:41.813Z,1638616361.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 145.123242 deg, deltaT: 4.482025 s, deltaX: 0.540009 m, approachRate: 0.120483 m/s, LOS rate: -13.083653 deg/s, posRepo size: 4
2021-12-04T11:12:42.192Z,1638616362.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111242.44*5B

2021-12-04T11:12:42.193Z,1638616362.193 [Micromodem](INFO): Nmea in: $CAREV,111243,AUV,2.1.4000*2E

2021-12-04T11:12:42.576Z,1638616362.576 [Micromodem](INFO): Nmea in: $CAREV,111243,COPROC,0.20.0.39330*7F

2021-12-04T11:12:44.601Z,1638616364.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:45.406Z,1638616365.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:45.813Z,1638616365.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:46.255Z,1638616366.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.360001 m, bearing: 206.908888 deg, deltaT: 4.441003 s, deltaX: 0.899994 m, approachRate: 0.202656 m/s, LOS rate: 13.912543 deg/s, posRepo size: 4
2021-12-04T11:12:49.060Z,1638616369.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:49.847Z,1638616369.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:50.258Z,1638616370.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:50.691Z,1638616370.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.960007 m, bearing: 204.655554 deg, deltaT: 4.433012 s, deltaX: 0.600006 m, approachRate: 0.135350 m/s, LOS rate: -0.508308 deg/s, posRepo size: 4
2021-12-04T11:12:51.092Z,1638616371.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111251.33*59

2021-12-04T11:12:51.093Z,1638616371.093 [Micromodem](INFO): Nmea in: $CAREV,111252,AUV,2.1.4000*2E

2021-12-04T11:12:51.468Z,1638616371.468 [Micromodem](INFO): Nmea in: $CAREV,111252,COPROC,0.20.0.39330*7F

2021-12-04T11:12:53.523Z,1638616373.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:54.292Z,1638616374.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:54.691Z,1638616374.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:55.137Z,1638616375.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 211.635215 deg, deltaT: 4.433636 s, deltaX: 0.779999 m, approachRate: 0.175928 m/s, LOS rate: 1.574252 deg/s, posRepo size: 4
2021-12-04T11:12:55.516Z,1638616375.516 [Micromodem](INFO): Nmea in: $SNTTA,0.065175,,,,111255.78*4C

2021-12-04T11:12:55.517Z,1638616375.517 [Micromodem](INFO): Nmea in: $CAREV,111256,AUV,2.1.4000*2A

2021-12-04T11:12:55.932Z,1638616375.932 [Micromodem](INFO): Nmea in: $CAREV,111256,COPROC,0.20.0.39330*7B

2021-12-04T11:12:57.987Z,1638616377.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:12:58.733Z,1638616378.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:12:59.155Z,1638616379.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:12:59.581Z,1638616379.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 137.731803 deg, deltaT: 4.438189 s, deltaX: 0.479988 m, approachRate: 0.108150 m/s, LOS rate: -16.651704 deg/s, posRepo size: 4
2021-12-04T11:12:59.968Z,1638616379.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111300.22*5C

2021-12-04T11:12:59.969Z,1638616379.969 [Micromodem](INFO): Nmea in: $CAREV,111301,AUV,2.1.4000*29

2021-12-04T11:13:00.364Z,1638616380.364 [Micromodem](INFO): Nmea in: $CAREV,111301,COPROC,0.20.0.39330*78

2021-12-04T11:13:02.407Z,1638616382.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:03.175Z,1638616383.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:03.611Z,1638616383.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:04.045Z,1638616384.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 205.560185 deg, deltaT: 4.481537 s, deltaX: 1.080009 m, approachRate: 0.240991 m/s, LOS rate: 15.135071 deg/s, posRepo size: 4
2021-12-04T11:13:04.416Z,1638616384.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111304.66*58

2021-12-04T11:13:04.417Z,1638616384.417 [Micromodem](INFO): Nmea in: $CAREV,111305,AUV,2.1.4000*2D

2021-12-04T11:13:04.804Z,1638616384.804 [Micromodem](INFO): Nmea in: $CAREV,111305,COPROC,0.20.0.39330*7C

2021-12-04T11:13:06.821Z,1638616386.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:07.653Z,1638616387.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:08.020Z,1638616388.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:08.483Z,1638616388.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 213.021866 deg, deltaT: 4.441937 s, deltaX: 0.720001 m, approachRate: 0.162092 m/s, LOS rate: 1.679826 deg/s, posRepo size: 4
2021-12-04T11:13:08.857Z,1638616388.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111309.14*50

2021-12-04T11:13:08.861Z,1638616388.861 [Micromodem](INFO): Nmea in: $CAREV,111310,AUV,2.1.4000*29

2021-12-04T11:13:09.244Z,1638616389.244 [Micromodem](INFO): Nmea in: $CAREV,111310,COPROC,0.20.0.39330*78

2021-12-04T11:13:11.266Z,1638616391.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:12.064Z,1638616392.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:12.467Z,1638616392.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:12.940Z,1638616392.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 212.319162 deg, deltaT: 4.445268 s, deltaX: 0.599998 m, approachRate: 0.134975 m/s, LOS rate: -0.158079 deg/s, posRepo size: 4
2021-12-04T11:13:13.304Z,1638616393.304 [Micromodem](INFO): Nmea in: $SNTTA,0.092761,,,,111313.55*4B

2021-12-04T11:13:13.305Z,1638616393.305 [Micromodem](INFO): Nmea in: $CAREV,111314,AUV,2.1.4000*2D

2021-12-04T11:13:13.692Z,1638616393.692 [Micromodem](INFO): Nmea in: $CAREV,111314,COPROC,0.20.0.39330*7C

2021-12-04T11:13:15.737Z,1638616395.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:16.505Z,1638616396.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:16.939Z,1638616396.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:17.355Z,1638616397.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 213.401843 deg, deltaT: 4.427536 s, deltaX: 0.779999 m, approachRate: 0.176170 m/s, LOS rate: 0.244533 deg/s, posRepo size: 4
2021-12-04T11:13:17.744Z,1638616397.744 [Micromodem](INFO): Nmea in: $SNTTA,0.062291,,,,111317.99*4A

2021-12-04T11:13:17.745Z,1638616397.745 [Micromodem](INFO): Nmea in: $CAREV,111319,AUV,2.1.4000*20

2021-12-04T11:13:18.136Z,1638616398.136 [Micromodem](INFO): Nmea in: $CAREV,111319,COPROC,0.20.0.39330*71

2021-12-04T11:13:20.180Z,1638616400.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:20.958Z,1638616400.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:21.367Z,1638616401.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:21.809Z,1638616401.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 216.203914 deg, deltaT: 4.453860 s, deltaX: 0.599998 m, approachRate: 0.134714 m/s, LOS rate: 0.629133 deg/s, posRepo size: 4
2021-12-04T11:13:22.192Z,1638616402.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111322.45*5D

2021-12-04T11:13:22.193Z,1638616402.193 [Micromodem](INFO): Nmea in: $CAREV,111323,AUV,2.1.4000*29

2021-12-04T11:13:22.576Z,1638616402.576 [Micromodem](INFO): Nmea in: $CAREV,111323,COPROC,0.20.0.39330*78

2021-12-04T11:13:24.608Z,1638616404.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:25.404Z,1638616405.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:25.803Z,1638616405.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:26.245Z,1638616406.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 214.358698 deg, deltaT: 4.420021 s, deltaX: 0.840004 m, approachRate: 0.190045 m/s, LOS rate: -0.417468 deg/s, posRepo size: 4
2021-12-04T11:13:26.636Z,1638616406.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111326.89*59

2021-12-04T11:13:26.637Z,1638616406.637 [Micromodem](INFO): Nmea in: $CAREV,111327,AUV,2.1.4000*2D

2021-12-04T11:13:27.016Z,1638616407.016 [Micromodem](INFO): Nmea in: $CAREV,111327,COPROC,0.20.0.39330*7C

2021-12-04T11:13:29.063Z,1638616409.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:29.844Z,1638616409.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:30.244Z,1638616410.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:30.688Z,1638616410.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 226.973019 deg, deltaT: 4.454151 s, deltaX: 1.080002 m, approachRate: 0.242471 m/s, LOS rate: 2.832037 deg/s, posRepo size: 4
2021-12-04T11:13:31.084Z,1638616411.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111331.33*5E

2021-12-04T11:13:31.085Z,1638616411.085 [Micromodem](INFO): Nmea in: $CAREV,111332,AUV,2.1.4000*29

2021-12-04T11:13:31.468Z,1638616411.468 [Micromodem](INFO): Nmea in: $CAREV,111332,COPROC,0.20.0.39330*78

2021-12-04T11:13:33.501Z,1638616413.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:34.285Z,1638616414.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:34.693Z,1638616414.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:35.128Z,1638616415.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.340004 m, bearing: 225.682428 deg, deltaT: 4.444862 s, deltaX: 0.419998 m, approachRate: 0.094491 m/s, LOS rate: -0.290356 deg/s, posRepo size: 4
2021-12-04T11:13:35.532Z,1638616415.532 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111335.77*5A

2021-12-04T11:13:35.533Z,1638616415.533 [Micromodem](INFO): Nmea in: $CAREV,111336,AUV,2.1.4000*2D

2021-12-04T11:13:35.924Z,1638616415.924 [Micromodem](INFO): Nmea in: $CAREV,111336,COPROC,0.20.0.39330*7C

2021-12-04T11:13:37.988Z,1638616417.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:38.729Z,1638616418.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:39.141Z,1638616419.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:39.539Z,1638616419.539 [Micromodem](INFO): Nmea in: EV,111340,COPROC,0.20.0.39330*7D

2021-12-04T11:13:39.539Z,1638616419.539 [Micromodem](ERROR): Response from modem failed NMEA checksum: EV,111340,COPROC,0.20.0.39330*7D
 expected 0
2021-12-04T11:13:39.595Z,1638616419.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 194.074184 deg, deltaT: 4.431914 s, deltaX: 0.899994 m, approachRate: 0.203071 m/s, LOS rate: -7.131962 deg/s, posRepo size: 4
2021-12-04T11:13:42.384Z,1638616422.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:43.173Z,1638616423.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:43.611Z,1638616423.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:44.021Z,1638616424.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.080002 m, bearing: 208.850437 deg, deltaT: 4.460553 s, deltaX: 0.840004 m, approachRate: 0.188318 m/s, LOS rate: 3.312651 deg/s, posRepo size: 4
2021-12-04T11:13:44.417Z,1638616424.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111344.66*5C

2021-12-04T11:13:44.418Z,1638616424.418 [Micromodem](INFO): Nmea in: $CAREV,111345,AUV,2.1.4000*29

2021-12-04T11:13:44.796Z,1638616424.796 [Micromodem](INFO): Nmea in: $CAREV,111345,COPROC,0.20.0.39330*78

2021-12-04T11:13:46.825Z,1638616426.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:47.656Z,1638616427.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:48.027Z,1638616428.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:48.457Z,1638616428.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 230.196090 deg, deltaT: 4.435399 s, deltaX: 0.720001 m, approachRate: 0.162331 m/s, LOS rate: 4.812567 deg/s, posRepo size: 4
2021-12-04T11:13:48.858Z,1638616428.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111349.14*54

2021-12-04T11:13:48.860Z,1638616428.860 [Micromodem](INFO): Nmea in: $CAREV,111350,AUV,2.1.4000*2D

2021-12-04T11:13:49.248Z,1638616429.248 [Micromodem](INFO): Nmea in: $CAREV,111350,COPROC,0.20.0.39330*7C

2021-12-04T11:13:51.283Z,1638616431.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:52.066Z,1638616432.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:52.456Z,1638616432.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:52.939Z,1638616432.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 192.626976 deg, deltaT: 4.482126 s, deltaX: 0.779999 m, approachRate: 0.174024 m/s, LOS rate: -8.381985 deg/s, posRepo size: 4
2021-12-04T11:13:53.296Z,1638616433.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111353.56*59

2021-12-04T11:13:53.300Z,1638616433.300 [Micromodem](INFO): Nmea in: $CAREV,111354,AUV,2.1.4000*29

2021-12-04T11:13:53.689Z,1638616433.689 [Micromodem](INFO): Nmea in: $CAREV,111354,COPROC,0.20.0.39330*78

2021-12-04T11:13:55.748Z,1638616435.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:13:56.505Z,1638616436.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:13:56.953Z,1638616436.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:13:57.335Z,1638616437.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 190.147726 deg, deltaT: 4.397193 s, deltaX: 0.539993 m, approachRate: 0.122804 m/s, LOS rate: -0.563825 deg/s, posRepo size: 4
2021-12-04T11:13:57.753Z,1638616437.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111357.99*5E

2021-12-04T11:13:57.754Z,1638616437.754 [Micromodem](INFO): Nmea in: $CAREV,111359,AUV,2.1.4000*24

2021-12-04T11:13:58.140Z,1638616438.140 [Micromodem](INFO): Nmea in: $CAREV,111359,COPROC,0.20.0.39330*75

2021-12-04T11:14:00.192Z,1638616440.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:00.952Z,1638616440.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:01.355Z,1638616441.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:01.838Z,1638616441.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 210.744667 deg, deltaT: 4.492076 s, deltaX: 0.900009 m, approachRate: 0.200355 m/s, LOS rate: 4.585172 deg/s, posRepo size: 4
2021-12-04T11:14:02.184Z,1638616442.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111402.44*59

2021-12-04T11:14:02.185Z,1638616442.185 [Micromodem](INFO): Nmea in: $CAREV,111403,AUV,2.1.4000*2C

2021-12-04T11:14:02.576Z,1638616442.576 [Micromodem](INFO): Nmea in: $CAREV,111403,COPROC,0.20.0.39330*7D

2021-12-04T11:14:04.596Z,1638616444.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:05.385Z,1638616445.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:05.800Z,1638616445.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:06.259Z,1638616446.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.799995 m, bearing: 193.062605 deg, deltaT: 4.431951 s, deltaX: 0.779991 m, approachRate: 0.175993 m/s, LOS rate: -3.989679 deg/s, posRepo size: 4
2021-12-04T11:14:06.628Z,1638616446.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111406.87*52

2021-12-04T11:14:06.629Z,1638616446.629 [Micromodem](INFO): Nmea in: $CAREV,111407,AUV,2.1.4000*28

2021-12-04T11:14:07.016Z,1638616447.016 [Micromodem](INFO): Nmea in: $CAREV,111407,COPROC,0.20.0.39330*79

2021-12-04T11:14:09.064Z,1638616449.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:09.837Z,1638616449.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:10.250Z,1638616450.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:10.683Z,1638616450.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 184.164699 deg, deltaT: 4.419896 s, deltaX: 1.200012 m, approachRate: 0.271502 m/s, LOS rate: -2.013148 deg/s, posRepo size: 4
2021-12-04T11:14:11.076Z,1638616451.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111411.32*5A

2021-12-04T11:14:11.077Z,1638616451.077 [Micromodem](INFO): Nmea in: $CAREV,111412,AUV,2.1.4000*2C

2021-12-04T11:14:11.464Z,1638616451.464 [Micromodem](INFO): Nmea in: $CAREV,111412,COPROC,0.20.0.39330*7D

2021-12-04T11:14:13.512Z,1638616453.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:14.285Z,1638616454.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:14.683Z,1638616454.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:15.121Z,1638616455.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.300003 m, bearing: 208.528189 deg, deltaT: 4.441357 s, deltaX: 0.299995 m, approachRate: 0.067546 m/s, LOS rate: 5.485596 deg/s, posRepo size: 4
2021-12-04T11:14:15.524Z,1638616455.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111415.77*5F

2021-12-04T11:14:15.525Z,1638616455.525 [Micromodem](INFO): Nmea in: $CAREV,111416,AUV,2.1.4000*28

2021-12-04T11:14:15.924Z,1638616455.924 [Micromodem](INFO): Nmea in: $CAREV,111416,COPROC,0.20.0.39330*79

2021-12-04T11:14:17.991Z,1638616457.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:18.725Z,1638616458.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:19.131Z,1638616459.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:19.558Z,1638616459.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.080002 m, bearing: 208.440489 deg, deltaT: 4.436924 s, deltaX: 0.779999 m, approachRate: 0.175797 m/s, LOS rate: -0.019766 deg/s, posRepo size: 4
2021-12-04T11:14:19.968Z,1638616459.968 [Micromodem](INFO): Nmea in: $SNTTA,0.067240,,,,111420.21*43

2021-12-04T11:14:19.969Z,1638616459.969 [Micromodem](INFO): Nmea in: $CAREV,111421,AUV,2.1.4000*2C

2021-12-04T11:14:20.352Z,1638616460.352 [Micromodem](INFO): Nmea in: $CAREV,111421,COPROC,0.20.0.39330*7D

2021-12-04T11:14:22.372Z,1638616462.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:23.173Z,1638616463.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:23.609Z,1638616463.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:23.997Z,1638616463.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 222.266868 deg, deltaT: 4.439026 s, deltaX: 0.839996 m, approachRate: 0.189230 m/s, LOS rate: 3.114733 deg/s, posRepo size: 4
2021-12-04T11:14:24.400Z,1638616464.400 [Micromodem](INFO): Nmea in: $SNTTA,0.061365,,,,111424.66*44

2021-12-04T11:14:24.401Z,1638616464.401 [Micromodem](INFO): Nmea in: $CAREV,111425,AUV,2.1.4000*28

2021-12-04T11:14:24.796Z,1638616464.796 [Micromodem](INFO): Nmea in: $CAREV,111425,COPROC,0.20.0.39330*79

2021-12-04T11:14:26.816Z,1638616466.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:27.660Z,1638616467.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:28.029Z,1638616468.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:28.467Z,1638616468.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.460007 m, bearing: 217.088806 deg, deltaT: 4.466455 s, deltaX: 0.540009 m, approachRate: 0.120903 m/s, LOS rate: -1.159323 deg/s, posRepo size: 4
2021-12-04T11:14:28.844Z,1638616468.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111429.15*54

2021-12-04T11:14:28.847Z,1638616468.847 [Micromodem](INFO): Nmea in: $CAREV,111430,AUV,2.1.4000*2C

2021-12-04T11:14:29.243Z,1638616469.243 [Micromodem](INFO): Nmea in: $CAREV,111430,COPROC,0.20.0.39330*7D

2021-12-04T11:14:31.278Z,1638616471.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:32.065Z,1638616472.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:32.467Z,1638616472.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:32.951Z,1638616472.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.240005 m, bearing: 211.530098 deg, deltaT: 4.479228 s, deltaX: 0.779999 m, approachRate: 0.174137 m/s, LOS rate: -1.240997 deg/s, posRepo size: 4
2021-12-04T11:14:33.304Z,1638616473.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111433.55*5B

2021-12-04T11:14:33.305Z,1638616473.305 [Micromodem](INFO): Nmea in: $CAREV,111434,AUV,2.1.4000*28

2021-12-04T11:14:33.696Z,1638616473.696 [Micromodem](INFO): Nmea in: $CAREV,111434,COPROC,0.20.0.39330*79

2021-12-04T11:14:35.728Z,1638616475.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:36.493Z,1638616476.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:36.935Z,1638616476.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:37.344Z,1638616477.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.440002 m, bearing: 221.771680 deg, deltaT: 4.401274 s, deltaX: 1.199997 m, approachRate: 0.272648 m/s, LOS rate: 2.326958 deg/s, posRepo size: 4
2021-12-04T11:14:37.748Z,1638616477.748 [Micromodem](INFO): Nmea in: $SNTTA,0.069485,,,,111437.98*46

2021-12-04T11:14:37.749Z,1638616477.749 [Micromodem](INFO): Nmea in: $CAREV,111439,AUV,2.1.4000*25

2021-12-04T11:14:38.128Z,1638616478.128 [Micromodem](INFO): Nmea in: $CAREV,111439,COPROC,0.20.0.39330*74

2021-12-04T11:14:40.170Z,1638616480.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:40.951Z,1638616480.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:41.351Z,1638616481.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:41.803Z,1638616481.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.100006 m, bearing: 212.963222 deg, deltaT: 4.459020 s, deltaX: 0.660004 m, approachRate: 0.148015 m/s, LOS rate: -1.975425 deg/s, posRepo size: 4
2021-12-04T11:14:42.184Z,1638616482.184 [Micromodem](INFO): Nmea in: $SNTTA,0.080610,,,,111442.44*4C

2021-12-04T11:14:42.185Z,1638616482.185 [Micromodem](INFO): Nmea in: $CAREV,111443,AUV,2.1.4000*28

2021-12-04T11:14:42.576Z,1638616482.576 [Micromodem](INFO): Nmea in: $CAREV,111443,COPROC,0.20.0.39330*79

2021-12-04T11:14:44.598Z,1638616484.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:45.389Z,1638616485.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:45.903Z,1638616485.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:46.220Z,1638616486.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.760010 m, bearing: 204.438354 deg, deltaT: 4.416925 s, deltaX: 0.660004 m, approachRate: 0.149426 m/s, LOS rate: -1.930046 deg/s, posRepo size: 4
2021-12-04T11:14:46.627Z,1638616486.627 [Micromodem](INFO): Nmea in: $SNTTA,0.067481,,,,111446.88*4B

2021-12-04T11:14:46.628Z,1638616486.628 [Micromodem](INFO): Nmea in: $CAREV,111447,AUV,2.1.4000*2C

2021-12-04T11:14:47.008Z,1638616487.008 [Micromodem](INFO): Nmea in: $CAREV,111447,COPROC,0.20.0.39330*7D

2021-12-04T11:14:49.060Z,1638616489.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:49.834Z,1638616489.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:50.232Z,1638616490.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:50.675Z,1638616490.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.780006 m, bearing: 205.766648 deg, deltaT: 4.452334 s, deltaX: 1.019997 m, approachRate: 0.229093 m/s, LOS rate: 0.298337 deg/s, posRepo size: 4
2021-12-04T11:14:51.072Z,1638616491.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111451.32*5E

2021-12-04T11:14:51.073Z,1638616491.073 [Micromodem](INFO): Nmea in: $CAREV,111452,AUV,2.1.4000*28

2021-12-04T11:14:51.473Z,1638616491.473 [Micromodem](INFO): Nmea in: $CAREV,111452,COPROC,0.20.0.39330*79

2021-12-04T11:14:53.481Z,1638616493.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:54.277Z,1638616494.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:54.679Z,1638616494.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:55.109Z,1638616495.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.560005 m, bearing: 202.145459 deg, deltaT: 4.437045 s, deltaX: 0.779999 m, approachRate: 0.175792 m/s, LOS rate: -0.816126 deg/s, posRepo size: 4
2021-12-04T11:14:55.516Z,1638616495.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111455.76*5A

2021-12-04T11:14:55.517Z,1638616495.517 [Micromodem](INFO): Nmea in: $CAREV,111456,AUV,2.1.4000*2C

2021-12-04T11:14:55.912Z,1638616495.912 [Micromodem](INFO): Nmea in: $CAREV,111456,COPROC,0.20.0.39330*7D

2021-12-04T11:14:58.029Z,1638616498.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:14:58.717Z,1638616498.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:14:59.127Z,1638616499.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:14:59.577Z,1638616499.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 143.202443 deg, deltaT: 4.445698 s, deltaX: 0.719994 m, approachRate: 0.161953 m/s, LOS rate: -13.258439 deg/s, posRepo size: 4
2021-12-04T11:14:59.960Z,1638616499.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111500.20*58

2021-12-04T11:14:59.961Z,1638616499.961 [Micromodem](INFO): Nmea in: $CAREV,111501,AUV,2.1.4000*2F

2021-12-04T11:15:00.352Z,1638616500.352 [Micromodem](INFO): Nmea in: $CAREV,111501,COPROC,0.20.0.39330*7E

2021-12-04T11:15:02.365Z,1638616502.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:03.165Z,1638616503.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:03.614Z,1638616503.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:04.022Z,1638616504.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.180000 m, bearing: 203.829388 deg, deltaT: 4.462996 s, deltaX: 0.900002 m, approachRate: 0.201659 m/s, LOS rate: 13.584360 deg/s, posRepo size: 4
2021-12-04T11:15:04.400Z,1638616504.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111504.65*5D

2021-12-04T11:15:04.401Z,1638616504.401 [Micromodem](INFO): Nmea in: $CAREV,111505,AUV,2.1.4000*2B

2021-12-04T11:15:04.804Z,1638616504.804 [Micromodem](INFO): Nmea in: $CAREV,111505,COPROC,0.20.0.39330*7A

2021-12-04T11:15:06.821Z,1638616506.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:07.641Z,1638616507.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:08.019Z,1638616508.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:08.443Z,1638616508.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.139999 m, bearing: 206.622703 deg, deltaT: 4.425584 s, deltaX: 0.959999 m, approachRate: 0.216920 m/s, LOS rate: 0.631174 deg/s, posRepo size: 4
2021-12-04T11:15:08.852Z,1638616508.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111509.13*51

2021-12-04T11:15:08.853Z,1638616508.853 [Micromodem](INFO): Nmea in: $CAREV,111510,AUV,2.1.4000*2F

2021-12-04T11:15:09.243Z,1638616509.243 [Micromodem](INFO): Nmea in: $CAREV,111510,COPROC,0.20.0.39330*7E

2021-12-04T11:15:11.259Z,1638616511.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:12.057Z,1638616512.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:12.460Z,1638616512.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:12.911Z,1638616512.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.860001 m, bearing: 206.302968 deg, deltaT: 4.463009 s, deltaX: 0.720001 m, approachRate: 0.161326 m/s, LOS rate: -0.071641 deg/s, posRepo size: 4
2021-12-04T11:15:13.280Z,1638616513.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111513.54*59

2021-12-04T11:15:13.281Z,1638616513.281 [Micromodem](INFO): Nmea in: $CAREV,111514,AUV,2.1.4000*2B

2021-12-04T11:15:13.688Z,1638616513.688 [Micromodem](INFO): Nmea in: $CAREV,111514,COPROC,0.20.0.39330*7A

2021-12-04T11:15:15.784Z,1638616515.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:16.497Z,1638616516.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:16.915Z,1638616516.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:17.344Z,1638616517.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.520004 m, bearing: 140.753779 deg, deltaT: 4.432810 s, deltaX: 0.660004 m, approachRate: 0.148891 m/s, LOS rate: -14.787278 deg/s, posRepo size: 4
2021-12-04T11:15:17.724Z,1638616517.724 [Micromodem](INFO): Nmea in: $SNTTA,0.072426,,,,111517.98*46

2021-12-04T11:15:17.725Z,1638616517.725 [Micromodem](INFO): Nmea in: $CAREV,111519,AUV,2.1.4000*26

2021-12-04T11:15:18.124Z,1638616518.124 [Micromodem](INFO): Nmea in: $CAREV,111519,COPROC,0.20.0.39330*77

2021-12-04T11:15:20.158Z,1638616520.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:20.941Z,1638616520.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:21.347Z,1638616521.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:21.792Z,1638616521.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 203.780087 deg, deltaT: 4.453321 s, deltaX: 0.840004 m, approachRate: 0.188624 m/s, LOS rate: 14.152653 deg/s, posRepo size: 4
2021-12-04T11:15:22.176Z,1638616522.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111522.43*5D

2021-12-04T11:15:22.177Z,1638616522.177 [Micromodem](INFO): Nmea in: $CAREV,111523,AUV,2.1.4000*2F

2021-12-04T11:15:22.568Z,1638616522.568 [Micromodem](INFO): Nmea in: $CAREV,111523,COPROC,0.20.0.39330*7E

2021-12-04T11:15:24.592Z,1638616524.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:25.385Z,1638616525.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:25.792Z,1638616525.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:26.229Z,1638616526.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.200005 m, bearing: 144.017353 deg, deltaT: 4.436634 s, deltaX: 0.839996 m, approachRate: 0.189332 m/s, LOS rate: -13.470287 deg/s, posRepo size: 4
2021-12-04T11:15:26.632Z,1638616526.632 [Micromodem](INFO): Nmea in: $SNTTA,0.062406,,,,111526.87*49

2021-12-04T11:15:26.633Z,1638616526.633 [Micromodem](INFO): Nmea in: $CAREV,111527,AUV,2.1.4000*2B

2021-12-04T11:15:27.012Z,1638616527.012 [Micromodem](INFO): Nmea in: $CAREV,111527,COPROC,0.20.0.39330*7A

2021-12-04T11:15:29.043Z,1638616529.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:29.829Z,1638616529.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:30.231Z,1638616530.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:30.658Z,1638616530.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.040001 m, bearing: 140.209536 deg, deltaT: 4.428500 s, deltaX: 0.839996 m, approachRate: 0.189680 m/s, LOS rate: -0.859843 deg/s, posRepo size: 4
2021-12-04T11:15:31.068Z,1638616531.068 [Micromodem](INFO): Nmea in: $SNTTA,0.072493,,,,111531.32*4C

2021-12-04T11:15:31.069Z,1638616531.069 [Micromodem](INFO): Nmea in: $CAREV,111532,AUV,2.1.4000*2F

2021-12-04T11:15:31.467Z,1638616531.467 [Micromodem](INFO): Nmea in: $CAREV,111532,COPROC,0.20.0.39330*7E

2021-12-04T11:15:33.476Z,1638616533.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:34.276Z,1638616534.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:34.683Z,1638616534.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:35.101Z,1638616535.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.820007 m, bearing: 139.775887 deg, deltaT: 4.443046 s, deltaX: 0.780006 m, approachRate: 0.175557 m/s, LOS rate: -0.097602 deg/s, posRepo size: 4
2021-12-04T11:15:35.512Z,1638616535.512 [Micromodem](INFO): Nmea in: $SNTTA,0.076394,,,,111535.76*4C

2021-12-04T11:15:35.513Z,1638616535.513 [Micromodem](INFO): Nmea in: $CAREV,111536,AUV,2.1.4000*2B

2021-12-04T11:15:35.920Z,1638616535.920 [Micromodem](INFO): Nmea in: $CAREV,111536,COPROC,0.20.0.39330*7A

2021-12-04T11:15:38.001Z,1638616538.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:38.731Z,1638616538.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:39.112Z,1638616539.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:39.564Z,1638616539.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.660004 m, bearing: 141.571011 deg, deltaT: 4.460562 s, deltaX: 0.839996 m, approachRate: 0.188316 m/s, LOS rate: 0.402443 deg/s, posRepo size: 4
2021-12-04T11:15:39.964Z,1638616539.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111540.22*5E

2021-12-04T11:15:39.965Z,1638616539.965 [Micromodem](INFO): Nmea in: $CAREV,111541,AUV,2.1.4000*2B

2021-12-04T11:15:40.345Z,1638616540.345 [Micromodem](INFO): Nmea in: $CAREV,111541,COPROC,0.20.0.39330*7A

2021-12-04T11:15:42.368Z,1638616542.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:43.161Z,1638616543.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:43.631Z,1638616543.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:43.654Z,1638616543.654 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:15:43.997Z,1638616543.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.080009 m, bearing: 133.397365 deg, deltaT: 4.436022 s, deltaX: 0.420006 m, approachRate: 0.094681 m/s, LOS rate: -1.842562 deg/s, posRepo size: 4
2021-12-04T11:15:44.401Z,1638616544.401 [Micromodem](INFO): Nmea in: $SNTTA,0.082718,,,,111544.65*43

2021-12-04T11:15:44.402Z,1638616544.402 [Micromodem](INFO): Nmea in: $CAREV,111545,AUV,2.1.4000*2F

2021-12-04T11:15:44.784Z,1638616544.784 [Micromodem](INFO): Nmea in: $CAREV,111545,COPROC,0.20.0.39330*7E

2021-12-04T11:15:46.817Z,1638616546.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:47.644Z,1638616547.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:48.011Z,1638616548.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:48.443Z,1638616548.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 130.159664 deg, deltaT: 4.442022 s, deltaX: 0.899994 m, approachRate: 0.202609 m/s, LOS rate: -0.728880 deg/s, posRepo size: 4
2021-12-04T11:15:48.846Z,1638616548.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111549.13*55

2021-12-04T11:15:48.847Z,1638616548.847 [Micromodem](INFO): Nmea in: $CAREV,111550,AUV,2.1.4000*2B

2021-12-04T11:15:49.224Z,1638616549.224 [Micromodem](INFO): Nmea in: $CAREV,111550,COPROC,0.20.0.39330*7A

2021-12-04T11:15:51.272Z,1638616551.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:52.049Z,1638616552.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:52.461Z,1638616552.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:52.924Z,1638616552.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.940010 m, bearing: 178.843572 deg, deltaT: 4.480108 s, deltaX: 0.960007 m, approachRate: 0.214282 m/s, LOS rate: 10.866682 deg/s, posRepo size: 4
2021-12-04T11:15:53.296Z,1638616553.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111553.54*5D

2021-12-04T11:15:53.297Z,1638616553.297 [Micromodem](INFO): Nmea in: $CAREV,111554,AUV,2.1.4000*2F

2021-12-04T11:15:53.688Z,1638616553.688 [Micromodem](INFO): Nmea in: $CAREV,111554,COPROC,0.20.0.39330*7E

2021-12-04T11:15:53.693Z,1638616553.693 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:15:55.842Z,1638616555.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:15:56.489Z,1638616556.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:15:56.911Z,1638616556.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:15:57.335Z,1638616557.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.140007 m, bearing: 180.850582 deg, deltaT: 4.415829 s, deltaX: 1.199997 m, approachRate: 0.271749 m/s, LOS rate: 0.454504 deg/s, posRepo size: 4
2021-12-04T11:15:57.736Z,1638616557.736 [Micromodem](INFO): Nmea in: $SNTTA,0.076797,,,,111557.98*4F

2021-12-04T11:15:57.737Z,1638616557.737 [Micromodem](INFO): Nmea in: $CAREV,111559,AUV,2.1.4000*22

2021-12-04T11:15:58.120Z,1638616558.120 [Micromodem](INFO): Nmea in: $CAREV,111559,COPROC,0.20.0.39330*73

2021-12-04T11:16:00.150Z,1638616560.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:00.941Z,1638616560.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:01.351Z,1638616561.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:01.743Z,1638616561.743 [Micromodem](INFO): Nmea in: $SNTTA,0.131563,0.082674,,,111602.43*50

2021-12-04T11:16:01.744Z,1638616561.744 [Micromodem](INFO): Nmea in: $CAREV,111602,AUV,2.1.4000*2F

2021-12-04T11:16:01.808Z,1638616561.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.920006 m, bearing: 181.034888 deg, deltaT: 4.472428 s, deltaX: 0.779999 m, approachRate: 0.174402 m/s, LOS rate: 0.041209 deg/s, posRepo size: 4
2021-12-04T11:16:02.156Z,1638616562.156 [Micromodem](INFO): Nmea in: $CAREV,111602,COPROC,0.20.0.39330*7E

2021-12-04T11:16:04.596Z,1638616564.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:05.373Z,1638616565.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:05.791Z,1638616565.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:06.230Z,1638616566.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.520004 m, bearing: 181.623295 deg, deltaT: 4.422458 s, deltaX: 0.599998 m, approachRate: 0.135671 m/s, LOS rate: 0.133050 deg/s, posRepo size: 4
2021-12-04T11:16:06.620Z,1638616566.620 [Micromodem](INFO): Nmea in: $SNTTA,0.085415,,,,111606.86*42

2021-12-04T11:16:06.621Z,1638616566.621 [Micromodem](INFO): Nmea in: $CAREV,111607,AUV,2.1.4000*2A

2021-12-04T11:16:07.004Z,1638616567.004 [Micromodem](INFO): Nmea in: $CAREV,111607,COPROC,0.20.0.39330*7B

2021-12-04T11:16:09.039Z,1638616569.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:09.825Z,1638616569.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:10.247Z,1638616570.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:10.660Z,1638616570.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 128.940721 deg, deltaT: 4.429698 s, deltaX: 0.839996 m, approachRate: 0.189628 m/s, LOS rate: -11.893040 deg/s, posRepo size: 4
2021-12-04T11:16:11.068Z,1638616571.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111611.31*5B

2021-12-04T11:16:11.072Z,1638616571.072 [Micromodem](INFO): Nmea in: $CAREV,111612,AUV,2.1.4000*2E

2021-12-04T11:16:11.460Z,1638616571.460 [Micromodem](INFO): Nmea in: $CAREV,111612,COPROC,0.20.0.39330*7F

2021-12-04T11:16:13.477Z,1638616573.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:14.273Z,1638616574.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:14.683Z,1638616574.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:15.129Z,1638616575.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 181.101373 deg, deltaT: 4.453479 s, deltaX: 0.840004 m, approachRate: 0.188617 m/s, LOS rate: 11.712338 deg/s, posRepo size: 4
2021-12-04T11:16:15.512Z,1638616575.512 [Micromodem](INFO): Nmea in: $SNTTA,0.076830,,,,111615.76*48

2021-12-04T11:16:15.513Z,1638616575.513 [Micromodem](INFO): Nmea in: $CAREV,111616,AUV,2.1.4000*2A

2021-12-04T11:16:15.924Z,1638616575.924 [Micromodem](INFO): Nmea in: $CAREV,111616,COPROC,0.20.0.39330*7B

2021-12-04T11:16:17.981Z,1638616577.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:18.724Z,1638616578.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:19.127Z,1638616579.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:19.577Z,1638616579.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.620003 m, bearing: 130.247773 deg, deltaT: 4.441460 s, deltaX: 0.419998 m, approachRate: 0.094563 m/s, LOS rate: -11.449748 deg/s, posRepo size: 4
2021-12-04T11:16:19.960Z,1638616579.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111620.21*58

2021-12-04T11:16:19.961Z,1638616579.961 [Micromodem](INFO): Nmea in: $CAREV,111621,AUV,2.1.4000*2E

2021-12-04T11:16:20.356Z,1638616580.356 [Micromodem](INFO): Nmea in: $CAREV,111621,COPROC,0.20.0.39330*7F

2021-12-04T11:16:22.369Z,1638616582.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:23.165Z,1638616583.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:23.580Z,1638616583.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:24.040Z,1638616584.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 131.768624 deg, deltaT: 4.481551 s, deltaX: 1.020004 m, approachRate: 0.227601 m/s, LOS rate: 0.339358 deg/s, posRepo size: 4
2021-12-04T11:16:24.392Z,1638616584.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111624.65*5C

2021-12-04T11:16:24.393Z,1638616584.393 [Micromodem](INFO): Nmea in: $CAREV,111625,AUV,2.1.4000*2A

2021-12-04T11:16:24.792Z,1638616584.792 [Micromodem](INFO): Nmea in: $CAREV,111625,COPROC,0.20.0.39330*7B

2021-12-04T11:16:26.817Z,1638616586.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:27.641Z,1638616587.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:28.012Z,1638616588.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:28.440Z,1638616588.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.360001 m, bearing: 132.583917 deg, deltaT: 4.403703 s, deltaX: 0.719994 m, approachRate: 0.163497 m/s, LOS rate: 0.185138 deg/s, posRepo size: 4
2021-12-04T11:16:28.846Z,1638616588.846 [Micromodem](INFO): Nmea in: $SNTTA,0.091923,,,,111629.13*4E

2021-12-04T11:16:28.848Z,1638616588.848 [Micromodem](INFO): Nmea in: $CAREV,111630,AUV,2.1.4000*2E

2021-12-04T11:16:29.244Z,1638616589.244 [Micromodem](INFO): Nmea in: $CAREV,111630,COPROC,0.20.0.39330*7F

2021-12-04T11:16:31.263Z,1638616591.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:32.056Z,1638616592.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:32.465Z,1638616592.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:32.979Z,1638616592.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.140007 m, bearing: 136.390108 deg, deltaT: 4.538740 s, deltaX: 0.780006 m, approachRate: 0.171855 m/s, LOS rate: 0.838601 deg/s, posRepo size: 4
2021-12-04T11:16:33.288Z,1638616593.288 [Micromodem](INFO): Nmea in: $SNTTA,0.086917,,,,111633.54*47

2021-12-04T11:16:33.289Z,1638616593.289 [Micromodem](INFO): Nmea in: $CAREV,111634,AUV,2.1.4000*2A

2021-12-04T11:16:33.716Z,1638616593.716 [Micromodem](INFO): Nmea in: $CAREV,111634,COPROC,0.20.0.39330*7B

2021-12-04T11:16:35.737Z,1638616595.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:36.509Z,1638616596.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:36.925Z,1638616596.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:37.358Z,1638616597.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 137.243472 deg, deltaT: 4.355218 s, deltaX: 0.839996 m, approachRate: 0.192871 m/s, LOS rate: 0.195941 deg/s, posRepo size: 4
2021-12-04T11:16:37.728Z,1638616597.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111638.00*52

2021-12-04T11:16:37.729Z,1638616597.729 [Micromodem](INFO): Nmea in: $CAREV,111639,AUV,2.1.4000*27

2021-12-04T11:16:38.124Z,1638616598.124 [Micromodem](INFO): Nmea in: $CAREV,111639,COPROC,0.20.0.39330*76

2021-12-04T11:16:40.150Z,1638616600.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:40.945Z,1638616600.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:41.347Z,1638616601.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:41.814Z,1638616601.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 139.445962 deg, deltaT: 4.475992 s, deltaX: 0.600006 m, approachRate: 0.134050 m/s, LOS rate: 0.492067 deg/s, posRepo size: 4
2021-12-04T11:16:42.180Z,1638616602.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111642.43*58

2021-12-04T11:16:42.183Z,1638616602.183 [Micromodem](INFO): Nmea in: $CAREV,111643,AUV,2.1.4000*2A

2021-12-04T11:16:42.568Z,1638616602.568 [Micromodem](INFO): Nmea in: $CAREV,111643,COPROC,0.20.0.39330*7B

2021-12-04T11:16:44.584Z,1638616604.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:45.385Z,1638616605.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:45.787Z,1638616605.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:46.272Z,1638616606.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 138.961565 deg, deltaT: 4.451113 s, deltaX: 0.839996 m, approachRate: 0.188716 m/s, LOS rate: -0.108826 deg/s, posRepo size: 4
2021-12-04T11:16:46.628Z,1638616606.628 [Micromodem](INFO): Nmea in: $SNTTA,0.086513,,,,111646.88*4C

2021-12-04T11:16:46.629Z,1638616606.629 [Micromodem](INFO): Nmea in: $CAREV,111647,AUV,2.1.4000*2E

2021-12-04T11:16:47.016Z,1638616607.016 [Micromodem](INFO): Nmea in: $CAREV,111647,COPROC,0.20.0.39330*7F

2021-12-04T11:16:49.058Z,1638616609.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:49.825Z,1638616609.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:50.231Z,1638616610.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:50.672Z,1638616610.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 140.381643 deg, deltaT: 4.406641 s, deltaX: 0.899994 m, approachRate: 0.204236 m/s, LOS rate: 0.322259 deg/s, posRepo size: 4
2021-12-04T11:16:51.076Z,1638616611.076 [Micromodem](INFO): Nmea in: $SNTTA,0.096434,,,,111651.32*4E

2021-12-04T11:16:51.077Z,1638616611.077 [Micromodem](INFO): Nmea in: $CAREV,111652,AUV,2.1.4000*2A

2021-12-04T11:16:51.460Z,1638616611.460 [Micromodem](INFO): Nmea in: $CAREV,111652,COPROC,0.20.0.39330*7B

2021-12-04T11:16:53.483Z,1638616613.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:54.273Z,1638616614.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:54.679Z,1638616614.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:55.116Z,1638616615.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 210.278739 deg, deltaT: 4.448725 s, deltaX: 0.599998 m, approachRate: 0.134870 m/s, LOS rate: 15.711715 deg/s, posRepo size: 4
2021-12-04T11:16:55.508Z,1638616615.508 [Micromodem](INFO): Nmea in: $SNTTA,0.122552,,,,111655.76*45

2021-12-04T11:16:55.509Z,1638616615.509 [Micromodem](INFO): Nmea in: $CAREV,111656,AUV,2.1.4000*2E

2021-12-04T11:16:55.904Z,1638616615.904 [Micromodem](INFO): Nmea in: $CAREV,111656,COPROC,0.20.0.39330*7F

2021-12-04T11:16:57.985Z,1638616617.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:16:58.721Z,1638616618.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:16:59.123Z,1638616619.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:16:59.547Z,1638616619.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.700005 m, bearing: 209.704020 deg, deltaT: 4.426612 s, deltaX: 0.780006 m, approachRate: 0.176208 m/s, LOS rate: -0.129833 deg/s, posRepo size: 4
2021-12-04T11:16:59.964Z,1638616619.964 [Micromodem](INFO): Nmea in: $SNTTA,0.090887,,,,111700.21*4B

2021-12-04T11:16:59.965Z,1638616619.965 [Micromodem](INFO): Nmea in: $CAREV,111701,AUV,2.1.4000*2D

2021-12-04T11:17:00.347Z,1638616620.347 [Micromodem](INFO): Nmea in: $CAREV,111701,COPROC,0.20.0.39330*7C

2021-12-04T11:17:02.365Z,1638616622.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:03.157Z,1638616623.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:03.606Z,1638616623.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:03.997Z,1638616623.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 215.048807 deg, deltaT: 4.453817 s, deltaX: 0.599998 m, approachRate: 0.134716 m/s, LOS rate: 1.200046 deg/s, posRepo size: 4
2021-12-04T11:17:04.392Z,1638616624.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111704.65*5F

2021-12-04T11:17:04.393Z,1638616624.393 [Micromodem](INFO): Nmea in: $CAREV,111705,AUV,2.1.4000*29

2021-12-04T11:17:04.788Z,1638616624.788 [Micromodem](INFO): Nmea in: $CAREV,111705,COPROC,0.20.0.39330*78

2021-12-04T11:17:06.825Z,1638616626.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:07.629Z,1638616627.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:08.011Z,1638616628.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:08.435Z,1638616628.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.140007 m, bearing: 214.717761 deg, deltaT: 4.438531 s, deltaX: 0.840004 m, approachRate: 0.189253 m/s, LOS rate: -0.074584 deg/s, posRepo size: 4
2021-12-04T11:17:08.840Z,1638616628.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111709.12*52

2021-12-04T11:17:08.842Z,1638616628.842 [Micromodem](INFO): Nmea in: $CAREV,111710,AUV,2.1.4000*2D

2021-12-04T11:17:09.236Z,1638616629.236 [Micromodem](INFO): Nmea in: $CAREV,111710,COPROC,0.20.0.39330*7C

2021-12-04T11:17:11.271Z,1638616631.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:12.053Z,1638616632.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:12.459Z,1638616632.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:12.930Z,1638616632.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.920006 m, bearing: 221.372141 deg, deltaT: 4.494510 s, deltaX: 0.779999 m, approachRate: 0.173545 m/s, LOS rate: 1.480557 deg/s, posRepo size: 4
2021-12-04T11:17:13.288Z,1638616633.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111713.54*5B

2021-12-04T11:17:13.289Z,1638616633.289 [Micromodem](INFO): Nmea in: $CAREV,111714,AUV,2.1.4000*29

2021-12-04T11:17:13.684Z,1638616633.684 [Micromodem](INFO): Nmea in: $CAREV,111714,COPROC,0.20.0.39330*78

2021-12-04T11:17:15.722Z,1638616635.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:16.493Z,1638616636.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:16.907Z,1638616636.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:17.339Z,1638616637.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.120003 m, bearing: 199.050646 deg, deltaT: 4.405695 s, deltaX: 1.199997 m, approachRate: 0.272374 m/s, LOS rate: -5.066509 deg/s, posRepo size: 4
2021-12-04T11:17:17.728Z,1638616637.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111717.98*5F

2021-12-04T11:17:17.729Z,1638616637.729 [Micromodem](INFO): Nmea in: $CAREV,111719,AUV,2.1.4000*24

2021-12-04T11:17:18.128Z,1638616638.128 [Micromodem](INFO): Nmea in: $CAREV,111719,COPROC,0.20.0.39330*75

2021-12-04T11:17:20.165Z,1638616640.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:20.945Z,1638616640.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:21.347Z,1638616641.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:21.803Z,1638616641.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.300003 m, bearing: 192.022162 deg, deltaT: 4.467605 s, deltaX: 0.180000 m, approachRate: 0.040290 m/s, LOS rate: -1.573210 deg/s, posRepo size: 4
2021-12-04T11:17:22.180Z,1638616642.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111722.43*5F

2021-12-04T11:17:22.181Z,1638616642.181 [Micromodem](INFO): Nmea in: $CAREV,111723,AUV,2.1.4000*2D

2021-12-04T11:17:22.560Z,1638616642.560 [Micromodem](INFO): Nmea in: $CAREV,111723,COPROC,0.20.0.39330*7C

2021-12-04T11:17:24.596Z,1638616644.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:25.394Z,1638616645.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:25.794Z,1638616645.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:26.239Z,1638616646.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.020004 m, bearing: 188.152191 deg, deltaT: 4.436062 s, deltaX: 0.720001 m, approachRate: 0.162306 m/s, LOS rate: -0.872389 deg/s, posRepo size: 4
2021-12-04T11:17:26.624Z,1638616646.624 [Micromodem](INFO): Nmea in: $SNTTA,0.103989,,,,111726.88*48

2021-12-04T11:17:26.625Z,1638616646.625 [Micromodem](INFO): Nmea in: $CAREV,111727,AUV,2.1.4000*29

2021-12-04T11:17:27.017Z,1638616647.017 [Micromodem](INFO): Nmea in: $CAREV,111727,COPROC,0.20.0.39330*78

2021-12-04T11:17:29.042Z,1638616649.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:29.825Z,1638616649.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:30.244Z,1638616650.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:30.671Z,1638616650.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.560005 m, bearing: 190.697693 deg, deltaT: 4.428339 s, deltaX: 0.540001 m, approachRate: 0.121942 m/s, LOS rate: 0.574821 deg/s, posRepo size: 4
2021-12-04T11:17:31.072Z,1638616651.072 [Micromodem](INFO): Nmea in: $SNTTA,0.108826,,,,111731.31*43

2021-12-04T11:17:31.074Z,1638616651.074 [Micromodem](INFO): Nmea in: $CAREV,111732,AUV,2.1.4000*2D

2021-12-04T11:17:31.444Z,1638616651.444 [Micromodem](INFO): Nmea in: $CAREV,111732,COPROC,0.20.0.39330*7C

2021-12-04T11:17:33.489Z,1638616653.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:34.265Z,1638616654.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:34.676Z,1638616654.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:35.123Z,1638616655.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 190.884239 deg, deltaT: 4.453148 s, deltaX: 0.419998 m, approachRate: 0.094315 m/s, LOS rate: 0.041891 deg/s, posRepo size: 4
2021-12-04T11:17:35.516Z,1638616655.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111735.75*5C

2021-12-04T11:17:35.517Z,1638616655.517 [Micromodem](INFO): Nmea in: $CAREV,111736,AUV,2.1.4000*29

2021-12-04T11:17:35.919Z,1638616655.919 [Micromodem](INFO): Nmea in: $CAREV,111736,COPROC,0.20.0.39330*78

2021-12-04T11:17:37.974Z,1638616657.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:38.745Z,1638616658.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:39.121Z,1638616659.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:39.564Z,1638616659.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 255.443283 deg, deltaT: 4.439380 s, deltaX: 0.599998 m, approachRate: 0.135154 m/s, LOS rate: 14.542356 deg/s, posRepo size: 4
2021-12-04T11:17:39.964Z,1638616659.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111740.23*5D

2021-12-04T11:17:39.965Z,1638616659.965 [Micromodem](INFO): Nmea in: $CAREV,111741,AUV,2.1.4000*29

2021-12-04T11:17:40.336Z,1638616660.336 [Micromodem](INFO): Nmea in: $CAREV,111741,COPROC,0.20.0.39330*78

2021-12-04T11:17:42.371Z,1638616662.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:43.161Z,1638616663.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:43.570Z,1638616663.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:44.033Z,1638616664.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.300011 m, bearing: 257.632659 deg, deltaT: 4.461238 s, deltaX: 0.720009 m, approachRate: 0.161392 m/s, LOS rate: 0.490755 deg/s, posRepo size: 4
2021-12-04T11:17:44.392Z,1638616664.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111744.65*5B

2021-12-04T11:17:44.393Z,1638616664.393 [Micromodem](INFO): Nmea in: $CAREV,111745,AUV,2.1.4000*2D

2021-12-04T11:17:44.784Z,1638616664.784 [Micromodem](INFO): Nmea in: $CAREV,111745,COPROC,0.20.0.39330*7C

2021-12-04T11:17:46.804Z,1638616666.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:47.633Z,1638616667.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:48.007Z,1638616668.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:48.427Z,1638616668.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.199997 m, bearing: 258.576564 deg, deltaT: 4.405988 s, deltaX: 0.899986 m, approachRate: 0.204264 m/s, LOS rate: 0.214232 deg/s, posRepo size: 4
2021-12-04T11:17:48.824Z,1638616668.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111749.12*56

2021-12-04T11:17:48.826Z,1638616668.826 [Micromodem](INFO): Nmea in: $CAREV,111750,AUV,2.1.4000*29

2021-12-04T11:17:49.236Z,1638616669.236 [Micromodem](INFO): Nmea in: $CAREV,111750,COPROC,0.20.0.39330*78

2021-12-04T11:17:51.254Z,1638616671.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:52.049Z,1638616672.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:52.452Z,1638616672.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:52.928Z,1638616672.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 255.671466 deg, deltaT: 4.497148 s, deltaX: 0.840004 m, approachRate: 0.186786 m/s, LOS rate: -0.645987 deg/s, posRepo size: 4
2021-12-04T11:17:53.276Z,1638616673.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111753.54*5F

2021-12-04T11:17:53.277Z,1638616673.277 [Micromodem](INFO): Nmea in: $CAREV,111754,AUV,2.1.4000*2D

2021-12-04T11:17:53.692Z,1638616673.692 [Micromodem](INFO): Nmea in: $CAREV,111754,COPROC,0.20.0.39330*7C

2021-12-04T11:17:55.722Z,1638616675.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:17:56.489Z,1638616676.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:17:56.911Z,1638616676.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:17:57.343Z,1638616677.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 251.830987 deg, deltaT: 4.414868 s, deltaX: 0.539993 m, approachRate: 0.122312 m/s, LOS rate: -0.869897 deg/s, posRepo size: 4
2021-12-04T11:17:57.712Z,1638616677.712 [Micromodem](INFO): Nmea in: $SNTTA,0.104304,0.448362,,,111757.98*56

2021-12-04T11:17:57.713Z,1638616677.713 [Micromodem](INFO): Nmea in: $CAREV,111758,AUV,2.1.4000*21

2021-12-04T11:17:58.124Z,1638616678.124 [Micromodem](INFO): Nmea in: $CAREV,111758,COPROC,0.20.0.39330*70

2021-12-04T11:18:00.161Z,1638616680.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:00.941Z,1638616680.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:01.337Z,1638616681.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:01.791Z,1638616681.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.300003 m, bearing: 250.318128 deg, deltaT: 4.451306 s, deltaX: 0.720009 m, approachRate: 0.161752 m/s, LOS rate: -0.339869 deg/s, posRepo size: 4
2021-12-04T11:18:02.176Z,1638616682.176 [Micromodem](INFO): Nmea in: $SNTTA,0.089299,,,,111802.43*4F

2021-12-04T11:18:02.177Z,1638616682.177 [Micromodem](INFO): Nmea in: $CAREV,111803,AUV,2.1.4000*20

2021-12-04T11:18:02.556Z,1638616682.556 [Micromodem](INFO): Nmea in: $CAREV,111803,COPROC,0.20.0.39330*71

2021-12-04T11:18:04.586Z,1638616684.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:05.377Z,1638616685.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:05.783Z,1638616685.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:06.220Z,1638616686.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.139999 m, bearing: 246.306020 deg, deltaT: 4.429131 s, deltaX: 0.839996 m, approachRate: 0.189653 m/s, LOS rate: -0.905845 deg/s, posRepo size: 4
2021-12-04T11:18:06.624Z,1638616686.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111806.87*5E

2021-12-04T11:18:06.625Z,1638616686.625 [Micromodem](INFO): Nmea in: $CAREV,111807,AUV,2.1.4000*24

2021-12-04T11:18:07.004Z,1638616687.004 [Micromodem](INFO): Nmea in: $CAREV,111807,COPROC,0.20.0.39330*75

2021-12-04T11:18:09.034Z,1638616689.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:09.817Z,1638616689.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:10.235Z,1638616690.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:10.667Z,1638616690.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.680000 m, bearing: 246.625727 deg, deltaT: 4.447766 s, deltaX: 0.540001 m, approachRate: 0.121409 m/s, LOS rate: 0.071880 deg/s, posRepo size: 4
2021-12-04T11:18:11.064Z,1638616691.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111811.31*55

2021-12-04T11:18:11.065Z,1638616691.065 [Micromodem](INFO): Nmea in: $CAREV,111812,AUV,2.1.4000*20

2021-12-04T11:18:11.444Z,1638616691.444 [Micromodem](INFO): Nmea in: $CAREV,111812,COPROC,0.20.0.39330*71

2021-12-04T11:18:13.480Z,1638616693.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:14.269Z,1638616694.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:14.671Z,1638616694.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:15.112Z,1638616695.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.279999 m, bearing: 249.093639 deg, deltaT: 4.444748 s, deltaX: 0.599998 m, approachRate: 0.134990 m/s, LOS rate: 0.555242 deg/s, posRepo size: 4
2021-12-04T11:18:15.504Z,1638616695.504 [Micromodem](INFO): Nmea in: $SNTTA,0.105171,,,,111815.76*4F

2021-12-04T11:18:15.505Z,1638616695.505 [Micromodem](INFO): Nmea in: $CAREV,111816,AUV,2.1.4000*24

2021-12-04T11:18:15.904Z,1638616695.904 [Micromodem](INFO): Nmea in: $CAREV,111816,COPROC,0.20.0.39330*75

2021-12-04T11:18:17.969Z,1638616697.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:18.731Z,1638616698.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:19.129Z,1638616699.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:19.147Z,1638616699.147 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:18:19.553Z,1638616699.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.180000 m, bearing: 245.453394 deg, deltaT: 4.441182 s, deltaX: 0.900002 m, approachRate: 0.202649 m/s, LOS rate: -0.819657 deg/s, posRepo size: 4
2021-12-04T11:18:19.964Z,1638616699.964 [Micromodem](INFO): Nmea in: $SNTTA,0.084242,,,,111820.22*43

2021-12-04T11:18:19.965Z,1638616699.965 [Micromodem](INFO): Nmea in: $CAREV,111821,AUV,2.1.4000*20

2021-12-04T11:18:20.344Z,1638616700.344 [Micromodem](INFO): Nmea in: $CAREV,111821,COPROC,0.20.0.39330*71

2021-12-04T11:18:22.368Z,1638616702.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:23.150Z,1638616703.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:23.573Z,1638616703.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:24.058Z,1638616704.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.600006 m, bearing: 242.949774 deg, deltaT: 4.497683 s, deltaX: 0.420006 m, approachRate: 0.093383 m/s, LOS rate: -0.556646 deg/s, posRepo size: 4
2021-12-04T11:18:24.396Z,1638616704.396 [Micromodem](INFO): Nmea in: $SNTTA,0.088451,,,,111824.64*4D

2021-12-04T11:18:24.397Z,1638616704.397 [Micromodem](INFO): Nmea in: $CAREV,111825,AUV,2.1.4000*24

2021-12-04T11:18:24.776Z,1638616704.776 [Micromodem](INFO): Nmea in: $CAREV,111825,COPROC,0.20.0.39330*75

2021-12-04T11:18:26.808Z,1638616706.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:27.617Z,1638616707.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:28.007Z,1638616708.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:28.434Z,1638616708.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.320000 m, bearing: 242.318255 deg, deltaT: 4.382951 s, deltaX: 0.719994 m, approachRate: 0.164271 m/s, LOS rate: -0.144085 deg/s, posRepo size: 4
2021-12-04T11:18:28.825Z,1638616708.825 [Micromodem](INFO): Nmea in: $SNTTA,0.092284,,,,111829.11*47

2021-12-04T11:18:28.826Z,1638616708.826 [Micromodem](INFO): Nmea in: $CAREV,111830,AUV,2.1.4000*20

2021-12-04T11:18:29.232Z,1638616709.232 [Micromodem](INFO): Nmea in: $CAREV,111830,COPROC,0.20.0.39330*71

2021-12-04T11:18:31.267Z,1638616711.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:32.042Z,1638616712.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:32.451Z,1638616712.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:32.920Z,1638616712.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.979996 m, bearing: 243.589736 deg, deltaT: 4.475552 s, deltaX: 0.659996 m, approachRate: 0.147467 m/s, LOS rate: 0.284095 deg/s, posRepo size: 4
2021-12-04T11:18:33.280Z,1638616713.280 [Micromodem](INFO): Nmea in: $SNTTA,0.092237,,,,111833.53*42

2021-12-04T11:18:33.281Z,1638616713.281 [Micromodem](INFO): Nmea in: $CAREV,111834,AUV,2.1.4000*24

2021-12-04T11:18:33.688Z,1638616713.688 [Micromodem](INFO): Nmea in: $CAREV,111834,COPROC,0.20.0.39330*75

2021-12-04T11:18:35.720Z,1638616715.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:36.485Z,1638616716.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:36.910Z,1638616716.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:37.332Z,1638616717.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.760010 m, bearing: 245.480878 deg, deltaT: 4.417750 s, deltaX: 0.780014 m, approachRate: 0.176564 m/s, LOS rate: 0.428078 deg/s, posRepo size: 4
2021-12-04T11:18:37.729Z,1638616717.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111837.98*52

2021-12-04T11:18:37.730Z,1638616717.730 [Micromodem](INFO): Nmea in: $CAREV,111839,AUV,2.1.4000*29

2021-12-04T11:18:38.112Z,1638616718.112 [Micromodem](INFO): Nmea in: $CAREV,111839,COPROC,0.20.0.39330*78

2021-12-04T11:18:40.145Z,1638616720.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:40.941Z,1638616720.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:41.331Z,1638616721.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:41.791Z,1638616721.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.360008 m, bearing: 243.009169 deg, deltaT: 4.447547 s, deltaX: 0.599998 m, approachRate: 0.134905 m/s, LOS rate: -0.555747 deg/s, posRepo size: 4
2021-12-04T11:18:42.164Z,1638616722.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111842.43*56

2021-12-04T11:18:42.165Z,1638616722.165 [Micromodem](INFO): Nmea in: $CAREV,111843,AUV,2.1.4000*24

2021-12-04T11:18:42.552Z,1638616722.552 [Micromodem](INFO): Nmea in: $CAREV,111843,COPROC,0.20.0.39330*75

2021-12-04T11:18:44.577Z,1638616724.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:45.373Z,1638616725.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:45.787Z,1638616725.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:46.227Z,1638616726.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.019997 m, bearing: 245.226194 deg, deltaT: 4.452238 s, deltaX: 0.659988 m, approachRate: 0.148237 m/s, LOS rate: 0.497957 deg/s, posRepo size: 4
2021-12-04T11:18:46.604Z,1638616726.604 [Micromodem](INFO): Nmea in: $SNTTA,0.132370,,,,111846.86*41

2021-12-04T11:18:46.605Z,1638616726.605 [Micromodem](INFO): Nmea in: $CAREV,111847,AUV,2.1.4000*20

2021-12-04T11:18:46.000Z,1638616727.000 [Micromodem](INFO): Nmea in: $CAREV,111847,COPROC,0.20.0.39330*71

2021-12-04T11:18:49.036Z,1638616729.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:49.821Z,1638616729.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:50.219Z,1638616730.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:50.652Z,1638616730.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 244.159291 deg, deltaT: 4.423974 s, deltaX: 0.840004 m, approachRate: 0.189875 m/s, LOS rate: -0.241164 deg/s, posRepo size: 4
2021-12-04T11:18:51.060Z,1638616731.060 [Micromodem](INFO): Nmea in: $SNTTA,0.093133,,,,111851.31*44

2021-12-04T11:18:51.061Z,1638616731.061 [Micromodem](INFO): Nmea in: $CAREV,111852,AUV,2.1.4000*24

2021-12-04T11:18:51.444Z,1638616731.444 [Micromodem](INFO): Nmea in: $CAREV,111852,COPROC,0.20.0.39330*75

2021-12-04T11:18:53.465Z,1638616733.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:54.261Z,1638616734.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:54.675Z,1638616734.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:55.115Z,1638616735.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.279999 m, bearing: 243.918677 deg, deltaT: 4.463231 s, deltaX: 0.419998 m, approachRate: 0.094102 m/s, LOS rate: -0.053910 deg/s, posRepo size: 4
2021-12-04T11:18:55.504Z,1638616735.504 [Micromodem](INFO): Nmea in: $SNTTA,0.126173,,,,111855.75*4B

2021-12-04T11:18:55.505Z,1638616735.505 [Micromodem](INFO): Nmea in: $CAREV,111856,AUV,2.1.4000*20

2021-12-04T11:18:55.897Z,1638616735.897 [Micromodem](INFO): Nmea in: $CAREV,111856,COPROC,0.20.0.39330*71

2021-12-04T11:18:57.973Z,1638616737.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:18:58.717Z,1638616738.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:18:59.119Z,1638616739.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:18:59.535Z,1638616739.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.240005 m, bearing: 245.520712 deg, deltaT: 4.420922 s, deltaX: 0.960007 m, approachRate: 0.217151 m/s, LOS rate: 0.362376 deg/s, posRepo size: 4
2021-12-04T11:18:59.964Z,1638616739.964 [Micromodem](INFO): Nmea in: $SNTTA,0.096825,,,,111900.21*4B

2021-12-04T11:18:59.965Z,1638616739.965 [Micromodem](INFO): Nmea in: $CAREV,111901,AUV,2.1.4000*23

2021-12-04T11:19:00.332Z,1638616740.332 [Micromodem](INFO): Nmea in: $CAREV,111901,COPROC,0.20.0.39330*72

2021-12-04T11:19:02.353Z,1638616742.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:03.149Z,1638616743.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:03.575Z,1638616743.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:04.043Z,1638616744.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.020004 m, bearing: 244.725897 deg, deltaT: 4.505775 s, deltaX: 0.779999 m, approachRate: 0.173111 m/s, LOS rate: -0.176399 deg/s, posRepo size: 4
2021-12-04T11:19:04.394Z,1638616744.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111904.64*50

2021-12-04T11:19:04.395Z,1638616744.395 [Micromodem](INFO): Nmea in: $CAREV,111905,AUV,2.1.4000*27

2021-12-04T11:19:04.776Z,1638616744.776 [Micromodem](INFO): Nmea in: $CAREV,111905,COPROC,0.20.0.39330*76

2021-12-04T11:19:06.809Z,1638616746.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:07.607Z,1638616747.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:08.015Z,1638616748.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:08.427Z,1638616748.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 244.282262 deg, deltaT: 4.386256 s, deltaX: 0.779999 m, approachRate: 0.177828 m/s, LOS rate: -0.101142 deg/s, posRepo size: 4
2021-12-04T11:19:08.891Z,1638616748.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111909.10*5E

2021-12-04T11:19:08.894Z,1638616748.894 [Micromodem](INFO): Nmea in: $CAREV,111910,AUV,2.1.4000*23

2021-12-04T11:19:09.228Z,1638616749.228 [Micromodem](INFO): Nmea in: $CAREV,111910,COPROC,0.20.0.39330*72

2021-12-04T11:19:11.279Z,1638616751.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:12.042Z,1638616752.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:12.443Z,1638616752.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:12.915Z,1638616752.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.460007 m, bearing: 244.271088 deg, deltaT: 4.479195 s, deltaX: 0.660004 m, approachRate: 0.147349 m/s, LOS rate: -0.002495 deg/s, posRepo size: 4
2021-12-04T11:19:13.280Z,1638616753.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111913.53*52

2021-12-04T11:19:13.281Z,1638616753.281 [Micromodem](INFO): Nmea in: $CAREV,111914,AUV,2.1.4000*27

2021-12-04T11:19:13.686Z,1638616753.686 [Micromodem](INFO): Nmea in: $CAREV,111914,COPROC,0.20.0.39330*76

2021-12-04T11:19:15.732Z,1638616755.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:16.481Z,1638616756.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:16.909Z,1638616756.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:17.327Z,1638616757.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.059998 m, bearing: 243.853545 deg, deltaT: 4.416637 s, deltaX: 0.599991 m, approachRate: 0.135848 m/s, LOS rate: -0.094539 deg/s, posRepo size: 4
2021-12-04T11:19:17.726Z,1638616757.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111917.97*5E

2021-12-04T11:19:17.728Z,1638616757.728 [Micromodem](INFO): Nmea in: $CAREV,111919,AUV,2.1.4000*2A

2021-12-04T11:19:18.108Z,1638616758.108 [Micromodem](INFO): Nmea in: $CAREV,111919,COPROC,0.20.0.39330*7B

2021-12-04T11:19:20.150Z,1638616760.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:20.937Z,1638616760.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:21.331Z,1638616761.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:21.824Z,1638616761.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.720001 m, bearing: 243.678227 deg, deltaT: 4.491105 s, deltaX: 0.660004 m, approachRate: 0.146958 m/s, LOS rate: -0.039037 deg/s, posRepo size: 4
2021-12-04T11:19:22.160Z,1638616762.160 [Micromodem](INFO): Nmea in: $SNTTA,0.105358,,,,111922.43*45

2021-12-04T11:19:22.161Z,1638616762.161 [Micromodem](INFO): Nmea in: $CAREV,111923,AUV,2.1.4000*23

2021-12-04T11:19:22.553Z,1638616762.553 [Micromodem](INFO): Nmea in: $CAREV,111923,COPROC,0.20.0.39330*72

2021-12-04T11:19:24.568Z,1638616764.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:25.373Z,1638616765.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:25.775Z,1638616765.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:26.201Z,1638616766.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.500000 m, bearing: 244.483616 deg, deltaT: 4.386541 s, deltaX: 0.779999 m, approachRate: 0.177816 m/s, LOS rate: 0.183604 deg/s, posRepo size: 4
2021-12-04T11:19:26.600Z,1638616766.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111926.86*5C

2021-12-04T11:19:26.601Z,1638616766.601 [Micromodem](INFO): Nmea in: $CAREV,111927,AUV,2.1.4000*27

2021-12-04T11:19:26.996Z,1638616766.996 [Micromodem](INFO): Nmea in: $CAREV,111927,COPROC,0.20.0.39330*76

2021-12-04T11:19:29.042Z,1638616769.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:29.809Z,1638616769.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:30.219Z,1638616770.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:30.639Z,1638616770.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.279999 m, bearing: 244.136451 deg, deltaT: 4.438629 s, deltaX: 0.779999 m, approachRate: 0.175730 m/s, LOS rate: -0.078214 deg/s, posRepo size: 4
2021-12-04T11:19:31.056Z,1638616771.056 [Micromodem](INFO): Nmea in: $SNTTA,0.097112,,,,111931.30*45

2021-12-04T11:19:31.057Z,1638616771.057 [Micromodem](INFO): Nmea in: $CAREV,111932,AUV,2.1.4000*23

2021-12-04T11:19:31.440Z,1638616771.440 [Micromodem](INFO): Nmea in: $CAREV,111932,COPROC,0.20.0.39330*72

2021-12-04T11:19:33.466Z,1638616773.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:34.253Z,1638616774.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:34.667Z,1638616774.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:35.107Z,1638616775.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 243.106623 deg, deltaT: 4.466987 s, deltaX: 0.720001 m, approachRate: 0.161183 m/s, LOS rate: -0.230542 deg/s, posRepo size: 4
2021-12-04T11:19:35.495Z,1638616775.495 [Micromodem](INFO): Nmea in: $SNTTA,0.097803,,,,111935.74*48

2021-12-04T11:19:35.496Z,1638616775.496 [Micromodem](INFO): Nmea in: $CAREV,111936,AUV,2.1.4000*27

2021-12-04T11:19:35.887Z,1638616775.887 [Micromodem](INFO): Nmea in: $CAREV,111936,COPROC,0.20.0.39330*76

2021-12-04T11:19:37.964Z,1638616777.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:38.697Z,1638616778.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:39.110Z,1638616779.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:39.576Z,1638616779.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.899994 m, bearing: 243.638995 deg, deltaT: 4.450331 s, deltaX: 0.899994 m, approachRate: 0.202231 m/s, LOS rate: 0.119625 deg/s, posRepo size: 4
2021-12-04T11:19:39.948Z,1638616779.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111940.19*5A

2021-12-04T11:19:39.949Z,1638616779.949 [Micromodem](INFO): Nmea in: $CAREV,111941,AUV,2.1.4000*27

2021-12-04T11:19:40.328Z,1638616780.328 [Micromodem](INFO): Nmea in: $CAREV,111941,COPROC,0.20.0.39330*76

2021-12-04T11:19:42.356Z,1638616782.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:43.149Z,1638616783.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:43.555Z,1638616783.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:44.035Z,1638616784.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.620010 m, bearing: 245.404927 deg, deltaT: 4.453648 s, deltaX: 0.720016 m, approachRate: 0.161669 m/s, LOS rate: 0.396514 deg/s, posRepo size: 4
2021-12-04T11:19:44.392Z,1638616784.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111944.64*54

2021-12-04T11:19:44.393Z,1638616784.393 [Micromodem](INFO): Nmea in: $CAREV,111945,AUV,2.1.4000*23

2021-12-04T11:19:44.784Z,1638616784.784 [Micromodem](INFO): Nmea in: $CAREV,111945,COPROC,0.20.0.39330*72

2021-12-04T11:19:46.793Z,1638616786.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:47.617Z,1638616787.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:47.987Z,1638616787.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:48.420Z,1638616788.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.220001 m, bearing: 243.680604 deg, deltaT: 4.409193 s, deltaX: 0.599991 m, approachRate: 0.136077 m/s, LOS rate: -0.391074 deg/s, posRepo size: 4
2021-12-04T11:19:48.848Z,1638616788.848 [Micromodem](INFO): Nmea in: $SNTTA,0.095348,,,,111949.11*46

2021-12-04T11:19:48.849Z,1638616788.849 [Micromodem](INFO): Nmea in: $CAREV,111950,AUV,2.1.4000*27

2021-12-04T11:19:49.216Z,1638616789.216 [Micromodem](INFO): Nmea in: $CAREV,111950,COPROC,0.20.0.39330*76

2021-12-04T11:19:51.246Z,1638616791.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:52.036Z,1638616792.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:52.439Z,1638616792.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:52.919Z,1638616792.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.759995 m, bearing: 243.833874 deg, deltaT: 4.486880 s, deltaX: 0.539993 m, approachRate: 0.120349 m/s, LOS rate: 0.034159 deg/s, posRepo size: 4
2021-12-04T11:19:53.268Z,1638616793.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,111953.53*56

2021-12-04T11:19:53.269Z,1638616793.269 [Micromodem](INFO): Nmea in: $CAREV,111954,AUV,2.1.4000*23

2021-12-04T11:19:53.672Z,1638616793.672 [Micromodem](INFO): Nmea in: $CAREV,111954,COPROC,0.20.0.39330*72

2021-12-04T11:19:55.714Z,1638616795.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:19:56.469Z,1638616796.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:19:56.905Z,1638616796.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:19:57.332Z,1638616797.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.540009 m, bearing: 243.645333 deg, deltaT: 4.421497 s, deltaX: 0.780014 m, approachRate: 0.176414 m/s, LOS rate: -0.042642 deg/s, posRepo size: 4
2021-12-04T11:19:57.720Z,1638616797.720 [Micromodem](INFO): Nmea in: $SNTTA,0.095451,,,,111957.96*49

2021-12-04T11:19:57.721Z,1638616797.721 [Micromodem](INFO): Nmea in: $CAREV,111959,AUV,2.1.4000*2E

2021-12-04T11:19:58.100Z,1638616798.100 [Micromodem](INFO): Nmea in: $CAREV,111959,COPROC,0.20.0.39330*7F

2021-12-04T11:20:00.144Z,1638616800.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:00.941Z,1638616800.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:01.334Z,1638616801.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:01.784Z,1638616801.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.020004 m, bearing: 244.079624 deg, deltaT: 4.455886 s, deltaX: 0.479996 m, approachRate: 0.107722 m/s, LOS rate: 0.097465 deg/s, posRepo size: 4
2021-12-04T11:20:02.144Z,1638616802.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112002.43*59

2021-12-04T11:20:02.145Z,1638616802.145 [Micromodem](INFO): Nmea in: $CAREV,112003,AUV,2.1.4000*2B

2021-12-04T11:20:02.560Z,1638616802.560 [Micromodem](INFO): Nmea in: $CAREV,112003,COPROC,0.20.0.39330*7A

2021-12-04T11:20:04.569Z,1638616804.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:05.364Z,1638616805.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:05.787Z,1638616805.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:06.220Z,1638616806.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.039993 m, bearing: 243.123944 deg, deltaT: 4.436245 s, deltaX: 1.019989 m, approachRate: 0.229922 m/s, LOS rate: -0.215425 deg/s, posRepo size: 4
2021-12-04T11:20:06.611Z,1638616806.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112006.85*57

2021-12-04T11:20:06.612Z,1638616806.612 [Micromodem](INFO): Nmea in: $CAREV,112007,AUV,2.1.4000*2F

2021-12-04T11:20:06.996Z,1638616806.996 [Micromodem](INFO): Nmea in: $CAREV,112007,COPROC,0.20.0.39330*7E

2021-12-04T11:20:09.044Z,1638616809.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:09.810Z,1638616809.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:10.219Z,1638616810.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:10.682Z,1638616810.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.699997 m, bearing: 242.478983 deg, deltaT: 4.450373 s, deltaX: 0.660004 m, approachRate: 0.148303 m/s, LOS rate: -0.144923 deg/s, posRepo size: 4
2021-12-04T11:20:11.048Z,1638616811.048 [Micromodem](INFO): Nmea in: $SNTTA,0.095913,,,,112011.30*46

2021-12-04T11:20:11.049Z,1638616811.049 [Micromodem](INFO): Nmea in: $CAREV,112012,AUV,2.1.4000*2B

2021-12-04T11:20:11.441Z,1638616811.441 [Micromodem](INFO): Nmea in: $CAREV,112012,COPROC,0.20.0.39330*7A

2021-12-04T11:20:13.475Z,1638616813.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:14.257Z,1638616814.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:14.659Z,1638616814.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:15.110Z,1638616815.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.300003 m, bearing: 241.821099 deg, deltaT: 4.439732 s, deltaX: 0.600006 m, approachRate: 0.135145 m/s, LOS rate: -0.148181 deg/s, posRepo size: 4
2021-12-04T11:20:15.495Z,1638616815.495 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112015.75*5A

2021-12-04T11:20:15.496Z,1638616815.496 [Micromodem](INFO): Nmea in: $CAREV,112016,AUV,2.1.4000*2F

2021-12-04T11:20:15.887Z,1638616815.887 [Micromodem](INFO): Nmea in: $CAREV,112016,COPROC,0.20.0.39330*7E

2021-12-04T11:20:17.974Z,1638616817.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:18.701Z,1638616818.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:19.103Z,1638616819.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:19.527Z,1638616819.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.020004 m, bearing: 244.749146 deg, deltaT: 4.417300 s, deltaX: 0.720001 m, approachRate: 0.162996 m/s, LOS rate: 0.662859 deg/s, posRepo size: 4
2021-12-04T11:20:19.944Z,1638616819.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112020.19*56

2021-12-04T11:20:19.945Z,1638616819.945 [Micromodem](INFO): Nmea in: $CAREV,112021,AUV,2.1.4000*2B

2021-12-04T11:20:20.320Z,1638616820.320 [Micromodem](INFO): Nmea in: $CAREV,112021,COPROC,0.20.0.39330*7A

2021-12-04T11:20:22.364Z,1638616822.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:23.141Z,1638616823.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:23.542Z,1638616823.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:24.031Z,1638616824.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.679993 m, bearing: 242.537012 deg, deltaT: 4.483860 s, deltaX: 0.659988 m, approachRate: 0.147192 m/s, LOS rate: -0.493355 deg/s, posRepo size: 4
2021-12-04T11:20:24.384Z,1638616824.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112024.63*5F

2021-12-04T11:20:24.385Z,1638616824.385 [Micromodem](INFO): Nmea in: $CAREV,112025,AUV,2.1.4000*2F

2021-12-04T11:20:24.760Z,1638616824.760 [Micromodem](INFO): Nmea in: $CAREV,112025,COPROC,0.20.0.39330*7E

2021-12-04T11:20:26.796Z,1638616826.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:27.608Z,1638616827.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:27.991Z,1638616827.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:28.435Z,1638616828.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.400009 m, bearing: 243.656207 deg, deltaT: 4.419791 s, deltaX: 0.720016 m, approachRate: 0.162907 m/s, LOS rate: 0.253223 deg/s, posRepo size: 4
2021-12-04T11:20:28.820Z,1638616828.820 [Micromodem](INFO): Nmea in: $SNTTA,0.101933,,,,112029.10*41

2021-12-04T11:20:28.822Z,1638616828.822 [Micromodem](INFO): Nmea in: $CAREV,112030,AUV,2.1.4000*2B

2021-12-04T11:20:29.220Z,1638616829.220 [Micromodem](INFO): Nmea in: $CAREV,112030,COPROC,0.20.0.39330*7A

2021-12-04T11:20:31.257Z,1638616831.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:32.028Z,1638616832.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:32.428Z,1638616832.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:32.915Z,1638616832.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 244.901159 deg, deltaT: 4.475568 s, deltaX: 0.899994 m, approachRate: 0.201090 m/s, LOS rate: 0.278166 deg/s, posRepo size: 4
2021-12-04T11:20:33.264Z,1638616833.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112033.52*5B

2021-12-04T11:20:33.265Z,1638616833.265 [Micromodem](INFO): Nmea in: $CAREV,112034,AUV,2.1.4000*2F

2021-12-04T11:20:33.672Z,1638616833.672 [Micromodem](INFO): Nmea in: $CAREV,112034,COPROC,0.20.0.39330*7E

2021-12-04T11:20:34.061Z,1638616834.061 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:20:35.707Z,1638616835.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:36.477Z,1638616836.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:36.898Z,1638616836.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:37.308Z,1638616837.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.900009 m, bearing: 243.773768 deg, deltaT: 4.401184 s, deltaX: 0.600006 m, approachRate: 0.136328 m/s, LOS rate: -0.256156 deg/s, posRepo size: 4
2021-12-04T11:20:37.724Z,1638616837.724 [Micromodem](INFO): Nmea in: $SNTTA,0.098765,,,,112037.97*4D

2021-12-04T11:20:37.725Z,1638616837.725 [Micromodem](INFO): Nmea in: $CAREV,112039,AUV,2.1.4000*22

2021-12-04T11:20:38.104Z,1638616838.104 [Micromodem](INFO): Nmea in: $CAREV,112039,COPROC,0.20.0.39330*73

2021-12-04T11:20:40.136Z,1638616840.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:40.937Z,1638616840.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:41.323Z,1638616841.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:41.786Z,1638616841.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.800003 m, bearing: 245.783866 deg, deltaT: 4.477762 s, deltaX: 0.899994 m, approachRate: 0.200992 m/s, LOS rate: 0.448907 deg/s, posRepo size: 4
2021-12-04T11:20:42.148Z,1638616842.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112042.43*5D

2021-12-04T11:20:42.149Z,1638616842.149 [Micromodem](INFO): Nmea in: $CAREV,112043,AUV,2.1.4000*2F

2021-12-04T11:20:42.544Z,1638616842.544 [Micromodem](INFO): Nmea in: $CAREV,112043,COPROC,0.20.0.39330*7E

2021-12-04T11:20:44.568Z,1638616844.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:45.381Z,1638616845.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:45.772Z,1638616845.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:46.232Z,1638616846.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.399994 m, bearing: 245.089345 deg, deltaT: 4.446594 s, deltaX: 0.599991 m, approachRate: 0.134933 m/s, LOS rate: -0.156192 deg/s, posRepo size: 4
2021-12-04T11:20:46.596Z,1638616846.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112046.87*51

2021-12-04T11:20:46.597Z,1638616846.597 [Micromodem](INFO): Nmea in: $CAREV,112047,AUV,2.1.4000*2B

2021-12-04T11:20:46.984Z,1638616846.984 [Micromodem](INFO): Nmea in: $CAREV,112047,COPROC,0.20.0.39330*7A

2021-12-04T11:20:48.997Z,1638616848.997 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:20:49.031Z,1638616849.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:49.805Z,1638616849.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:50.214Z,1638616850.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:50.655Z,1638616850.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.119995 m, bearing: 245.623137 deg, deltaT: 4.406964 s, deltaX: 0.720001 m, approachRate: 0.163378 m/s, LOS rate: 0.121125 deg/s, posRepo size: 4
2021-12-04T11:20:51.048Z,1638616851.048 [Micromodem](INFO): Nmea in: $SNTTA,0.100548,,,,112051.30*4D

2021-12-04T11:20:51.049Z,1638616851.049 [Micromodem](INFO): Nmea in: $CAREV,112052,AUV,2.1.4000*2F

2021-12-04T11:20:51.440Z,1638616851.440 [Micromodem](INFO): Nmea in: $CAREV,112052,COPROC,0.20.0.39330*7E

2021-12-04T11:20:53.476Z,1638616853.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:53.937Z,1638616853.937 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:20:54.253Z,1638616854.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:54.667Z,1638616854.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:55.103Z,1638616855.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.839996 m, bearing: 243.245685 deg, deltaT: 4.463448 s, deltaX: 0.720001 m, approachRate: 0.161311 m/s, LOS rate: -0.532649 deg/s, posRepo size: 4
2021-12-04T11:20:55.491Z,1638616855.491 [Micromodem](INFO): Nmea in: $SNTTA,0.111667,,,,112055.74*47

2021-12-04T11:20:55.492Z,1638616855.492 [Micromodem](INFO): Nmea in: $CAREV,112056,AUV,2.1.4000*2B

2021-12-04T11:20:55.885Z,1638616855.885 [Micromodem](INFO): Nmea in: $CAREV,112056,COPROC,0.20.0.39330*7A

2021-12-04T11:20:57.947Z,1638616857.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:20:58.699Z,1638616858.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:20:59.109Z,1638616859.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:20:59.128Z,1638616859.128 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:20:59.553Z,1638616859.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.259995 m, bearing: 245.599232 deg, deltaT: 4.446227 s, deltaX: 0.419998 m, approachRate: 0.094462 m/s, LOS rate: 0.529336 deg/s, posRepo size: 4
2021-12-04T11:20:59.956Z,1638616859.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112100.19*55

2021-12-04T11:20:59.957Z,1638616859.957 [Micromodem](INFO): Nmea in: $CAREV,112101,AUV,2.1.4000*28

2021-12-04T11:21:00.328Z,1638616860.328 [Micromodem](INFO): Nmea in: $CAREV,112101,COPROC,0.20.0.39330*79

2021-12-04T11:21:02.337Z,1638616862.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:03.141Z,1638616863.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:03.544Z,1638616863.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:03.998Z,1638616863.998 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T11:21:04.014Z,1638616864.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.919998 m, bearing: 242.513134 deg, deltaT: 4.465130 s, deltaX: 0.660004 m, approachRate: 0.147813 m/s, LOS rate: -0.691155 deg/s, posRepo size: 4
2021-12-04T11:21:04.377Z,1638616864.377 [Micromodem](INFO): Nmea in: $SNTTA,0.106494,,,,112104.63*4C

2021-12-04T11:21:04.378Z,1638616864.378 [Micromodem](INFO): Nmea in: $CAREV,112105,AUV,2.1.4000*2C

2021-12-04T11:21:04.764Z,1638616864.764 [Micromodem](INFO): Nmea in: $CAREV,112105,COPROC,0.20.0.39330*7D

2021-12-04T11:21:06.792Z,1638616866.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:07.615Z,1638616867.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:07.987Z,1638616867.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:08.412Z,1638616868.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.919998 m, bearing: 244.122845 deg, deltaT: 4.396125 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.366166 deg/s, posRepo size: 4
2021-12-04T11:21:08.813Z,1638616868.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112109.10*55

2021-12-04T11:21:08.815Z,1638616868.815 [Micromodem](INFO): Nmea in: $CAREV,112110,AUV,2.1.4000*28

2021-12-04T11:21:09.208Z,1638616869.208 [Micromodem](INFO): Nmea in: $CAREV,112110,COPROC,0.20.0.39330*79

2021-12-04T11:21:11.237Z,1638616871.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:12.025Z,1638616872.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:12.431Z,1638616872.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:12.914Z,1638616872.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.419998 m, bearing: 244.885450 deg, deltaT: 4.496052 s, deltaX: 1.500000 m, approachRate: 0.333626 m/s, LOS rate: 0.169616 deg/s, posRepo size: 4
2021-12-04T11:21:13.260Z,1638616873.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112113.51*5B

2021-12-04T11:21:13.261Z,1638616873.261 [Micromodem](INFO): Nmea in: $CAREV,112114,AUV,2.1.4000*2C

2021-12-04T11:21:13.675Z,1638616873.675 [Micromodem](INFO): Nmea in: $CAREV,112114,COPROC,0.20.0.39330*7D

2021-12-04T11:21:15.722Z,1638616875.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:16.469Z,1638616876.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:16.899Z,1638616876.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:17.311Z,1638616877.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 244.634918 deg, deltaT: 4.404201 s, deltaX: 0.720016 m, approachRate: 0.163484 m/s, LOS rate: -0.056885 deg/s, posRepo size: 4
2021-12-04T11:21:17.704Z,1638616877.704 [Micromodem](INFO): Nmea in: $SNTTA,0.104734,,,,112117.96*4F

2021-12-04T11:21:17.705Z,1638616877.705 [Micromodem](INFO): Nmea in: $CAREV,112119,AUV,2.1.4000*21

2021-12-04T11:21:18.096Z,1638616878.096 [Micromodem](INFO): Nmea in: $CAREV,112119,COPROC,0.20.0.39330*70

2021-12-04T11:21:20.130Z,1638616880.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:20.943Z,1638616880.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:21.312Z,1638616881.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:21.794Z,1638616881.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 244.323107 deg, deltaT: 4.479470 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.069609 deg/s, posRepo size: 4
2021-12-04T11:21:22.145Z,1638616882.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112122.43*5A

2021-12-04T11:21:22.146Z,1638616882.146 [Micromodem](INFO): Nmea in: $CAREV,112123,AUV,2.1.4000*28

2021-12-04T11:21:22.532Z,1638616882.532 [Micromodem](INFO): Nmea in: $CAREV,112123,COPROC,0.20.0.39330*79

2021-12-04T11:21:24.562Z,1638616884.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:25.361Z,1638616885.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:25.765Z,1638616885.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:26.204Z,1638616886.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.220001 m, bearing: 245.964073 deg, deltaT: 4.414124 s, deltaX: 1.079987 m, approachRate: 0.244666 m/s, LOS rate: 0.371754 deg/s, posRepo size: 4
2021-12-04T11:21:26.604Z,1638616886.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112126.85*54

2021-12-04T11:21:26.605Z,1638616886.605 [Micromodem](INFO): Nmea in: $CAREV,112127,AUV,2.1.4000*2C

2021-12-04T11:21:26.000Z,1638616887.000 [Micromodem](INFO): Nmea in: $CAREV,112127,COPROC,0.20.0.39330*7D

2021-12-04T11:21:29.021Z,1638616889.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:29.801Z,1638616889.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:30.203Z,1638616890.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:30.653Z,1638616890.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.880005 m, bearing: 246.652502 deg, deltaT: 4.445491 s, deltaX: 0.660004 m, approachRate: 0.148466 m/s, LOS rate: 0.154860 deg/s, posRepo size: 4
2021-12-04T11:21:31.040Z,1638616891.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112131.29*54

2021-12-04T11:21:31.041Z,1638616891.041 [Micromodem](INFO): Nmea in: $CAREV,112132,AUV,2.1.4000*28

2021-12-04T11:21:31.484Z,1638616891.484 [Micromodem](INFO): Nmea in: $CAREV,112132,COPROC,0.20.0.39330*79

2021-12-04T11:21:33.452Z,1638616893.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:33.936Z,1638616893.936 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T11:21:34.252Z,1638616894.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:34.655Z,1638616894.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:35.108Z,1638616895.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.779999 m, bearing: 246.015382 deg, deltaT: 4.454425 s, deltaX: 0.899994 m, approachRate: 0.202045 m/s, LOS rate: -0.143031 deg/s, posRepo size: 4
2021-12-04T11:21:35.488Z,1638616895.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112135.74*58

2021-12-04T11:21:35.489Z,1638616895.489 [Micromodem](INFO): Nmea in: $CAREV,112136,AUV,2.1.4000*2C

2021-12-04T11:21:35.897Z,1638616895.897 [Micromodem](INFO): Nmea in: $CAREV,112136,COPROC,0.20.0.39330*7D

2021-12-04T11:21:37.948Z,1638616897.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:38.693Z,1638616898.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:39.106Z,1638616899.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:39.544Z,1638616899.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.139999 m, bearing: 245.438558 deg, deltaT: 4.436549 s, deltaX: 0.360001 m, approachRate: 0.081144 m/s, LOS rate: -0.130016 deg/s, posRepo size: 4
2021-12-04T11:21:39.948Z,1638616899.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112140.18*50

2021-12-04T11:21:39.949Z,1638616899.949 [Micromodem](INFO): Nmea in: $CAREV,112141,AUV,2.1.4000*2C

2021-12-04T11:21:40.312Z,1638616900.312 [Micromodem](INFO): Nmea in: $CAREV,112141,COPROC,0.20.0.39330*7D

2021-12-04T11:21:42.347Z,1638616902.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:43.137Z,1638616903.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:43.545Z,1638616903.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:44.032Z,1638616904.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.100006 m, bearing: 246.597942 deg, deltaT: 4.491737 s, deltaX: 0.960007 m, approachRate: 0.213727 m/s, LOS rate: 0.258115 deg/s, posRepo size: 4
2021-12-04T11:21:44.384Z,1638616904.384 [Micromodem](INFO): Nmea in: $SNTTA,0.103114,,,,112144.63*40

2021-12-04T11:21:44.385Z,1638616904.385 [Micromodem](INFO): Nmea in: $CAREV,112145,AUV,2.1.4000*28

2021-12-04T11:21:44.764Z,1638616904.764 [Micromodem](INFO): Nmea in: $CAREV,112145,COPROC,0.20.0.39330*79

2021-12-04T11:21:46.796Z,1638616906.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:47.620Z,1638616907.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:47.979Z,1638616907.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:48.444Z,1638616908.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.100006 m, bearing: 246.720339 deg, deltaT: 4.391062 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.027874 deg/s, posRepo size: 4
2021-12-04T11:21:48.820Z,1638616908.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112149.11*50

2021-12-04T11:21:48.822Z,1638616908.822 [Micromodem](INFO): Nmea in: $CAREV,112150,AUV,2.1.4000*2C

2021-12-04T11:21:49.220Z,1638616909.220 [Micromodem](INFO): Nmea in: $CAREV,112150,COPROC,0.20.0.39330*7D

2021-12-04T11:21:51.238Z,1638616911.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:52.025Z,1638616912.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:52.441Z,1638616912.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:52.912Z,1638616912.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.479996 m, bearing: 246.488577 deg, deltaT: 4.462425 s, deltaX: 1.379990 m, approachRate: 0.309247 m/s, LOS rate: -0.051936 deg/s, posRepo size: 4
2021-12-04T11:21:53.269Z,1638616913.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112153.51*5F

2021-12-04T11:21:53.271Z,1638616913.271 [Micromodem](INFO): Nmea in: $CAREV,112154,AUV,2.1.4000*28

2021-12-04T11:21:53.672Z,1638616913.672 [Micromodem](INFO): Nmea in: $CAREV,112154,COPROC,0.20.0.39330*79

2021-12-04T11:21:55.731Z,1638616915.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:21:56.471Z,1638616916.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:21:56.904Z,1638616916.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:21:57.330Z,1638616917.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.019989 m, bearing: 247.192852 deg, deltaT: 4.442728 s, deltaX: 0.539993 m, approachRate: 0.121545 m/s, LOS rate: 0.158523 deg/s, posRepo size: 4
2021-12-04T11:21:57.720Z,1638616917.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112157.96*50

2021-12-04T11:21:57.721Z,1638616917.721 [Micromodem](INFO): Nmea in: $CAREV,112159,AUV,2.1.4000*25

2021-12-04T11:21:58.099Z,1638616918.099 [Micromodem](INFO): Nmea in: $CAREV,112159,COPROC,0.20.0.39330*74

2021-12-04T11:22:00.131Z,1638616920.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:00.937Z,1638616920.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:01.332Z,1638616921.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:01.782Z,1638616921.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.019989 m, bearing: 247.034145 deg, deltaT: 4.449645 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.035667 deg/s, posRepo size: 4
2021-12-04T11:22:02.152Z,1638616922.152 [Micromodem](INFO): Nmea in: $SNTTA,0.153895,,,,112202.43*46

2021-12-04T11:22:02.153Z,1638616922.153 [Micromodem](INFO): Nmea in: $CAREV,112203,AUV,2.1.4000*29

2021-12-04T11:22:02.544Z,1638616922.544 [Micromodem](INFO): Nmea in: $CAREV,112203,COPROC,0.20.0.39330*78

2021-12-04T11:22:04.560Z,1638616924.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:05.357Z,1638616925.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:05.764Z,1638616925.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:06.223Z,1638616926.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.400009 m, bearing: 246.746212 deg, deltaT: 4.441465 s, deltaX: 1.380020 m, approachRate: 0.310713 m/s, LOS rate: -0.064828 deg/s, posRepo size: 4
2021-12-04T11:22:06.592Z,1638616926.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112206.85*55

2021-12-04T11:22:06.593Z,1638616926.593 [Micromodem](INFO): Nmea in: $CAREV,112207,AUV,2.1.4000*2D

2021-12-04T11:22:06.980Z,1638616926.980 [Micromodem](INFO): Nmea in: $CAREV,112207,COPROC,0.20.0.39330*7C

2021-12-04T11:22:09.028Z,1638616929.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:09.801Z,1638616929.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:10.215Z,1638616930.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:10.655Z,1638616930.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.179993 m, bearing: 247.239543 deg, deltaT: 4.431569 s, deltaX: 0.779984 m, approachRate: 0.176006 m/s, LOS rate: 0.111322 deg/s, posRepo size: 4
2021-12-04T11:22:11.036Z,1638616931.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112211.29*55

2021-12-04T11:22:11.037Z,1638616931.037 [Micromodem](INFO): Nmea in: $CAREV,112212,AUV,2.1.4000*29

2021-12-04T11:22:11.432Z,1638616931.432 [Micromodem](INFO): Nmea in: $CAREV,112212,COPROC,0.20.0.39330*78

2021-12-04T11:22:13.457Z,1638616933.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:14.245Z,1638616934.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:14.654Z,1638616934.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:15.098Z,1638616935.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.780014 m, bearing: 245.889651 deg, deltaT: 4.446836 s, deltaX: 0.600021 m, approachRate: 0.134932 m/s, LOS rate: -0.303562 deg/s, posRepo size: 4
2021-12-04T11:22:15.492Z,1638616935.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112215.74*59

2021-12-04T11:22:15.493Z,1638616935.493 [Micromodem](INFO): Nmea in: $CAREV,112216,AUV,2.1.4000*2D

2021-12-04T11:22:15.880Z,1638616935.880 [Micromodem](INFO): Nmea in: $CAREV,112216,COPROC,0.20.0.39330*7C

2021-12-04T11:22:17.960Z,1638616937.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:18.690Z,1638616938.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:19.095Z,1638616939.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:19.527Z,1638616939.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.379990 m, bearing: 245.629940 deg, deltaT: 4.429068 s, deltaX: 0.599976 m, approachRate: 0.135463 m/s, LOS rate: -0.058638 deg/s, posRepo size: 4
2021-12-04T11:22:19.940Z,1638616939.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112220.18*55

2021-12-04T11:22:19.941Z,1638616939.941 [Micromodem](INFO): Nmea in: $CAREV,112221,AUV,2.1.4000*29

2021-12-04T11:22:20.312Z,1638616940.312 [Micromodem](INFO): Nmea in: $CAREV,112221,COPROC,0.20.0.39330*78

2021-12-04T11:22:22.344Z,1638616942.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:23.137Z,1638616943.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:23.547Z,1638616943.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:24.034Z,1638616944.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.220001 m, bearing: 245.128577 deg, deltaT: 4.499271 s, deltaX: 0.840012 m, approachRate: 0.186699 m/s, LOS rate: -0.111432 deg/s, posRepo size: 4
2021-12-04T11:22:24.376Z,1638616944.376 [Micromodem](INFO): Nmea in: $SNTTA,0.110009,,,,112224.63*4A

2021-12-04T11:22:24.377Z,1638616944.377 [Micromodem](INFO): Nmea in: $CAREV,112225,AUV,2.1.4000*2D

2021-12-04T11:22:24.756Z,1638616944.756 [Micromodem](INFO): Nmea in: $CAREV,112225,COPROC,0.20.0.39330*7C

2021-12-04T11:22:26.788Z,1638616946.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:27.588Z,1638616947.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:27.983Z,1638616947.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:28.417Z,1638616948.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.220001 m, bearing: 243.789450 deg, deltaT: 4.389673 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.305063 deg/s, posRepo size: 4
2021-12-04T11:22:28.816Z,1638616948.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112229.08*5D

2021-12-04T11:22:28.817Z,1638616948.817 [Micromodem](INFO): Nmea in: $CAREV,112230,AUV,2.1.4000*29

2021-12-04T11:22:29.200Z,1638616949.200 [Micromodem](INFO): Nmea in: $CAREV,112230,COPROC,0.20.0.39330*78

2021-12-04T11:22:31.234Z,1638616951.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:32.028Z,1638616952.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:32.427Z,1638616952.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:32.900Z,1638616952.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.480011 m, bearing: 243.645497 deg, deltaT: 4.466707 s, deltaX: 1.260010 m, approachRate: 0.282089 m/s, LOS rate: -0.032228 deg/s, posRepo size: 4
2021-12-04T11:22:33.264Z,1638616953.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112233.52*59

2021-12-04T11:22:33.265Z,1638616953.265 [Micromodem](INFO): Nmea in: $CAREV,112234,AUV,2.1.4000*2D

2021-12-04T11:22:33.664Z,1638616953.664 [Micromodem](INFO): Nmea in: $CAREV,112234,COPROC,0.20.0.39330*7C

2021-12-04T11:22:35.708Z,1638616955.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:36.465Z,1638616956.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:36.904Z,1638616956.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:37.316Z,1638616957.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.259995 m, bearing: 244.818869 deg, deltaT: 4.433024 s, deltaX: 0.779984 m, approachRate: 0.175948 m/s, LOS rate: 0.264689 deg/s, posRepo size: 4
2021-12-04T11:22:37.712Z,1638616957.712 [Micromodem](INFO): Nmea in: $SNTTA,0.115944,,,,112237.96*47

2021-12-04T11:22:37.713Z,1638616957.713 [Micromodem](INFO): Nmea in: $CAREV,112239,AUV,2.1.4000*20

2021-12-04T11:22:38.092Z,1638616958.092 [Micromodem](INFO): Nmea in: $CAREV,112239,COPROC,0.20.0.39330*71

2021-12-04T11:22:40.127Z,1638616960.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:40.933Z,1638616960.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:41.315Z,1638616961.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:41.720Z,1638616961.720 [Micromodem](INFO): Nmea in: $SNTTA,0.124926,0.223658,,,112242.43*5D

2021-12-04T11:22:41.721Z,1638616961.721 [Micromodem](INFO): Nmea in: $CAREV,112242,AUV,2.1.4000*2C

2021-12-04T11:22:41.803Z,1638616961.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.259995 m, bearing: 244.712591 deg, deltaT: 4.483789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.023703 deg/s, posRepo size: 4
2021-12-04T11:22:42.136Z,1638616962.136 [Micromodem](INFO): Nmea in: $CAREV,112242,COPROC,0.20.0.39330*7D

2021-12-04T11:22:44.575Z,1638616964.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:45.366Z,1638616965.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:45.759Z,1638616965.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:46.216Z,1638616966.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.259995 m, bearing: 244.512767 deg, deltaT: 4.413008 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.045281 deg/s, posRepo size: 4
2021-12-04T11:22:46.584Z,1638616966.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112246.86*52

2021-12-04T11:22:46.585Z,1638616966.585 [Micromodem](INFO): Nmea in: $CAREV,112247,AUV,2.1.4000*29

2021-12-04T11:22:46.993Z,1638616966.993 [Micromodem](INFO): Nmea in: $CAREV,112247,COPROC,0.20.0.39330*78

2021-12-04T11:22:49.035Z,1638616969.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:49.805Z,1638616969.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:50.205Z,1638616970.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:50.620Z,1638616970.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.259995 m, bearing: 243.721012 deg, deltaT: 4.405881 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.179704 deg/s, posRepo size: 4
2021-12-04T11:22:51.032Z,1638616971.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112251.30*59

2021-12-04T11:22:51.034Z,1638616971.034 [Micromodem](INFO): Nmea in: $CAREV,112252,AUV,2.1.4000*2D

2021-12-04T11:22:51.424Z,1638616971.424 [Micromodem](INFO): Nmea in: $CAREV,112252,COPROC,0.20.0.39330*7C

2021-12-04T11:22:53.444Z,1638616973.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:54.245Z,1638616974.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:54.647Z,1638616974.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:55.123Z,1638616975.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.080002 m, bearing: 244.634208 deg, deltaT: 4.494454 s, deltaX: 2.820007 m, approachRate: 0.627442 m/s, LOS rate: 0.203183 deg/s, posRepo size: 4
2021-12-04T11:22:55.472Z,1638616975.472 [Micromodem](INFO): Nmea in: $SNTTA,0.145954,,,,112255.74*4B

2021-12-04T11:22:55.473Z,1638616975.473 [Micromodem](INFO): Nmea in: $CAREV,112256,AUV,2.1.4000*29

2021-12-04T11:22:55.889Z,1638616975.889 [Micromodem](INFO): Nmea in: $CAREV,112256,COPROC,0.20.0.39330*78

2021-12-04T11:22:57.940Z,1638616977.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:22:58.681Z,1638616978.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:22:59.100Z,1638616979.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:22:59.538Z,1638616979.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.740005 m, bearing: 245.041479 deg, deltaT: 4.401711 s, deltaX: 0.660004 m, approachRate: 0.149943 m/s, LOS rate: 0.092526 deg/s, posRepo size: 4
2021-12-04T11:22:59.940Z,1638616979.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112300.17*59

2021-12-04T11:22:59.941Z,1638616979.941 [Micromodem](INFO): Nmea in: $CAREV,112301,AUV,2.1.4000*2A

2021-12-04T11:23:00.320Z,1638616980.320 [Micromodem](INFO): Nmea in: $CAREV,112301,COPROC,0.20.0.39330*7B

2021-12-04T11:23:02.333Z,1638616982.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:03.125Z,1638616983.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:03.546Z,1638616983.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:04.042Z,1638616984.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.459991 m, bearing: 245.522788 deg, deltaT: 4.526220 s, deltaX: 0.719986 m, approachRate: 0.159070 m/s, LOS rate: 0.106338 deg/s, posRepo size: 4
2021-12-04T11:23:04.371Z,1638616984.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112304.62*5F

2021-12-04T11:23:04.372Z,1638616984.372 [Micromodem](INFO): Nmea in: $CAREV,112305,AUV,2.1.4000*2E

2021-12-04T11:23:04.752Z,1638616984.752 [Micromodem](INFO): Nmea in: $CAREV,112305,COPROC,0.20.0.39330*7F

2021-12-04T11:23:06.789Z,1638616986.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:07.586Z,1638616987.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:07.990Z,1638616987.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:08.432Z,1638616988.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.459991 m, bearing: 243.809312 deg, deltaT: 4.387030 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.390578 deg/s, posRepo size: 4
2021-12-04T11:23:08.816Z,1638616988.816 [Micromodem](INFO): Nmea in: $SNTTA,0.125992,,,,112309.08*44

2021-12-04T11:23:08.817Z,1638616988.817 [Micromodem](INFO): Nmea in: $CAREV,112310,AUV,2.1.4000*2A

2021-12-04T11:23:09.200Z,1638616989.200 [Micromodem](INFO): Nmea in: $CAREV,112310,COPROC,0.20.0.39330*7B

2021-12-04T11:23:11.241Z,1638616991.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:12.021Z,1638616992.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:12.428Z,1638616992.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:12.902Z,1638616992.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.459991 m, bearing: 244.805919 deg, deltaT: 4.474061 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.222752 deg/s, posRepo size: 4
2021-12-04T11:23:13.264Z,1638616993.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112313.51*59

2021-12-04T11:23:13.265Z,1638616993.265 [Micromodem](INFO): Nmea in: $CAREV,112314,AUV,2.1.4000*2E

2021-12-04T11:23:13.668Z,1638616993.668 [Micromodem](INFO): Nmea in: $CAREV,112314,COPROC,0.20.0.39330*7F

2021-12-04T11:23:15.716Z,1638616995.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:16.461Z,1638616996.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:16.898Z,1638616996.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:17.312Z,1638616997.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.459991 m, bearing: 245.645431 deg, deltaT: 4.405802 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.190547 deg/s, posRepo size: 4
2021-12-04T11:23:17.696Z,1638616997.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112317.95*55

2021-12-04T11:23:17.697Z,1638616997.697 [Micromodem](INFO): Nmea in: $CAREV,112319,AUV,2.1.4000*23

2021-12-04T11:23:18.092Z,1638616998.092 [Micromodem](INFO): Nmea in: $CAREV,112319,COPROC,0.20.0.39330*72

2021-12-04T11:23:20.130Z,1638617000.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:20.933Z,1638617000.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:21.311Z,1638617001.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:22.133Z,1638617002.133 [Micromodem](INFO): Nmea in: $SNTTA,0.116011,,,,112322.42*41

2021-12-04T11:23:22.136Z,1638617002.136 [Micromodem](INFO): Nmea in: $CAREV,112323,AUV,2.1.4000*2A

2021-12-04T11:23:22.187Z,1638617002.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.219986 m, bearing: 245.541831 deg, deltaT: 4.855684 s, deltaX: 2.759995 m, approachRate: 0.568405 m/s, LOS rate: -0.021336 deg/s, posRepo size: 4
2021-12-04T11:23:22.536Z,1638617002.536 [Micromodem](INFO): Nmea in: $CAREV,112323,COPROC,0.20.0.39330*7B

2021-12-04T11:23:24.970Z,1638617004.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:25.761Z,1638617005.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:26.163Z,1638617006.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:26.604Z,1638617006.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.219986 m, bearing: 245.340969 deg, deltaT: 4.424324 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.045400 deg/s, posRepo size: 4
2021-12-04T11:23:26.996Z,1638617006.996 [Micromodem](INFO): Nmea in: $SNTTA,0.115977,,,,112327.25*4F

2021-12-04T11:23:26.997Z,1638617006.997 [Micromodem](INFO): Nmea in: $CAREV,112328,AUV,2.1.4000*21

2021-12-04T11:23:27.381Z,1638617007.381 [Micromodem](INFO): Nmea in: $CAREV,112328,COPROC,0.20.0.39330*70

2021-12-04T11:23:29.400Z,1638617009.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:30.197Z,1638617010.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:30.613Z,1638617010.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:31.056Z,1638617011.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.219986 m, bearing: 245.523827 deg, deltaT: 4.468029 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.040926 deg/s, posRepo size: 4
2021-12-04T11:23:31.442Z,1638617011.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112331.69*52

2021-12-04T11:23:31.443Z,1638617011.443 [Micromodem](INFO): Nmea in: $CAREV,112332,AUV,2.1.4000*2A

2021-12-04T11:23:31.824Z,1638617011.824 [Micromodem](INFO): Nmea in: $CAREV,112332,COPROC,0.20.0.39330*7B

2021-12-04T11:23:33.917Z,1638617013.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:34.645Z,1638617014.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:35.047Z,1638617015.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:35.469Z,1638617015.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.219986 m, bearing: 245.391075 deg, deltaT: 4.411956 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.030089 deg/s, posRepo size: 4
2021-12-04T11:23:35.901Z,1638617015.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112336.14*5F

2021-12-04T11:23:35.907Z,1638617015.907 [Micromodem](INFO): Nmea in: $CAREV,112337,AUV,2.1.4000*2F

2021-12-04T11:23:36.272Z,1638617016.272 [Micromodem](INFO): Nmea in: $CAREV,112337,COPROC,0.20.0.39330*7E

2021-12-04T11:23:38.311Z,1638617018.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:39.091Z,1638617019.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:39.483Z,1638617019.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:39.999Z,1638617019.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 245.237560 deg, deltaT: 4.527873 s, deltaX: 2.760025 m, approachRate: 0.609563 m/s, LOS rate: -0.033905 deg/s, posRepo size: 4
2021-12-04T11:23:40.329Z,1638617020.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112340.58*56

2021-12-04T11:23:40.330Z,1638617020.330 [Micromodem](INFO): Nmea in: $CAREV,112341,AUV,2.1.4000*2E

2021-12-04T11:23:40.717Z,1638617020.717 [Micromodem](INFO): Nmea in: $CAREV,112341,COPROC,0.20.0.39330*7F

2021-12-04T11:23:42.755Z,1638617022.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:43.533Z,1638617023.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:43.951Z,1638617023.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:44.383Z,1638617024.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 245.024185 deg, deltaT: 4.378749 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.048730 deg/s, posRepo size: 4
2021-12-04T11:23:44.777Z,1638617024.777 [Micromodem](INFO): Nmea in: $SNTTA,0.115576,,,,112345.02*43

2021-12-04T11:23:44.778Z,1638617024.778 [Micromodem](INFO): Nmea in: $CAREV,112346,AUV,2.1.4000*29

2021-12-04T11:23:45.156Z,1638617025.156 [Micromodem](INFO): Nmea in: $CAREV,112346,COPROC,0.20.0.39330*78

2021-12-04T11:23:47.201Z,1638617027.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:47.977Z,1638617027.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:48.379Z,1638617028.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:48.817Z,1638617028.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 245.947271 deg, deltaT: 4.438541 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.207971 deg/s, posRepo size: 4
2021-12-04T11:23:49.208Z,1638617029.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112349.47*51

2021-12-04T11:23:49.209Z,1638617029.209 [Micromodem](INFO): Nmea in: $CAREV,112350,AUV,2.1.4000*2E

2021-12-04T11:23:49.607Z,1638617029.607 [Micromodem](INFO): Nmea in: $CAREV,112350,COPROC,0.20.0.39330*7F

2021-12-04T11:23:51.677Z,1638617031.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:52.417Z,1638617032.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:52.823Z,1638617032.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:53.257Z,1638617033.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 245.458257 deg, deltaT: 4.443007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.110064 deg/s, posRepo size: 4
2021-12-04T11:23:53.668Z,1638617033.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112353.91*51

2021-12-04T11:23:53.669Z,1638617033.669 [Micromodem](INFO): Nmea in: $CAREV,112354,AUV,2.1.4000*2A

2021-12-04T11:23:54.064Z,1638617034.064 [Micromodem](INFO): Nmea in: $CAREV,112354,COPROC,0.20.0.39330*7B

2021-12-04T11:23:55.781Z,1638617035.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:23:56.462Z,1638617036.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:23:56.885Z,1638617036.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:23:57.301Z,1638617037.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.980011 m, bearing: 244.975226 deg, deltaT: 4.028085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.119916 deg/s, posRepo size: 4
2021-12-04T11:23:57.692Z,1638617037.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112357.95*51

2021-12-04T11:23:57.693Z,1638617037.693 [Micromodem](INFO): Nmea in: $CAREV,112359,AUV,2.1.4000*27

2021-12-04T11:23:58.088Z,1638617038.088 [Micromodem](INFO): Nmea in: $CAREV,112359,COPROC,0.20.0.39330*76

2021-12-04T11:24:00.128Z,1638617040.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:00.933Z,1638617040.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:01.314Z,1638617041.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:02.127Z,1638617042.127 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112402.42*5C

2021-12-04T11:24:02.129Z,1638617042.129 [Micromodem](INFO): Nmea in: $CAREV,112403,AUV,2.1.4000*2F

2021-12-04T11:24:02.195Z,1638617042.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 245.806624 deg, deltaT: 4.902721 s, deltaX: 3.239990 m, approachRate: 0.660856 m/s, LOS rate: 0.169579 deg/s, posRepo size: 4
2021-12-04T11:24:02.528Z,1638617042.528 [Micromodem](INFO): Nmea in: $CAREV,112403,COPROC,0.20.0.39330*7E

2021-12-04T11:24:04.969Z,1638617044.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:05.749Z,1638617045.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:06.159Z,1638617046.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:06.607Z,1638617046.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 245.392523 deg, deltaT: 4.420014 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.093688 deg/s, posRepo size: 4
2021-12-04T11:24:06.993Z,1638617046.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112407.24*59

2021-12-04T11:24:06.994Z,1638617046.994 [Micromodem](INFO): Nmea in: $CAREV,112408,AUV,2.1.4000*24

2021-12-04T11:24:07.380Z,1638617047.380 [Micromodem](INFO): Nmea in: $CAREV,112408,COPROC,0.20.0.39330*75

2021-12-04T11:24:09.396Z,1638617049.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:10.193Z,1638617050.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:10.606Z,1638617050.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:11.048Z,1638617051.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 245.429187 deg, deltaT: 4.423776 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.008288 deg/s, posRepo size: 4
2021-12-04T11:24:11.436Z,1638617051.436 [Micromodem](INFO): Nmea in: $SNTTA,0.130903,,,,112411.69*41

2021-12-04T11:24:11.437Z,1638617051.437 [Micromodem](INFO): Nmea in: $CAREV,112412,AUV,2.1.4000*2F

2021-12-04T11:24:11.828Z,1638617051.828 [Micromodem](INFO): Nmea in: $CAREV,112412,COPROC,0.20.0.39330*7E

2021-12-04T11:24:13.920Z,1638617053.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:14.637Z,1638617054.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:15.050Z,1638617055.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:15.492Z,1638617055.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 245.568496 deg, deltaT: 4.456732 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.031258 deg/s, posRepo size: 4
2021-12-04T11:24:15.860Z,1638617055.860 [Micromodem](INFO): Nmea in: $SNTTA,0.118688,0.371544,,,112416.13*53

2021-12-04T11:24:15.863Z,1638617055.863 [Micromodem](INFO): Nmea in: $CAREV,112416,AUV,2.1.4000*2B

2021-12-04T11:24:16.269Z,1638617056.269 [Micromodem](INFO): Nmea in: $CAREV,112416,COPROC,0.20.0.39330*7A

2021-12-04T11:24:18.289Z,1638617058.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:19.112Z,1638617059.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:19.500Z,1638617059.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:19.981Z,1638617059.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 245.826595 deg, deltaT: 4.493487 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.057439 deg/s, posRepo size: 4
2021-12-04T11:24:20.316Z,1638617060.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112420.60*5C

2021-12-04T11:24:20.317Z,1638617060.317 [Micromodem](INFO): Nmea in: $CAREV,112421,AUV,2.1.4000*2F

2021-12-04T11:24:20.708Z,1638617060.708 [Micromodem](INFO): Nmea in: $CAREV,112421,COPROC,0.20.0.39330*7E

2021-12-04T11:24:22.729Z,1638617062.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:23.521Z,1638617063.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:23.935Z,1638617063.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:24.357Z,1638617064.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 245.227970 deg, deltaT: 4.375216 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.136822 deg/s, posRepo size: 4
2021-12-04T11:24:24.756Z,1638617064.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112425.01*5E

2021-12-04T11:24:24.757Z,1638617064.757 [Micromodem](INFO): Nmea in: $CAREV,112426,AUV,2.1.4000*28

2021-12-04T11:24:25.152Z,1638617065.152 [Micromodem](INFO): Nmea in: $CAREV,112426,COPROC,0.20.0.39330*79

2021-12-04T11:24:27.183Z,1638617067.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:27.977Z,1638617067.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:28.375Z,1638617068.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:28.824Z,1638617068.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.220001 m, bearing: 246.005109 deg, deltaT: 4.450823 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.174606 deg/s, posRepo size: 4
2021-12-04T11:24:29.208Z,1638617069.208 [Micromodem](INFO): Nmea in: $SNTTA,0.140933,,,,112429.47*42

2021-12-04T11:24:29.209Z,1638617069.209 [Micromodem](INFO): Nmea in: $CAREV,112430,AUV,2.1.4000*2F

2021-12-04T11:24:29.636Z,1638617069.636 [Micromodem](INFO): Nmea in: $CAREV,112430,COPROC,0.20.0.39330*7E

2021-12-04T11:24:31.672Z,1638617071.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:32.416Z,1638617072.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:32.825Z,1638617072.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:33.655Z,1638617073.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112433.91*50

2021-12-04T11:24:33.656Z,1638617073.656 [Micromodem](INFO): Nmea in: $CAREV,112434,AUV,2.1.4000*2B

2021-12-04T11:24:33.735Z,1638617073.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 245.608466 deg, deltaT: 4.911890 s, deltaX: 5.040009 m, approachRate: 1.026083 m/s, LOS rate: -0.080752 deg/s, posRepo size: 4
2021-12-04T11:24:34.052Z,1638617074.052 [Micromodem](INFO): Nmea in: $CAREV,112434,COPROC,0.20.0.39330*7A

2021-12-04T11:24:36.465Z,1638617076.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:37.261Z,1638617077.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:37.677Z,1638617077.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:38.131Z,1638617078.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 246.076198 deg, deltaT: 4.403932 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.106208 deg/s, posRepo size: 4
2021-12-04T11:24:38.510Z,1638617078.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112438.75*51

2021-12-04T11:24:38.512Z,1638617078.512 [Micromodem](INFO): Nmea in: $CAREV,112439,AUV,2.1.4000*26

2021-12-04T11:24:38.904Z,1638617078.904 [Micromodem](INFO): Nmea in: $CAREV,112439,COPROC,0.20.0.39330*77

2021-12-04T11:24:40.977Z,1638617080.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:41.709Z,1638617081.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:42.107Z,1638617082.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:42.537Z,1638617082.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 245.908530 deg, deltaT: 4.412855 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.037995 deg/s, posRepo size: 4
2021-12-04T11:24:42.959Z,1638617082.959 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112443.20*5D

2021-12-04T11:24:42.960Z,1638617082.960 [Micromodem](INFO): Nmea in: $CAREV,112444,AUV,2.1.4000*2C

2021-12-04T11:24:43.329Z,1638617083.329 [Micromodem](INFO): Nmea in: $CAREV,112444,COPROC,0.20.0.39330*7D

2021-12-04T11:24:45.353Z,1638617085.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:45.841Z,1638617085.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:46.154Z,1638617086.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:46.992Z,1638617086.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.180008 m, bearing: 245.367934 deg, deltaT: 4.441185 s, deltaX: 1.919998 m, approachRate: 0.432317 m/s, LOS rate: -0.121723 deg/s, posRepo size: 4
2021-12-04T11:24:47.368Z,1638617087.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112447.34*5C

2021-12-04T11:24:47.369Z,1638617087.369 [Micromodem](INFO): Nmea in: $CAREV,112448,AUV,2.1.4000*20

2021-12-04T11:24:47.780Z,1638617087.780 [Micromodem](INFO): Nmea in: $CAREV,112448,COPROC,0.20.0.39330*71

2021-12-04T11:24:49.834Z,1638617089.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:50.596Z,1638617090.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:50.999Z,1638617090.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:51.818Z,1638617091.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112452.09*56

2021-12-04T11:24:51.819Z,1638617091.819 [Micromodem](INFO): Nmea in: $CAREV,112453,AUV,2.1.4000*2A

2021-12-04T11:24:51.927Z,1638617091.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.839996 m, bearing: 244.237046 deg, deltaT: 4.941944 s, deltaX: 0.659988 m, approachRate: 0.133548 m/s, LOS rate: -0.228835 deg/s, posRepo size: 4
2021-12-04T11:24:52.227Z,1638617092.227 [Micromodem](INFO): Nmea in: $CAREV,112453,COPROC,0.20.0.39330*7B

2021-12-04T11:24:54.641Z,1638617094.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:24:55.441Z,1638617095.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:24:55.866Z,1638617095.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:24:56.667Z,1638617096.667 [Micromodem](INFO): Nmea in: $SNTTA,0.122873,,,,112456.93*42

2021-12-04T11:24:56.668Z,1638617096.668 [Micromodem](INFO): Nmea in: $CAREV,112457,AUV,2.1.4000*2E

2021-12-04T11:24:56.702Z,1638617096.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.680008 m, bearing: 245.985657 deg, deltaT: 4.779109 s, deltaX: 0.840012 m, approachRate: 0.175767 m/s, LOS rate: 0.365886 deg/s, posRepo size: 4
2021-12-04T11:24:57.068Z,1638617097.068 [Micromodem](INFO): Nmea in: $CAREV,112457,COPROC,0.20.0.39330*7F

2021-12-04T11:24:59.508Z,1638617099.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:00.284Z,1638617100.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:00.701Z,1638617100.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:01.511Z,1638617101.511 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112501.78*57

2021-12-04T11:25:01.512Z,1638617101.512 [Micromodem](INFO): Nmea in: $CAREV,112502,AUV,2.1.4000*2F

2021-12-04T11:25:01.617Z,1638617101.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.460007 m, bearing: 246.136658 deg, deltaT: 4.876172 s, deltaX: 0.779999 m, approachRate: 0.159961 m/s, LOS rate: 0.030967 deg/s, posRepo size: 4
2021-12-04T11:25:01.932Z,1638617101.932 [Micromodem](INFO): Nmea in: $CAREV,112502,COPROC,0.20.0.39330*7E

2021-12-04T11:25:04.333Z,1638617104.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:05.129Z,1638617105.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:05.541Z,1638617105.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:06.014Z,1638617106.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.460007 m, bearing: 246.608406 deg, deltaT: 4.440028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.106249 deg/s, posRepo size: 4
2021-12-04T11:25:06.372Z,1638617106.372 [Micromodem](INFO): Nmea in: $SNTTA,0.126677,,,,112506.62*46

2021-12-04T11:25:06.373Z,1638617106.373 [Micromodem](INFO): Nmea in: $CAREV,112507,AUV,2.1.4000*2A

2021-12-04T11:25:06.760Z,1638617106.760 [Micromodem](INFO): Nmea in: $CAREV,112507,COPROC,0.20.0.39330*7B

2021-12-04T11:25:08.780Z,1638617108.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:09.604Z,1638617109.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:09.992Z,1638617109.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:10.795Z,1638617110.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112511.10*58

2021-12-04T11:25:10.797Z,1638617110.797 [Micromodem](INFO): Nmea in: $CAREV,112512,AUV,2.1.4000*2E

2021-12-04T11:25:10.851Z,1638617110.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.840012 m, bearing: 245.558824 deg, deltaT: 4.804769 s, deltaX: 1.380005 m, approachRate: 0.287216 m/s, LOS rate: -0.218446 deg/s, posRepo size: 4
2021-12-04T11:25:11.204Z,1638617111.204 [Micromodem](INFO): Nmea in: $CAREV,112512,COPROC,0.20.0.39330*7F

2021-12-04T11:25:13.700Z,1638617113.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:14.425Z,1638617114.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:14.839Z,1638617114.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:15.674Z,1638617115.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112515.92*56

2021-12-04T11:25:15.675Z,1638617115.675 [Micromodem](INFO): Nmea in: $CAREV,112516,AUV,2.1.4000*2A

2021-12-04T11:25:15.712Z,1638617115.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.619980 m, bearing: 246.442979 deg, deltaT: 4.893737 s, deltaX: 0.779968 m, approachRate: 0.159381 m/s, LOS rate: 0.180671 deg/s, posRepo size: 4
2021-12-04T11:25:16.052Z,1638617116.052 [Micromodem](INFO): Nmea in: $CAREV,112516,COPROC,0.20.0.39330*7B

2021-12-04T11:25:18.493Z,1638617118.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:19.281Z,1638617119.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:19.684Z,1638617119.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:20.513Z,1638617120.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112520.78*54

2021-12-04T11:25:20.515Z,1638617120.515 [Micromodem](INFO): Nmea in: $CAREV,112521,AUV,2.1.4000*2E

2021-12-04T11:25:20.532Z,1638617120.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.399994 m, bearing: 246.118490 deg, deltaT: 4.819927 s, deltaX: 0.780014 m, approachRate: 0.161831 m/s, LOS rate: -0.067322 deg/s, posRepo size: 4
2021-12-04T11:25:20.912Z,1638617120.912 [Micromodem](INFO): Nmea in: $CAREV,112521,COPROC,0.20.0.39330*7F

2021-12-04T11:25:23.357Z,1638617123.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:24.171Z,1638617124.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:24.536Z,1638617124.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:25.389Z,1638617125.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.180008 m, bearing: 245.677041 deg, deltaT: 4.852407 s, deltaX: 0.780014 m, approachRate: 0.160748 m/s, LOS rate: -0.090975 deg/s, posRepo size: 4
2021-12-04T11:25:25.754Z,1638617125.754 [Micromodem](INFO): Nmea in: $SNTTA,0.128749,,,,112525.67*40

2021-12-04T11:25:25.756Z,1638617125.756 [Micromodem](INFO): Nmea in: $CAREV,112526,AUV,2.1.4000*29

2021-12-04T11:25:26.152Z,1638617126.152 [Micromodem](INFO): Nmea in: $CAREV,112526,COPROC,0.20.0.39330*78

2021-12-04T11:25:28.203Z,1638617128.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:28.971Z,1638617128.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:29.375Z,1638617129.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:30.198Z,1638617130.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112530.47*59

2021-12-04T11:25:30.199Z,1638617130.199 [Micromodem](INFO): Nmea in: $CAREV,112531,AUV,2.1.4000*2F

2021-12-04T11:25:30.259Z,1638617130.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.899994 m, bearing: 246.209140 deg, deltaT: 4.869937 s, deltaX: 0.719986 m, approachRate: 0.147843 m/s, LOS rate: 0.109262 deg/s, posRepo size: 4
2021-12-04T11:25:30.604Z,1638617130.604 [Micromodem](INFO): Nmea in: $CAREV,112531,COPROC,0.20.0.39330*7E

2021-12-04T11:25:33.026Z,1638617133.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:33.824Z,1638617133.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:34.223Z,1638617134.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:35.050Z,1638617135.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112535.32*5E

2021-12-04T11:25:35.051Z,1638617135.051 [Micromodem](INFO): Nmea in: $CAREV,112536,AUV,2.1.4000*28

2021-12-04T11:25:35.115Z,1638617135.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 246.208539 deg, deltaT: 4.851924 s, deltaX: 0.720001 m, approachRate: 0.148395 m/s, LOS rate: -0.000124 deg/s, posRepo size: 4
2021-12-04T11:25:35.452Z,1638617135.452 [Micromodem](INFO): Nmea in: $CAREV,112536,COPROC,0.20.0.39330*79

2021-12-04T11:25:37.957Z,1638617137.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:38.665Z,1638617138.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:39.067Z,1638617139.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:39.899Z,1638617139.899 [Micromodem](INFO): Nmea in: $SNTTA,0.127110,,,,112540.16*40

2021-12-04T11:25:39.900Z,1638617139.900 [Micromodem](INFO): Nmea in: $CAREV,112541,AUV,2.1.4000*28

2021-12-04T11:25:39.981Z,1638617139.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.040009 m, bearing: 245.640104 deg, deltaT: 4.870008 s, deltaX: 0.420013 m, approachRate: 0.086245 m/s, LOS rate: -0.116722 deg/s, posRepo size: 4
2021-12-04T11:25:40.288Z,1638617140.288 [Micromodem](INFO): Nmea in: $CAREV,112541,COPROC,0.20.0.39330*79

2021-12-04T11:25:42.713Z,1638617142.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:43.513Z,1638617143.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:43.935Z,1638617143.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:44.746Z,1638617144.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112545.01*59

2021-12-04T11:25:44.747Z,1638617144.747 [Micromodem](INFO): Nmea in: $CAREV,112546,AUV,2.1.4000*2F

2021-12-04T11:25:44.765Z,1638617144.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.699982 m, bearing: 246.395550 deg, deltaT: 4.788276 s, deltaX: 0.659973 m, approachRate: 0.137831 m/s, LOS rate: 0.157770 deg/s, posRepo size: 4
2021-12-04T11:25:45.136Z,1638617145.136 [Micromodem](INFO): Nmea in: $CAREV,112546,COPROC,0.20.0.39330*7E

2021-12-04T11:25:47.631Z,1638617147.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:48.361Z,1638617148.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:48.764Z,1638617148.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:49.621Z,1638617149.621 [Micromodem](INFO): Nmea in: $SNTTA,0.143820,,,,112549.85*4B

2021-12-04T11:25:49.622Z,1638617149.622 [Micromodem](INFO): Nmea in: $CAREV,112550,AUV,2.1.4000*28

2021-12-04T11:25:49.699Z,1638617149.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.359985 m, bearing: 246.331428 deg, deltaT: 4.930714 s, deltaX: 0.660004 m, approachRate: 0.133856 m/s, LOS rate: -0.013005 deg/s, posRepo size: 4
2021-12-04T11:25:49.980Z,1638617149.980 [Micromodem](INFO): Nmea in: $CAREV,112550,COPROC,0.20.0.39330*79

2021-12-04T11:25:52.420Z,1638617152.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:53.209Z,1638617153.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:53.660Z,1638617153.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:54.441Z,1638617154.441 [Micromodem](INFO): Nmea in: $SNTTA,0.139353,,,,112554.70*4F

2021-12-04T11:25:54.443Z,1638617154.443 [Micromodem](INFO): Nmea in: $CAREV,112555,AUV,2.1.4000*2D

2021-12-04T11:25:54.460Z,1638617154.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.319992 m, bearing: 246.579145 deg, deltaT: 4.764930 s, deltaX: 0.960007 m, approachRate: 0.201473 m/s, LOS rate: 0.051988 deg/s, posRepo size: 4
2021-12-04T11:25:54.833Z,1638617154.833 [Micromodem](INFO): Nmea in: $CAREV,112555,COPROC,0.20.0.39330*7C

2021-12-04T11:25:57.276Z,1638617157.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:25:58.053Z,1638617158.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:25:58.467Z,1638617158.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:25:59.279Z,1638617159.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112559.55*55

2021-12-04T11:25:59.280Z,1638617159.280 [Micromodem](INFO): Nmea in: $CAREV,112600,AUV,2.1.4000*2E

2021-12-04T11:25:59.364Z,1638617159.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.219986 m, bearing: 246.398856 deg, deltaT: 4.899015 s, deltaX: 0.899994 m, approachRate: 0.183709 m/s, LOS rate: -0.036801 deg/s, posRepo size: 4
2021-12-04T11:25:59.684Z,1638617159.684 [Micromodem](INFO): Nmea in: $CAREV,112600,COPROC,0.20.0.39330*7F

2021-12-04T11:26:02.118Z,1638617162.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:02.929Z,1638617162.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:03.319Z,1638617163.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:04.150Z,1638617164.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112604.42*58

2021-12-04T11:26:04.151Z,1638617164.151 [Micromodem](INFO): Nmea in: $CAREV,112605,AUV,2.1.4000*2B

2021-12-04T11:26:04.212Z,1638617164.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.879990 m, bearing: 245.755670 deg, deltaT: 4.848609 s, deltaX: 0.660004 m, approachRate: 0.136122 m/s, LOS rate: -0.132654 deg/s, posRepo size: 4
2021-12-04T11:26:04.540Z,1638617164.540 [Micromodem](INFO): Nmea in: $CAREV,112605,COPROC,0.20.0.39330*7A

2021-12-04T11:26:06.958Z,1638617166.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:07.757Z,1638617167.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:08.168Z,1638617168.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:08.987Z,1638617168.987 [Micromodem](INFO): Nmea in: $SNTTA,0.132972,,,,112609.25*46

2021-12-04T11:26:08.988Z,1638617168.988 [Micromodem](INFO): Nmea in: $CAREV,112610,AUV,2.1.4000*2F

2021-12-04T11:26:09.038Z,1638617169.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.539993 m, bearing: 245.465688 deg, deltaT: 4.829887 s, deltaX: 0.660004 m, approachRate: 0.136650 m/s, LOS rate: -0.060039 deg/s, posRepo size: 4
2021-12-04T11:26:09.388Z,1638617169.388 [Micromodem](INFO): Nmea in: $CAREV,112610,COPROC,0.20.0.39330*7E

2021-12-04T11:26:11.846Z,1638617171.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:12.604Z,1638617172.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:13.019Z,1638617173.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:13.830Z,1638617173.830 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112614.10*5E

2021-12-04T11:26:13.831Z,1638617173.831 [Micromodem](INFO): Nmea in: $CAREV,112615,AUV,2.1.4000*2A

2021-12-04T11:26:13.935Z,1638617173.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.379990 m, bearing: 246.633814 deg, deltaT: 4.896438 s, deltaX: 0.839996 m, approachRate: 0.171553 m/s, LOS rate: 0.238567 deg/s, posRepo size: 4
2021-12-04T11:26:14.236Z,1638617174.236 [Micromodem](INFO): Nmea in: $CAREV,112615,COPROC,0.20.0.39330*7B

2021-12-04T11:26:16.645Z,1638617176.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:17.457Z,1638617177.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:17.894Z,1638617177.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:18.677Z,1638617178.677 [Micromodem](INFO): Nmea in: $SNTTA,0.133933,,,,112618.95*49

2021-12-04T11:26:18.679Z,1638617178.679 [Micromodem](INFO): Nmea in: $CAREV,112620,AUV,2.1.4000*2C

2021-12-04T11:26:18.730Z,1638617178.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.160004 m, bearing: 247.018709 deg, deltaT: 4.791540 s, deltaX: 0.780014 m, approachRate: 0.162790 m/s, LOS rate: 0.080328 deg/s, posRepo size: 4
2021-12-04T11:26:19.076Z,1638617179.076 [Micromodem](INFO): Nmea in: $CAREV,112620,COPROC,0.20.0.39330*7D

2021-12-04T11:26:21.517Z,1638617181.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:22.305Z,1638617182.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:22.705Z,1638617182.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:23.524Z,1638617183.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112623.80*53

2021-12-04T11:26:23.526Z,1638617183.526 [Micromodem](INFO): Nmea in: $CAREV,112624,AUV,2.1.4000*28

2021-12-04T11:26:23.595Z,1638617183.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.879990 m, bearing: 245.841512 deg, deltaT: 4.828751 s, deltaX: 0.719986 m, approachRate: 0.149104 m/s, LOS rate: -0.243789 deg/s, posRepo size: 4
2021-12-04T11:26:23.952Z,1638617183.952 [Micromodem](INFO): Nmea in: $CAREV,112624,COPROC,0.20.0.39330*79

2021-12-04T11:26:26.353Z,1638617186.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:27.145Z,1638617187.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:27.593Z,1638617187.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:28.371Z,1638617188.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112628.64*52

2021-12-04T11:26:28.372Z,1638617188.372 [Micromodem](INFO): Nmea in: $CAREV,112629,AUV,2.1.4000*25

2021-12-04T11:26:28.429Z,1638617188.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.719986 m, bearing: 246.638131 deg, deltaT: 4.835637 s, deltaX: 0.839996 m, approachRate: 0.173710 m/s, LOS rate: 0.164739 deg/s, posRepo size: 4
2021-12-04T11:26:28.772Z,1638617188.772 [Micromodem](INFO): Nmea in: $CAREV,112629,COPROC,0.20.0.39330*74

2021-12-04T11:26:31.210Z,1638617191.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:31.993Z,1638617191.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:32.427Z,1638617192.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:33.211Z,1638617193.211 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112633.49*57

2021-12-04T11:26:33.212Z,1638617193.212 [Micromodem](INFO): Nmea in: $CAREV,112634,AUV,2.1.4000*29

2021-12-04T11:26:33.244Z,1638617193.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.259995 m, bearing: 246.181027 deg, deltaT: 4.848423 s, deltaX: 0.540009 m, approachRate: 0.111378 m/s, LOS rate: -0.094279 deg/s, posRepo size: 4
2021-12-04T11:26:33.656Z,1638617193.656 [Micromodem](INFO): Nmea in: $CAREV,112634,COPROC,0.20.0.39330*78

2021-12-04T11:26:36.061Z,1638617196.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:36.845Z,1638617196.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:37.247Z,1638617197.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:38.067Z,1638617198.067 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112638.34*56

2021-12-04T11:26:38.068Z,1638617198.068 [Micromodem](INFO): Nmea in: $CAREV,112639,AUV,2.1.4000*24

2021-12-04T11:26:38.095Z,1638617198.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.039993 m, bearing: 246.144062 deg, deltaT: 4.855957 s, deltaX: 0.779999 m, approachRate: 0.160627 m/s, LOS rate: -0.007612 deg/s, posRepo size: 4
2021-12-04T11:26:38.468Z,1638617198.468 [Micromodem](INFO): Nmea in: $CAREV,112639,COPROC,0.20.0.39330*75

2021-12-04T11:26:40.928Z,1638617200.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:41.689Z,1638617201.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:42.091Z,1638617202.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:42.938Z,1638617202.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112643.19*55

2021-12-04T11:26:42.939Z,1638617202.939 [Micromodem](INFO): Nmea in: $CAREV,112644,AUV,2.1.4000*2E

2021-12-04T11:26:42.991Z,1638617202.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.819977 m, bearing: 246.561906 deg, deltaT: 4.892426 s, deltaX: 0.779984 m, approachRate: 0.159427 m/s, LOS rate: 0.085406 deg/s, posRepo size: 4
2021-12-04T11:26:43.316Z,1638617203.316 [Micromodem](INFO): Nmea in: $CAREV,112644,COPROC,0.20.0.39330*7F

2021-12-04T11:26:45.761Z,1638617205.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:46.533Z,1638617206.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:46.943Z,1638617206.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:47.774Z,1638617207.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112648.03*55

2021-12-04T11:26:47.775Z,1638617207.775 [Micromodem](INFO): Nmea in: $CAREV,112649,AUV,2.1.4000*23

2021-12-04T11:26:47.812Z,1638617207.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.360001 m, bearing: 246.141002 deg, deltaT: 4.824709 s, deltaX: 0.540024 m, approachRate: 0.111929 m/s, LOS rate: -0.087239 deg/s, posRepo size: 4
2021-12-04T11:26:48.164Z,1638617208.164 [Micromodem](INFO): Nmea in: $CAREV,112649,COPROC,0.20.0.39330*72

2021-12-04T11:26:50.592Z,1638617210.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:51.385Z,1638617211.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:51.791Z,1638617211.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:52.615Z,1638617212.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112652.88*5D

2021-12-04T11:26:52.616Z,1638617212.616 [Micromodem](INFO): Nmea in: $CAREV,112653,AUV,2.1.4000*28

2021-12-04T11:26:52.662Z,1638617212.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.199982 m, bearing: 245.893695 deg, deltaT: 4.846228 s, deltaX: 0.839981 m, approachRate: 0.173327 m/s, LOS rate: -0.051031 deg/s, posRepo size: 4
2021-12-04T11:26:53.012Z,1638617213.012 [Micromodem](INFO): Nmea in: $CAREV,112653,COPROC,0.20.0.39330*79

2021-12-04T11:26:55.436Z,1638617215.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:26:56.233Z,1638617216.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:26:56.648Z,1638617216.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:26:57.466Z,1638617217.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112657.73*5C

2021-12-04T11:26:57.468Z,1638617217.468 [Micromodem](INFO): Nmea in: $CAREV,112658,AUV,2.1.4000*23

2021-12-04T11:26:57.515Z,1638617217.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.979996 m, bearing: 246.414374 deg, deltaT: 4.856525 s, deltaX: 0.780014 m, approachRate: 0.160612 m/s, LOS rate: 0.107212 deg/s, posRepo size: 4
2021-12-04T11:26:57.873Z,1638617217.873 [Micromodem](INFO): Nmea in: $CAREV,112658,COPROC,0.20.0.39330*72

2021-12-04T11:27:00.292Z,1638617220.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:01.081Z,1638617221.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:01.487Z,1638617221.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:02.307Z,1638617222.307 [Micromodem](INFO): Nmea in: $SNTTA,0.137615,,,,112702.58*4D

2021-12-04T11:27:02.308Z,1638617222.308 [Micromodem](INFO): Nmea in: $CAREV,112703,AUV,2.1.4000*2C

2021-12-04T11:27:02.349Z,1638617222.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.519989 m, bearing: 246.277716 deg, deltaT: 4.810903 s, deltaX: 0.539993 m, approachRate: 0.112244 m/s, LOS rate: -0.028406 deg/s, posRepo size: 4
2021-12-04T11:27:02.712Z,1638617222.712 [Micromodem](INFO): Nmea in: $CAREV,112703,COPROC,0.20.0.39330*7D

2021-12-04T11:27:05.142Z,1638617225.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:05.943Z,1638617225.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:06.324Z,1638617226.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:07.151Z,1638617227.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112707.44*5C

2021-12-04T11:27:07.152Z,1638617227.152 [Micromodem](INFO): Nmea in: $CAREV,112708,AUV,2.1.4000*27

2021-12-04T11:27:07.180Z,1638617227.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.299988 m, bearing: 245.824573 deg, deltaT: 4.853225 s, deltaX: 0.779999 m, approachRate: 0.160718 m/s, LOS rate: -0.093369 deg/s, posRepo size: 4
2021-12-04T11:27:07.588Z,1638617227.588 [Micromodem](INFO): Nmea in: $CAREV,112708,COPROC,0.20.0.39330*76

2021-12-04T11:27:10.032Z,1638617230.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:10.797Z,1638617230.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:11.182Z,1638617231.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:12.008Z,1638617232.008 [Micromodem](INFO): Nmea in: $SNTTA,0.140406,,,,112712.29*4A

2021-12-04T11:27:12.009Z,1638617232.009 [Micromodem](INFO): Nmea in: $CAREV,112713,AUV,2.1.4000*2D

2021-12-04T11:27:12.036Z,1638617232.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.079987 m, bearing: 245.568004 deg, deltaT: 4.857716 s, deltaX: 0.779999 m, approachRate: 0.160569 m/s, LOS rate: -0.052817 deg/s, posRepo size: 4
2021-12-04T11:27:12.419Z,1638617232.419 [Micromodem](INFO): Nmea in: $CAREV,112713,COPROC,0.20.0.39330*7C

2021-12-04T11:27:14.853Z,1638617234.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:15.659Z,1638617235.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:16.023Z,1638617236.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:16.864Z,1638617236.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112717.15*59

2021-12-04T11:27:16.872Z,1638617236.872 [Micromodem](INFO): Nmea in: $CAREV,112718,AUV,2.1.4000*26

2021-12-04T11:27:16.954Z,1638617236.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.739975 m, bearing: 245.475360 deg, deltaT: 4.913048 s, deltaX: 0.659988 m, approachRate: 0.134334 m/s, LOS rate: -0.018857 deg/s, posRepo size: 4
2021-12-04T11:27:17.249Z,1638617237.249 [Micromodem](INFO): Nmea in: $CAREV,112718,COPROC,0.20.0.39330*77

2021-12-04T11:27:19.730Z,1638617239.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:20.473Z,1638617240.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:20.894Z,1638617240.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:21.711Z,1638617241.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112721.97*56

2021-12-04T11:27:21.712Z,1638617241.712 [Micromodem](INFO): Nmea in: $CAREV,112723,AUV,2.1.4000*2E

2021-12-04T11:27:21.749Z,1638617241.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.699997 m, bearing: 245.632017 deg, deltaT: 4.800072 s, deltaX: 0.960022 m, approachRate: 0.200002 m/s, LOS rate: 0.032636 deg/s, posRepo size: 4
2021-12-04T11:27:22.092Z,1638617242.092 [Micromodem](INFO): Nmea in: $CAREV,112723,COPROC,0.20.0.39330*7F

2021-12-04T11:27:24.532Z,1638617244.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:25.321Z,1638617245.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:25.756Z,1638617245.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:26.552Z,1638617246.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112726.82*55

2021-12-04T11:27:26.554Z,1638617246.554 [Micromodem](INFO): Nmea in: $CAREV,112727,AUV,2.1.4000*2A

2021-12-04T11:27:26.572Z,1638617246.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.539993 m, bearing: 246.276268 deg, deltaT: 4.822312 s, deltaX: 0.839996 m, approachRate: 0.174190 m/s, LOS rate: 0.133598 deg/s, posRepo size: 4
2021-12-04T11:27:26.948Z,1638617246.948 [Micromodem](INFO): Nmea in: $CAREV,112727,COPROC,0.20.0.39330*7B

2021-12-04T11:27:29.381Z,1638617249.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:30.169Z,1638617250.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:30.572Z,1638617250.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:31.454Z,1638617251.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112731.67*58

2021-12-04T11:27:31.456Z,1638617251.456 [Micromodem](INFO): Nmea in: $CAREV,112732,AUV,2.1.4000*2E

2021-12-04T11:27:31.474Z,1638617251.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.319992 m, bearing: 244.113966 deg, deltaT: 4.901786 s, deltaX: 0.779999 m, approachRate: 0.159125 m/s, LOS rate: -0.441125 deg/s, posRepo size: 4
2021-12-04T11:27:31.796Z,1638617251.796 [Micromodem](INFO): Nmea in: $CAREV,112732,COPROC,0.20.0.39330*7F

2021-12-04T11:27:34.240Z,1638617254.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:35.017Z,1638617255.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:35.423Z,1638617255.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:36.255Z,1638617256.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112736.51*5A

2021-12-04T11:27:36.256Z,1638617256.256 [Micromodem](INFO): Nmea in: $CAREV,112737,AUV,2.1.4000*2B

2021-12-04T11:27:36.273Z,1638617256.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.979996 m, bearing: 242.867484 deg, deltaT: 4.799635 s, deltaX: 0.660004 m, approachRate: 0.137511 m/s, LOS rate: -0.259704 deg/s, posRepo size: 4
2021-12-04T11:27:36.640Z,1638617256.640 [Micromodem](INFO): Nmea in: $CAREV,112737,COPROC,0.20.0.39330*7A

2021-12-04T11:27:39.085Z,1638617259.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:39.872Z,1638617259.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:40.272Z,1638617260.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:41.102Z,1638617261.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112741.37*5A

2021-12-04T11:27:41.104Z,1638617261.104 [Micromodem](INFO): Nmea in: $CAREV,112742,AUV,2.1.4000*29

2021-12-04T11:27:41.136Z,1638617261.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.639984 m, bearing: 244.482742 deg, deltaT: 4.862475 s, deltaX: 0.659988 m, approachRate: 0.135731 m/s, LOS rate: 0.332188 deg/s, posRepo size: 4
2021-12-04T11:27:41.484Z,1638617261.484 [Micromodem](INFO): Nmea in: $CAREV,112742,COPROC,0.20.0.39330*78

2021-12-04T11:27:43.986Z,1638617263.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:44.713Z,1638617264.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:45.124Z,1638617265.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:45.942Z,1638617265.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112746.21*5A

2021-12-04T11:27:45.943Z,1638617265.943 [Micromodem](INFO): Nmea in: $CAREV,112747,AUV,2.1.4000*2C

2021-12-04T11:27:46.034Z,1638617266.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.119980 m, bearing: 245.514210 deg, deltaT: 4.894268 s, deltaX: 0.479996 m, approachRate: 0.098073 m/s, LOS rate: 0.210750 deg/s, posRepo size: 4
2021-12-04T11:27:46.344Z,1638617266.344 [Micromodem](INFO): Nmea in: $CAREV,112747,COPROC,0.20.0.39330*7D

2021-12-04T11:27:48.772Z,1638617268.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:49.579Z,1638617269.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:49.971Z,1638617269.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:50.785Z,1638617270.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112751.08*57

2021-12-04T11:27:50.786Z,1638617270.786 [Micromodem](INFO): Nmea in: $CAREV,112752,AUV,2.1.4000*28

2021-12-04T11:27:50.804Z,1638617270.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.020004 m, bearing: 246.365907 deg, deltaT: 4.773750 s, deltaX: 0.900024 m, approachRate: 0.188536 m/s, LOS rate: 0.178413 deg/s, posRepo size: 4
2021-12-04T11:27:51.188Z,1638617271.188 [Micromodem](INFO): Nmea in: $CAREV,112752,COPROC,0.20.0.39330*79

2021-12-04T11:27:53.668Z,1638617273.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:54.409Z,1638617274.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:54.815Z,1638617274.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:27:55.658Z,1638617275.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112755.91*53

2021-12-04T11:27:55.659Z,1638617275.659 [Micromodem](INFO): Nmea in: $CAREV,112756,AUV,2.1.4000*2C

2021-12-04T11:27:55.735Z,1638617275.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.739990 m, bearing: 245.542213 deg, deltaT: 4.927740 s, deltaX: 0.719986 m, approachRate: 0.146109 m/s, LOS rate: -0.167154 deg/s, posRepo size: 4
2021-12-04T11:27:56.032Z,1638617276.032 [Micromodem](INFO): Nmea in: $CAREV,112756,COPROC,0.20.0.39330*7D

2021-12-04T11:27:58.469Z,1638617278.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:27:59.277Z,1638617279.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:27:59.663Z,1638617279.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:00.490Z,1638617280.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112800.77*54

2021-12-04T11:28:00.491Z,1638617280.491 [Micromodem](INFO): Nmea in: $CAREV,112801,AUV,2.1.4000*21

2021-12-04T11:28:00.533Z,1638617280.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.339981 m, bearing: 245.837851 deg, deltaT: 4.801609 s, deltaX: 0.599991 m, approachRate: 0.124956 m/s, LOS rate: 0.061571 deg/s, posRepo size: 4
2021-12-04T11:28:00.892Z,1638617280.892 [Micromodem](INFO): Nmea in: $CAREV,112801,COPROC,0.20.0.39330*70

2021-12-04T11:28:03.308Z,1638617283.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:04.105Z,1638617284.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:04.513Z,1638617284.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:05.334Z,1638617285.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112805.60*57

2021-12-04T11:28:05.335Z,1638617285.335 [Micromodem](INFO): Nmea in: $CAREV,112806,AUV,2.1.4000*26

2021-12-04T11:28:05.386Z,1638617285.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.179977 m, bearing: 246.973766 deg, deltaT: 4.824583 s, deltaX: 0.839996 m, approachRate: 0.174108 m/s, LOS rate: 0.235443 deg/s, posRepo size: 4
2021-12-04T11:28:05.728Z,1638617285.728 [Micromodem](INFO): Nmea in: $CAREV,112806,COPROC,0.20.0.39330*77

2021-12-04T11:28:08.162Z,1638617288.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:08.960Z,1638617288.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:09.363Z,1638617289.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:10.188Z,1638617290.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112810.45*54

2021-12-04T11:28:10.190Z,1638617290.190 [Micromodem](INFO): Nmea in: $CAREV,112811,AUV,2.1.4000*20

2021-12-04T11:28:10.262Z,1638617290.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.899994 m, bearing: 247.348798 deg, deltaT: 4.899914 s, deltaX: 0.720016 m, approachRate: 0.146945 m/s, LOS rate: 0.076538 deg/s, posRepo size: 4
2021-12-04T11:28:10.576Z,1638617290.576 [Micromodem](INFO): Nmea in: $CAREV,112811,COPROC,0.20.0.39330*71

2021-12-04T11:28:13.026Z,1638617293.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:13.804Z,1638617293.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:14.207Z,1638617294.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:15.027Z,1638617295.027 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112815.30*53

2021-12-04T11:28:15.028Z,1638617295.028 [Micromodem](INFO): Nmea in: $CAREV,112816,AUV,2.1.4000*27

2021-12-04T11:28:15.091Z,1638617295.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.619995 m, bearing: 247.066083 deg, deltaT: 4.822443 s, deltaX: 0.720001 m, approachRate: 0.149302 m/s, LOS rate: -0.058625 deg/s, posRepo size: 4
2021-12-04T11:28:15.428Z,1638617295.428 [Micromodem](INFO): Nmea in: $CAREV,112816,COPROC,0.20.0.39330*76

2021-12-04T11:28:17.907Z,1638617297.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:18.645Z,1638617298.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:19.055Z,1638617299.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:19.918Z,1638617299.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112820.14*53

2021-12-04T11:28:19.919Z,1638617299.919 [Micromodem](INFO): Nmea in: $CAREV,112821,AUV,C,0.20.0.39330*72

2021-12-04T11:28:19.920Z,1638617299.920 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,112821,AUV,C,0.20.0.39330*72
 expected 5D
2021-12-04T11:28:20.013Z,1638617300.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.339981 m, bearing: 247.073241 deg, deltaT: 4.920835 s, deltaX: 0.719986 m, approachRate: 0.146314 m/s, LOS rate: 0.001455 deg/s, posRepo size: 4
2021-12-04T11:28:22.708Z,1638617302.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:23.497Z,1638617303.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:23.933Z,1638617303.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:24.719Z,1638617304.719 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112824.99*52

2021-12-04T11:28:24.720Z,1638617304.720 [Micromodem](INFO): Nmea in: $CAREV,112826,AUV,2.1.4000*24

2021-12-04T11:28:24.738Z,1638617304.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.179993 m, bearing: 246.934124 deg, deltaT: 4.736834 s, deltaX: 0.840012 m, approachRate: 0.177336 m/s, LOS rate: -0.029369 deg/s, posRepo size: 4
2021-12-04T11:28:25.124Z,1638617305.124 [Micromodem](INFO): Nmea in: $CAREV,112826,COPROC,0.20.0.39330*75

2021-12-04T11:28:27.609Z,1638617307.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:28.345Z,1638617308.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:28.751Z,1638617308.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:29.608Z,1638617309.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112829.84*53

2021-12-04T11:28:29.615Z,1638617309.615 [Micromodem](INFO): Nmea in: $CAREV,112830,AUV,2.1.4000*23

2021-12-04T11:28:29.671Z,1638617309.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.779999 m, bearing: 246.928988 deg, deltaT: 4.932712 s, deltaX: 0.600006 m, approachRate: 0.121638 m/s, LOS rate: -0.001041 deg/s, posRepo size: 4
2021-12-04T11:28:29.964Z,1638617309.964 [Micromodem](INFO): Nmea in: $CAREV,112830,COPROC,0.20.0.39330*72

2021-12-04T11:28:32.413Z,1638617312.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:33.189Z,1638617313.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:33.635Z,1638617313.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:34.414Z,1638617314.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112834.68*5D

2021-12-04T11:28:34.415Z,1638617314.415 [Micromodem](INFO): Nmea in: $CAREV,112835,AUV,2.1.4000*26

2021-12-04T11:28:34.461Z,1638617314.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.440002 m, bearing: 246.464781 deg, deltaT: 4.762680 s, deltaX: 0.660004 m, approachRate: 0.138578 m/s, LOS rate: -0.097468 deg/s, posRepo size: 4
2021-12-04T11:28:34.820Z,1638617314.820 [Micromodem](INFO): Nmea in: $CAREV,112835,COPROC,0.20.0.39330*77

2021-12-04T11:28:37.274Z,1638617317.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:38.041Z,1638617318.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:38.447Z,1638617318.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:39.279Z,1638617319.279 [Micromodem](INFO): Nmea in: $SNTTA,0.157441,,,,112839.54*43

2021-12-04T11:28:39.280Z,1638617319.280 [Micromodem](INFO): Nmea in: $CAREV,112840,AUV,2.1.4000*24

2021-12-04T11:28:39.335Z,1638617319.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.219986 m, bearing: 246.771238 deg, deltaT: 4.902077 s, deltaX: 0.779984 m, approachRate: 0.159113 m/s, LOS rate: 0.062516 deg/s, posRepo size: 4
2021-12-04T11:28:39.680Z,1638617319.680 [Micromodem](INFO): Nmea in: $CAREV,112840,COPROC,0.20.0.39330*75

2021-12-04T11:28:42.102Z,1638617322.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:42.913Z,1638617322.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:43.291Z,1638617323.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:43.694Z,1638617323.694 [Micromodem](INFO): Nmea in: $SNTTA,0.150104,0.184042,,,112844.41*5B

2021-12-04T11:28:43.695Z,1638617323.695 [Micromodem](INFO): Nmea in: $CAREV,112844,AUV,2.1.4000*20

2021-12-04T11:28:44.105Z,1638617324.105 [Micromodem](INFO): Nmea in: $CAREV,112844,COPROC,0.20.0.39330*71

2021-12-04T11:28:44.133Z,1638617324.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.939987 m, bearing: 247.011660 deg, deltaT: 4.797912 s, deltaX: 0.720001 m, approachRate: 0.150066 m/s, LOS rate: 0.050110 deg/s, posRepo size: 4
2021-12-04T11:28:46.954Z,1638617326.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:47.745Z,1638617327.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:48.143Z,1638617328.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:48.956Z,1638617328.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112849.24*5F

2021-12-04T11:28:48.957Z,1638617328.957 [Micromodem](INFO): Nmea in: $CAREV,112850,AUV,2.1.4000*25

2021-12-04T11:28:48.000Z,1638617329.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.899994 m, bearing: 246.778942 deg, deltaT: 4.850925 s, deltaX: 0.960007 m, approachRate: 0.197902 m/s, LOS rate: -0.047974 deg/s, posRepo size: 4
2021-12-04T11:28:49.372Z,1638617329.372 [Micromodem](INFO): Nmea in: $CAREV,112850,COPROC,0.20.0.39330*74

2021-12-04T11:28:51.832Z,1638617331.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:52.592Z,1638617332.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:52.999Z,1638617332.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:53.818Z,1638617333.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112854.09*5C

2021-12-04T11:28:53.819Z,1638617333.819 [Micromodem](INFO): Nmea in: $CAREV,112855,AUV,2.1.4000*20

2021-12-04T11:28:53.922Z,1638617333.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.619980 m, bearing: 246.741321 deg, deltaT: 4.937610 s, deltaX: 0.719986 m, approachRate: 0.145817 m/s, LOS rate: -0.007619 deg/s, posRepo size: 4
2021-12-04T11:28:54.228Z,1638617334.228 [Micromodem](INFO): Nmea in: $CAREV,112855,COPROC,0.20.0.39330*71

2021-12-04T11:28:56.649Z,1638617336.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:28:57.447Z,1638617337.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:28:57.847Z,1638617337.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:28:58.659Z,1638617338.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112858.94*54

2021-12-04T11:28:58.660Z,1638617338.660 [Micromodem](INFO): Nmea in: $CAREV,112859,AUV,2.1.4000*2C

2021-12-04T11:28:58.677Z,1638617338.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.399994 m, bearing: 245.379655 deg, deltaT: 4.755854 s, deltaX: 0.780014 m, approachRate: 0.164011 m/s, LOS rate: -0.286314 deg/s, posRepo size: 4
2021-12-04T11:28:59.061Z,1638617339.061 [Micromodem](INFO): Nmea in: $CAREV,112859,COPROC,0.20.0.39330*7D

2021-12-04T11:29:01.493Z,1638617341.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:02.277Z,1638617342.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:02.683Z,1638617342.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:03.511Z,1638617343.511 [Micromodem](INFO): Nmea in: $SNTTA,0.152226,,,,112903.77*48

2021-12-04T11:29:03.512Z,1638617343.512 [Micromodem](INFO): Nmea in: $CAREV,112904,AUV,2.1.4000*25

2021-12-04T11:29:03.613Z,1638617343.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.119980 m, bearing: 245.442465 deg, deltaT: 4.907333 s, deltaX: 0.719986 m, approachRate: 0.146716 m/s, LOS rate: 0.012799 deg/s, posRepo size: 4
2021-12-04T11:29:03.937Z,1638617343.937 [Micromodem](INFO): Nmea in: $CAREV,112904,COPROC,0.20.0.39330*74

2021-12-04T11:29:06.337Z,1638617346.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:07.129Z,1638617347.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:07.543Z,1638617347.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:08.359Z,1638617348.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112908.62*59

2021-12-04T11:29:08.360Z,1638617348.360 [Micromodem](INFO): Nmea in: $CAREV,112909,AUV,2.1.4000*28

2021-12-04T11:29:08.377Z,1638617348.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.839981 m, bearing: 244.974433 deg, deltaT: 4.792541 s, deltaX: 0.720001 m, approachRate: 0.150234 m/s, LOS rate: -0.097658 deg/s, posRepo size: 4
2021-12-04T11:29:08.752Z,1638617348.752 [Micromodem](INFO): Nmea in: $CAREV,112909,COPROC,0.20.0.39330*79

2021-12-04T11:29:11.187Z,1638617351.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:11.984Z,1638617351.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:12.383Z,1638617352.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:13.199Z,1638617353.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112913.48*5B

2021-12-04T11:29:13.200Z,1638617353.200 [Micromodem](INFO): Nmea in: $CAREV,112914,AUV,2.1.4000*24

2021-12-04T11:29:13.255Z,1638617353.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.499985 m, bearing: 246.440902 deg, deltaT: 4.874031 s, deltaX: 0.660004 m, approachRate: 0.135412 m/s, LOS rate: 0.300874 deg/s, posRepo size: 4
2021-12-04T11:29:13.628Z,1638617353.628 [Micromodem](INFO): Nmea in: $CAREV,112914,COPROC,0.20.0.39330*75

2021-12-04T11:29:16.035Z,1638617356.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:16.821Z,1638617356.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:17.231Z,1638617357.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:18.047Z,1638617358.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112918.32*5D

2021-12-04T11:29:18.048Z,1638617358.048 [Micromodem](INFO): Nmea in: $CAREV,112919,AUV,2.1.4000*29

2021-12-04T11:29:18.103Z,1638617358.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.279999 m, bearing: 244.396763 deg, deltaT: 4.823189 s, deltaX: 0.780014 m, approachRate: 0.161722 m/s, LOS rate: -0.423815 deg/s, posRepo size: 4
2021-12-04T11:29:18.448Z,1638617358.448 [Micromodem](INFO): Nmea in: $CAREV,112919,COPROC,0.20.0.39330*78

2021-12-04T11:29:20.929Z,1638617360.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:21.680Z,1638617361.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:22.076Z,1638617362.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:22.918Z,1638617362.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112923.18*5D

2021-12-04T11:29:22.920Z,1638617362.920 [Micromodem](INFO): Nmea in: $CAREV,112924,AUV,2.1.4000*27

2021-12-04T11:29:22.992Z,1638617362.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.240005 m, bearing: 245.441209 deg, deltaT: 4.912598 s, deltaX: 0.960007 m, approachRate: 0.195417 m/s, LOS rate: 0.212605 deg/s, posRepo size: 4
2021-12-04T11:29:23.300Z,1638617363.300 [Micromodem](INFO): Nmea in: $CAREV,112924,COPROC,0.20.0.39330*76

2021-12-04T11:29:25.761Z,1638617365.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:26.513Z,1638617366.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:26.931Z,1638617366.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:27.743Z,1638617367.743 [Micromodem](INFO): Nmea in: $SNTTA,0.158119,,,,112928.01*45

2021-12-04T11:29:27.744Z,1638617367.744 [Micromodem](INFO): Nmea in: $CAREV,112929,AUV,2.1.4000*2A

2021-12-04T11:29:27.808Z,1638617367.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.779999 m, bearing: 245.745944 deg, deltaT: 4.820469 s, deltaX: 0.539993 m, approachRate: 0.112021 m/s, LOS rate: 0.063217 deg/s, posRepo size: 4
2021-12-04T11:29:28.140Z,1638617368.140 [Micromodem](INFO): Nmea in: $CAREV,112929,COPROC,0.20.0.39330*7B

2021-12-04T11:29:30.572Z,1638617370.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:31.381Z,1638617371.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:31.772Z,1638617371.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:32.611Z,1638617372.611 [Micromodem](INFO): Nmea in: $SNTTA,0.153582,,,,112932.88*42

2021-12-04T11:29:32.612Z,1638617372.612 [Micromodem](INFO): Nmea in: $CAREV,112933,AUV,2.1.4000*21

2021-12-04T11:29:32.629Z,1638617372.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.499985 m, bearing: 246.023906 deg, deltaT: 4.821754 s, deltaX: 0.719986 m, approachRate: 0.149320 m/s, LOS rate: 0.057647 deg/s, posRepo size: 4
2021-12-04T11:29:32.000Z,1638617373.000 [Micromodem](INFO): Nmea in: $CAREV,112933,COPROC,0.20.0.39330*70

2021-12-04T11:29:35.424Z,1638617375.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:36.209Z,1638617376.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:36.620Z,1638617376.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:37.455Z,1638617377.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112937.71*57

2021-12-04T11:29:37.456Z,1638617377.456 [Micromodem](INFO): Nmea in: $CAREV,112938,AUV,2.1.4000*2A

2021-12-04T11:29:37.473Z,1638617377.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.279999 m, bearing: 245.638956 deg, deltaT: 4.843984 s, deltaX: 0.780014 m, approachRate: 0.161027 m/s, LOS rate: -0.079470 deg/s, posRepo size: 4
2021-12-04T11:29:37.847Z,1638617377.847 [Micromodem](INFO): Nmea in: $CAREV,112938,COPROC,0.20.0.39330*7B

2021-12-04T11:29:40.278Z,1638617380.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:41.065Z,1638617381.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:41.471Z,1638617381.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:42.293Z,1638617382.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112942.56*50

2021-12-04T11:29:42.294Z,1638617382.294 [Micromodem](INFO): Nmea in: $CAREV,112943,AUV,2.1.4000*26

2021-12-04T11:29:42.673Z,1638617382.673 [Micromodem](INFO): Nmea in: $CAREV,112943,COPROC,0.20.0.39330*77

2021-12-04T11:29:43.106Z,1638617383.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:44.700Z,1638617384.700 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:29:45.981Z,1638617385.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:46.721Z,1638617386.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:47.135Z,1638617387.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:47.954Z,1638617387.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112948.22*59

2021-12-04T11:29:47.955Z,1638617387.955 [Micromodem](INFO): Nmea in: $CAREV,112949,AUV,2.1.4000*2C

2021-12-04T11:29:48.034Z,1638617388.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.599976 m, bearing: 246.869046 deg, deltaT: 10.556339 s, deltaX: 1.319977 m, approachRate: 0.125041 m/s, LOS rate: 0.116526 deg/s, posRepo size: 4
2021-12-04T11:29:48.356Z,1638617388.356 [Micromodem](INFO): Nmea in: $CAREV,112949,COPROC,0.20.0.39330*7D

2021-12-04T11:29:50.776Z,1638617390.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:51.607Z,1638617391.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:51.976Z,1638617391.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:52.787Z,1638617392.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112953.10*52

2021-12-04T11:29:52.789Z,1638617392.789 [Micromodem](INFO): Nmea in: $CAREV,112954,AUV,2.1.4000*20

2021-12-04T11:29:52.869Z,1638617392.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.379990 m, bearing: 246.228811 deg, deltaT: 4.821929 s, deltaX: 0.780014 m, approachRate: 0.161764 m/s, LOS rate: -0.132776 deg/s, posRepo size: 4
2021-12-04T11:29:53.200Z,1638617393.200 [Micromodem](INFO): Nmea in: $CAREV,112954,COPROC,0.20.0.39330*71

2021-12-04T11:29:55.672Z,1638617395.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:29:56.417Z,1638617396.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:29:56.832Z,1638617396.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:29:57.671Z,1638617397.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112957.91*5F

2021-12-04T11:29:57.673Z,1638617397.673 [Micromodem](INFO): Nmea in: $CAREV,112958,AUV,2.1.4000*2C

2021-12-04T11:29:57.761Z,1638617397.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.099991 m, bearing: 246.824622 deg, deltaT: 4.905512 s, deltaX: 0.720001 m, approachRate: 0.146774 m/s, LOS rate: 0.121457 deg/s, posRepo size: 4
2021-12-04T11:29:58.044Z,1638617398.044 [Micromodem](INFO): Nmea in: $CAREV,112958,COPROC,0.20.0.39330*7D

2021-12-04T11:30:00.469Z,1638617400.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:01.265Z,1638617401.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:01.679Z,1638617401.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:02.497Z,1638617402.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113002.76*5E

2021-12-04T11:30:02.498Z,1638617402.498 [Micromodem](INFO): Nmea in: $CAREV,113003,AUV,2.1.4000*2A

2021-12-04T11:30:02.567Z,1638617402.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.759979 m, bearing: 247.020212 deg, deltaT: 4.791062 s, deltaX: 0.659988 m, approachRate: 0.137754 m/s, LOS rate: 0.040824 deg/s, posRepo size: 4
2021-12-04T11:30:02.908Z,1638617402.908 [Micromodem](INFO): Nmea in: $CAREV,113003,COPROC,0.20.0.39330*7B

2021-12-04T11:30:05.336Z,1638617405.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:06.113Z,1638617406.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:06.523Z,1638617406.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:07.343Z,1638617407.343 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113007.61*5D

2021-12-04T11:30:07.344Z,1638617407.344 [Micromodem](INFO): Nmea in: $CAREV,113008,AUV,2.1.4000*21

2021-12-04T11:30:07.389Z,1638617407.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.179993 m, bearing: 246.566988 deg, deltaT: 4.840405 s, deltaX: 0.420013 m, approachRate: 0.086772 m/s, LOS rate: -0.093633 deg/s, posRepo size: 4
2021-12-04T11:30:07.748Z,1638617407.748 [Micromodem](INFO): Nmea in: $CAREV,113008,COPROC,0.20.0.39330*70

2021-12-04T11:30:10.190Z,1638617410.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:10.961Z,1638617410.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:11.371Z,1638617411.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:12.179Z,1638617412.179 [Micromodem](INFO): Nmea in: $SNTTA,0.154546,,,,113012.46*45

2021-12-04T11:30:12.180Z,1638617412.180 [Micromodem](INFO): Nmea in: $CAREV,113013,AUV,2.1.4000*2B

2021-12-04T11:30:12.243Z,1638617412.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.199997 m, bearing: 246.735475 deg, deltaT: 4.850430 s, deltaX: 1.020004 m, approachRate: 0.210292 m/s, LOS rate: 0.034737 deg/s, posRepo size: 4
2021-12-04T11:30:12.588Z,1638617412.588 [Micromodem](INFO): Nmea in: $CAREV,113013,COPROC,0.20.0.39330*7A

2021-12-04T11:30:15.038Z,1638617415.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:15.809Z,1638617415.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:16.211Z,1638617416.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:17.031Z,1638617417.031 [Micromodem](INFO): Nmea in: $SNTTA,0.177518,,,,113017.31*4A

2021-12-04T11:30:17.032Z,1638617417.032 [Micromodem](INFO): Nmea in: $CAREV,113018,AUV,2.1.4000*20

2021-12-04T11:30:17.058Z,1638617417.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.860001 m, bearing: 246.317986 deg, deltaT: 4.819277 s, deltaX: 0.660004 m, approachRate: 0.136951 m/s, LOS rate: -0.086629 deg/s, posRepo size: 4
2021-12-04T11:30:17.436Z,1638617417.436 [Micromodem](INFO): Nmea in: $CAREV,113018,COPROC,0.20.0.39330*71

2021-12-04T11:30:19.920Z,1638617419.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:20.661Z,1638617420.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:21.063Z,1638617421.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:21.895Z,1638617421.895 [Micromodem](INFO): Nmea in: $SNTTA,0.170003,,,,113022.16*41

2021-12-04T11:30:21.897Z,1638617421.897 [Micromodem](INFO): Nmea in: $CAREV,113023,AUV,2.1.4000*28

2021-12-04T11:30:21.988Z,1638617421.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.880005 m, bearing: 246.123872 deg, deltaT: 4.925251 s, deltaX: 1.020004 m, approachRate: 0.207097 m/s, LOS rate: -0.039412 deg/s, posRepo size: 4
2021-12-04T11:30:22.292Z,1638617422.292 [Micromodem](INFO): Nmea in: $CAREV,113023,COPROC,0.20.0.39330*79

2021-12-04T11:30:24.713Z,1638617424.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:25.501Z,1638617425.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:25.939Z,1638617425.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:26.731Z,1638617426.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113027.00*58

2021-12-04T11:30:26.732Z,1638617426.732 [Micromodem](INFO): Nmea in: $CAREV,113028,AUV,2.1.4000*23

2021-12-04T11:30:26.750Z,1638617426.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.539993 m, bearing: 245.217971 deg, deltaT: 4.766411 s, deltaX: 0.659988 m, approachRate: 0.138467 m/s, LOS rate: -0.190059 deg/s, posRepo size: 4
2021-12-04T11:30:27.132Z,1638617427.132 [Micromodem](INFO): Nmea in: $CAREV,113028,COPROC,0.20.0.39330*72

2021-12-04T11:30:29.616Z,1638617429.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:30.357Z,1638617430.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:30.763Z,1638617430.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:31.610Z,1638617431.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113031.86*51

2021-12-04T11:30:31.611Z,1638617431.611 [Micromodem](INFO): Nmea in: $CAREV,113032,AUV,2.1.4000*28

2021-12-04T11:30:31.684Z,1638617431.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.019989 m, bearing: 245.738103 deg, deltaT: 4.929634 s, deltaX: 0.479996 m, approachRate: 0.097369 m/s, LOS rate: 0.105511 deg/s, posRepo size: 4
2021-12-04T11:30:31.976Z,1638617431.976 [Micromodem](INFO): Nmea in: $CAREV,113032,COPROC,0.20.0.39330*79

2021-12-04T11:30:34.433Z,1638617434.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:35.201Z,1638617435.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:35.652Z,1638617435.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:36.439Z,1638617436.439 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113036.70*5F

2021-12-04T11:30:36.440Z,1638617436.440 [Micromodem](INFO): Nmea in: $CAREV,113037,AUV,2.1.4000*2D

2021-12-04T11:30:36.457Z,1638617436.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.799988 m, bearing: 245.672288 deg, deltaT: 4.777324 s, deltaX: 0.779999 m, approachRate: 0.163271 m/s, LOS rate: -0.013777 deg/s, posRepo size: 4
2021-12-04T11:30:36.836Z,1638617436.836 [Micromodem](INFO): Nmea in: $CAREV,113037,COPROC,0.20.0.39330*7C

2021-12-04T11:30:39.269Z,1638617439.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:40.050Z,1638617440.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:40.457Z,1638617440.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:41.295Z,1638617441.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113041.55*58

2021-12-04T11:30:41.297Z,1638617441.297 [Micromodem](INFO): Nmea in: $CAREV,113042,AUV,2.1.4000*2F

2021-12-04T11:30:41.314Z,1638617441.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.519989 m, bearing: 245.835392 deg, deltaT: 4.856817 s, deltaX: 0.720001 m, approachRate: 0.148245 m/s, LOS rate: 0.033583 deg/s, posRepo size: 4
2021-12-04T11:30:41.688Z,1638617441.688 [Micromodem](INFO): Nmea in: $CAREV,113042,COPROC,0.20.0.39330*7E

2021-12-04T11:30:44.131Z,1638617444.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:44.927Z,1638617444.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:45.295Z,1638617445.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:46.124Z,1638617446.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113046.42*59

2021-12-04T11:30:46.126Z,1638617446.126 [Micromodem](INFO): Nmea in: $CAREV,113047,AUV,2.1.4000*2A

2021-12-04T11:30:46.182Z,1638617446.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.059982 m, bearing: 246.187065 deg, deltaT: 4.864012 s, deltaX: 0.539993 m, approachRate: 0.111018 m/s, LOS rate: 0.072301 deg/s, posRepo size: 4
2021-12-04T11:30:46.524Z,1638617446.524 [Micromodem](INFO): Nmea in: $CAREV,113047,COPROC,0.20.0.39330*7B

2021-12-04T11:30:48.988Z,1638617448.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:49.742Z,1638617449.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:50.143Z,1638617450.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:50.967Z,1638617450.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113051.24*5F

2021-12-04T11:30:50.968Z,1638617450.968 [Micromodem](INFO): Nmea in: $CAREV,113052,AUV,2.1.4000*2E

2021-12-04T11:30:50.995Z,1638617450.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.600006 m, bearing: 246.408691 deg, deltaT: 4.816869 s, deltaX: 0.540024 m, approachRate: 0.112111 m/s, LOS rate: 0.046010 deg/s, posRepo size: 4
2021-12-04T11:30:51.372Z,1638617451.372 [Micromodem](INFO): Nmea in: $CAREV,113052,COPROC,0.20.0.39330*7F

2021-12-04T11:30:53.845Z,1638617453.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:54.593Z,1638617454.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:54.991Z,1638617454.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:30:55.822Z,1638617455.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113056.09*57

2021-12-04T11:30:55.824Z,1638617455.824 [Micromodem](INFO): Nmea in: $CAREV,113057,AUV,2.1.4000*2B

2021-12-04T11:30:55.928Z,1638617455.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.499985 m, bearing: 246.626301 deg, deltaT: 4.925672 s, deltaX: 0.899979 m, approachRate: 0.182712 m/s, LOS rate: 0.044179 deg/s, posRepo size: 4
2021-12-04T11:30:56.220Z,1638617456.220 [Micromodem](INFO): Nmea in: $CAREV,113057,COPROC,0.20.0.39330*7A

2021-12-04T11:30:58.646Z,1638617458.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:30:59.450Z,1638617459.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:30:59.882Z,1638617459.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:00.671Z,1638617460.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113100.95*50

2021-12-04T11:31:00.672Z,1638617460.672 [Micromodem](INFO): Nmea in: $CAREV,113102,AUV,2.1.4000*2A

2021-12-04T11:31:00.718Z,1638617460.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.979996 m, bearing: 245.491834 deg, deltaT: 4.773463 s, deltaX: 0.480011 m, approachRate: 0.100558 m/s, LOS rate: -0.237661 deg/s, posRepo size: 4
2021-12-04T11:31:01.064Z,1638617461.064 [Micromodem](INFO): Nmea in: $CAREV,113102,COPROC,0.20.0.39330*7B

2021-12-04T11:31:03.494Z,1638617463.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:04.285Z,1638617464.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:04.707Z,1638617464.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:05.515Z,1638617465.515 [Micromodem](INFO): Nmea in: $SNTTA,0.162218,,,,113105.78*46

2021-12-04T11:31:05.516Z,1638617465.516 [Micromodem](INFO): Nmea in: $CAREV,113106,AUV,2.1.4000*2E

2021-12-04T11:31:05.538Z,1638617465.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.519989 m, bearing: 245.522706 deg, deltaT: 4.844534 s, deltaX: 0.539993 m, approachRate: 0.111464 m/s, LOS rate: 0.006373 deg/s, posRepo size: 4
2021-12-04T11:31:05.948Z,1638617465.948 [Micromodem](INFO): Nmea in: $CAREV,113106,COPROC,0.20.0.39330*7F

2021-12-04T11:31:08.352Z,1638617468.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:09.133Z,1638617469.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:09.576Z,1638617469.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:10.370Z,1638617470.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113110.63*58

2021-12-04T11:31:10.371Z,1638617470.371 [Micromodem](INFO): Nmea in: $CAREV,113111,AUV,2.1.4000*28

2021-12-04T11:31:10.421Z,1638617470.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.419983 m, bearing: 245.813918 deg, deltaT: 4.878499 s, deltaX: 0.899994 m, approachRate: 0.184482 m/s, LOS rate: 0.059693 deg/s, posRepo size: 4
2021-12-04T11:31:10.760Z,1638617470.760 [Micromodem](INFO): Nmea in: $CAREV,113111,COPROC,0.20.0.39330*79

2021-12-04T11:31:13.210Z,1638617473.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:13.985Z,1638617473.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:14.418Z,1638617474.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:15.214Z,1638617475.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113115.48*54

2021-12-04T11:31:15.215Z,1638617475.215 [Micromodem](INFO): Nmea in: $CAREV,113116,AUV,2.1.4000*2F

2021-12-04T11:31:15.275Z,1638617475.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.019989 m, bearing: 245.092350 deg, deltaT: 4.849553 s, deltaX: 0.600006 m, approachRate: 0.123724 m/s, LOS rate: -0.148791 deg/s, posRepo size: 4
2021-12-04T11:31:15.648Z,1638617475.648 [Micromodem](INFO): Nmea in: $CAREV,113116,COPROC,0.20.0.39330*7E

2021-12-04T11:31:18.046Z,1638617478.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:18.844Z,1638617478.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:19.239Z,1638617479.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:20.066Z,1638617480.066 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113120.34*59

2021-12-04T11:31:20.067Z,1638617480.067 [Micromodem](INFO): Nmea in: $CAREV,113121,AUV,2.1.4000*2B

2021-12-04T11:31:20.126Z,1638617480.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.679993 m, bearing: 244.686199 deg, deltaT: 4.851929 s, deltaX: 0.660004 m, approachRate: 0.136029 m/s, LOS rate: -0.083709 deg/s, posRepo size: 4
2021-12-04T11:31:20.468Z,1638617480.468 [Micromodem](INFO): Nmea in: $CAREV,113121,COPROC,0.20.0.39330*7A

2021-12-04T11:31:22.923Z,1638617482.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:23.689Z,1638617483.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:24.083Z,1638617484.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:24.930Z,1638617484.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113125.19*53

2021-12-04T11:31:24.932Z,1638617484.932 [Micromodem](INFO): Nmea in: $CAREV,113126,AUV,2.1.4000*2C

2021-12-04T11:31:24.982Z,1638617484.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.279984 m, bearing: 245.144314 deg, deltaT: 4.863667 s, deltaX: 0.599991 m, approachRate: 0.123362 m/s, LOS rate: 0.094191 deg/s, posRepo size: 4
2021-12-04T11:31:25.311Z,1638617485.311 [Micromodem](INFO): Nmea in: $CAREV,113126,COPROC,0.20.0.39330*7D

2021-12-04T11:31:27.771Z,1638617487.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:28.525Z,1638617488.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:28.943Z,1638617488.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:29.750Z,1638617489.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113130.03*5C

2021-12-04T11:31:29.751Z,1638617489.751 [Micromodem](INFO): Nmea in: $CAREV,113131,AUV,2.1.4000*2A

2021-12-04T11:31:29.808Z,1638617489.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.939987 m, bearing: 244.847720 deg, deltaT: 4.806227 s, deltaX: 0.660004 m, approachRate: 0.137323 m/s, LOS rate: -0.061710 deg/s, posRepo size: 4
2021-12-04T11:31:30.152Z,1638617490.152 [Micromodem](INFO): Nmea in: $CAREV,113131,COPROC,0.20.0.39330*7B

2021-12-04T11:31:32.580Z,1638617492.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:33.377Z,1638617493.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:33.792Z,1638617493.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:34.607Z,1638617494.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113134.87*54

2021-12-04T11:31:34.608Z,1638617494.608 [Micromodem](INFO): Nmea in: $CAREV,113135,AUV,2.1.4000*2E

2021-12-04T11:31:34.658Z,1638617494.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.599991 m, bearing: 245.830393 deg, deltaT: 4.865449 s, deltaX: 0.660004 m, approachRate: 0.135651 m/s, LOS rate: 0.201970 deg/s, posRepo size: 4
2021-12-04T11:31:35.004Z,1638617495.004 [Micromodem](INFO): Nmea in: $CAREV,113135,COPROC,0.20.0.39330*7F

2021-12-04T11:31:37.445Z,1638617497.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:38.225Z,1638617498.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:38.638Z,1638617498.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:39.488Z,1638617499.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113139.72*53

2021-12-04T11:31:39.489Z,1638617499.489 [Micromodem](INFO): Nmea in: $CAREV,113140,AUV,2.1.4000*2C

2021-12-04T11:31:39.546Z,1638617499.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.559998 m, bearing: 244.605794 deg, deltaT: 4.885793 s, deltaX: 0.960007 m, approachRate: 0.196489 m/s, LOS rate: -0.250645 deg/s, posRepo size: 4
2021-12-04T11:31:39.873Z,1638617499.873 [Micromodem](INFO): Nmea in: $CAREV,113140,COPROC,0.20.0.39330*7D

2021-12-04T11:31:42.276Z,1638617502.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:43.073Z,1638617503.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:43.483Z,1638617503.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:44.298Z,1638617504.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113144.57*5E

2021-12-04T11:31:44.299Z,1638617504.299 [Micromodem](INFO): Nmea in: $CAREV,113145,AUV,2.1.4000*29

2021-12-04T11:31:44.353Z,1638617504.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.339981 m, bearing: 244.307397 deg, deltaT: 4.808096 s, deltaX: 0.779984 m, approachRate: 0.162223 m/s, LOS rate: -0.062061 deg/s, posRepo size: 4
2021-12-04T11:31:44.692Z,1638617504.692 [Micromodem](INFO): Nmea in: $CAREV,113145,COPROC,0.20.0.39330*78

2021-12-04T11:31:47.147Z,1638617507.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:47.945Z,1638617507.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:48.339Z,1638617508.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:49.147Z,1638617509.147 [Micromodem](INFO): Nmea in: $SNTTA,0.174346,,,,113149.44*4C

2021-12-04T11:31:49.149Z,1638617509.149 [Micromodem](INFO): Nmea in: $CAREV,113150,AUV,2.1.4000*2D

2021-12-04T11:31:49.206Z,1638617509.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.759995 m, bearing: 244.608253 deg, deltaT: 4.856807 s, deltaX: 0.420013 m, approachRate: 0.086479 m/s, LOS rate: 0.061945 deg/s, posRepo size: 4
2021-12-04T11:31:49.556Z,1638617509.556 [Micromodem](INFO): Nmea in: $CAREV,113150,COPROC,0.20.0.39330*7C

2021-12-04T11:31:52.010Z,1638617512.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:52.769Z,1638617512.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:53.185Z,1638617513.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:54.002Z,1638617514.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113154.27*58

2021-12-04T11:31:54.003Z,1638617514.003 [Micromodem](INFO): Nmea in: $CAREV,113155,AUV,2.1.4000*28

2021-12-04T11:31:54.054Z,1638617514.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.299988 m, bearing: 245.507735 deg, deltaT: 4.849819 s, deltaX: 0.539993 m, approachRate: 0.111343 m/s, LOS rate: 0.185467 deg/s, posRepo size: 4
2021-12-04T11:31:54.396Z,1638617514.396 [Micromodem](INFO): Nmea in: $CAREV,113155,COPROC,0.20.0.39330*79

2021-12-04T11:31:56.821Z,1638617516.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:31:57.645Z,1638617517.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:31:58.019Z,1638617518.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:31:58.857Z,1638617518.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113159.14*55

2021-12-04T11:31:58.866Z,1638617518.866 [Micromodem](INFO): Nmea in: $CAREV,113200,AUV,2.1.4000*2B

2021-12-04T11:31:58.943Z,1638617518.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.080002 m, bearing: 244.817530 deg, deltaT: 4.880182 s, deltaX: 0.780014 m, approachRate: 0.159833 m/s, LOS rate: -0.141430 deg/s, posRepo size: 4
2021-12-04T11:31:59.240Z,1638617519.240 [Micromodem](INFO): Nmea in: $CAREV,113200,COPROC,0.20.0.39330*7A

2021-12-04T11:32:01.688Z,1638617521.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:02.461Z,1638617522.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:02.887Z,1638617522.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:03.691Z,1638617523.691 [Micromodem](INFO): Nmea in: $SNTTA,0.184055,,,,113203.96*40

2021-12-04T11:32:03.692Z,1638617523.692 [Micromodem](INFO): Nmea in: $CAREV,113205,AUV,2.1.4000*2E

2021-12-04T11:32:03.757Z,1638617523.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.799988 m, bearing: 244.434302 deg, deltaT: 4.793766 s, deltaX: 0.719986 m, approachRate: 0.150192 m/s, LOS rate: -0.079943 deg/s, posRepo size: 4
2021-12-04T11:32:04.100Z,1638617524.100 [Micromodem](INFO): Nmea in: $CAREV,113205,COPROC,0.20.0.39330*7F

2021-12-04T11:32:06.519Z,1638617526.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:07.317Z,1638617527.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:07.723Z,1638617527.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:08.546Z,1638617528.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113208.81*5E

2021-12-04T11:32:08.547Z,1638617528.547 [Micromodem](INFO): Nmea in: $CAREV,113209,AUV,2.1.4000*22

2021-12-04T11:32:08.591Z,1638617528.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.459991 m, bearing: 243.680440 deg, deltaT: 4.862120 s, deltaX: 0.660004 m, approachRate: 0.135744 m/s, LOS rate: -0.155048 deg/s, posRepo size: 4
2021-12-04T11:32:08.944Z,1638617528.944 [Micromodem](INFO): Nmea in: $CAREV,113209,COPROC,0.20.0.39330*73

2021-12-04T11:32:11.393Z,1638617531.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:12.161Z,1638617532.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:12.576Z,1638617532.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:13.390Z,1638617533.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113213.66*5D

2021-12-04T11:32:13.391Z,1638617533.391 [Micromodem](INFO): Nmea in: $CAREV,113214,AUV,2.1.4000*2E

2021-12-04T11:32:13.437Z,1638617533.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.239975 m, bearing: 244.791166 deg, deltaT: 4.842942 s, deltaX: 0.779984 m, approachRate: 0.161056 m/s, LOS rate: 0.229349 deg/s, posRepo size: 4
2021-12-04T11:32:13.788Z,1638617533.788 [Micromodem](INFO): Nmea in: $CAREV,113214,COPROC,0.20.0.39330*7F

2021-12-04T11:32:16.235Z,1638617536.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:17.013Z,1638617537.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:17.425Z,1638617537.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:18.238Z,1638617538.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113218.51*52

2021-12-04T11:32:18.240Z,1638617538.240 [Micromodem](INFO): Nmea in: $CAREV,113219,AUV,2.1.4000*23

2021-12-04T11:32:18.297Z,1638617538.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.019989 m, bearing: 243.287349 deg, deltaT: 4.864236 s, deltaX: 0.780014 m, approachRate: 0.160357 m/s, LOS rate: -0.309158 deg/s, posRepo size: 4
2021-12-04T11:32:18.298Z,1638617538.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 250.02 m. Resuming terminal guidance.
2021-12-04T11:32:18.298Z,1638617538.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T11:32:18.640Z,1638617538.640 [Micromodem](INFO): Nmea in: $CAREV,113219,COPROC,0.20.0.39330*72

2021-12-04T11:32:18.666Z,1638617538.666 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T11:32:18.687Z,1638617538.687 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T11:32:18.687Z,1638617538.687 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T11:32:18.687Z,1638617538.687 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T11:32:18.687Z,1638617538.687 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T11:32:18.687Z,1638617538.687 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T11:32:18.687Z,1638617538.687 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T11:32:21.087Z,1638617541.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:21.889Z,1638617541.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:22.271Z,1638617542.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:23.088Z,1638617543.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113223.39*54

2021-12-04T11:32:23.095Z,1638617543.095 [Micromodem](INFO): Nmea in: $CAREV,113224,AUV,2.1.4000*2D

2021-12-04T11:32:23.150Z,1638617543.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.619995 m, bearing: 244.080061 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T11:32:23.155Z,1638617543.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 244.080061deg and heading rate command to 0 deg/s.
2021-12-04T11:32:23.500Z,1638617543.500 [Micromodem](INFO): Nmea in: $CAREV,113224,COPROC,0.20.0.39330*7C

2021-12-04T11:32:25.989Z,1638617545.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:26.709Z,1638617546.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:27.111Z,1638617547.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:27.938Z,1638617547.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113228.21*56

2021-12-04T11:32:27.939Z,1638617547.939 [Micromodem](INFO): Nmea in: $CAREV,113229,AUV,2.1.4000*20

2021-12-04T11:32:28.030Z,1638617548.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.619995 m, bearing: 243.589599 deg, deltaT: 4.883860 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.100425 deg/s, posRepo size: 2
2021-12-04T11:32:28.036Z,1638617548.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.619995 m,
      bearing: 243.589599 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.100425 deg/s,
      cmd update: -0.301275 deg/s,
      cmd heading: 244.080061 deg,
      new cmd heading: 244.080061 deg.

2021-12-04T11:32:28.404Z,1638617548.404 [Micromodem](INFO): Nmea in: $CAREV,113229,COPROC,0.20.0.39330*71

2021-12-04T11:32:30.769Z,1638617550.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:31.585Z,1638617551.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:31.959Z,1638617551.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:32.791Z,1638617552.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113233.08*57

2021-12-04T11:32:32.792Z,1638617552.792 [Micromodem](INFO): Nmea in: $CAREV,113234,AUV,2.1.4000*2C

2021-12-04T11:32:32.827Z,1638617552.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 249.539993 m, bearing: 244.005448 deg, deltaT: 4.796431 s, deltaX: -1.080002 m, approachRate: -0.225168 m/s, LOS rate: 0.086700 deg/s, posRepo size: 3
2021-12-04T11:32:32.833Z,1638617552.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.539993 m,
      bearing: 244.005448 deg,
      approachRate: -0.225168 m/s,
      LOS rate: 0.086700 deg/s,
      cmd update: 0.260099 deg/s,
      cmd heading: 242.618134 deg,
      new cmd heading: 242.486692 deg.

2021-12-04T11:32:33.176Z,1638617553.176 [Micromodem](INFO): Nmea in: $CAREV,113234,COPROC,0.20.0.39330*7D

2021-12-04T11:32:35.678Z,1638617555.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:36.401Z,1638617556.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:36.803Z,1638617556.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:37.650Z,1638617557.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113237.90*52

2021-12-04T11:32:37.651Z,1638617557.651 [Micromodem](INFO): Nmea in: $CAREV,113238,AUV,2.1.4000*20

2021-12-04T11:32:37.720Z,1638617557.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.499985 m, bearing: 246.037812 deg, deltaT: 4.889221 s, deltaX: -2.040009 m, approachRate: -0.417246 m/s, LOS rate: 0.415683 deg/s, posRepo size: 4
2021-12-04T11:32:37.721Z,1638617557.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.499985 m,
      bearing: 246.037812 deg,
      approachRate: -0.417246 m/s,
      LOS rate: 0.415683 deg/s,
      cmd update: 1.247048 deg/s,
      cmd heading: 243.879073 deg,
      new cmd heading: 244.003234 deg.

2021-12-04T11:32:38.020Z,1638617558.020 [Micromodem](INFO): Nmea in: $CAREV,113238,COPROC,0.20.0.39330*71

2021-12-04T11:32:40.462Z,1638617560.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:41.261Z,1638617561.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:41.663Z,1638617561.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:42.482Z,1638617562.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113242.76*58

2021-12-04T11:32:42.483Z,1638617562.483 [Micromodem](INFO): Nmea in: $CAREV,113243,AUV,2.1.4000*2C

2021-12-04T11:32:42.527Z,1638617562.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.979980 m, bearing: 248.649649 deg, deltaT: 4.810964 s, deltaX: -2.520004 m, approachRate: -0.523804 m/s, LOS rate: 0.542893 deg/s, posRepo size: 4
2021-12-04T11:32:42.529Z,1638617562.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.979980 m,
      bearing: 248.649649 deg,
      approachRate: -0.523804 m/s,
      LOS rate: 0.542893 deg/s,
      cmd update: 1.628678 deg/s,
      cmd heading: 249.937700 deg,
      new cmd heading: 250.474136 deg.

2021-12-04T11:32:42.892Z,1638617562.892 [Micromodem](INFO): Nmea in: $CAREV,113243,COPROC,0.20.0.39330*7D

2021-12-04T11:32:45.312Z,1638617565.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:46.104Z,1638617566.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:46.503Z,1638617566.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:47.331Z,1638617567.331 [Micromodem](INFO): Nmea in: $SNTTA,0.166282,,,,113247.60*4D

2021-12-04T11:32:47.332Z,1638617567.332 [Micromodem](INFO): Nmea in: $CAREV,113248,AUV,2.1.4000*27

2021-12-04T11:32:47.370Z,1638617567.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.579987 m, bearing: 247.413795 deg, deltaT: 4.843007 s, deltaX: -2.399994 m, approachRate: -0.495559 m/s, LOS rate: -0.255183 deg/s, posRepo size: 4
2021-12-04T11:32:47.376Z,1638617567.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.579987 m,
      bearing: 247.413795 deg,
      approachRate: -0.495559 m/s,
      LOS rate: -0.255183 deg/s,
      cmd update: -0.765550 deg/s,
      cmd heading: 257.853855 deg,
      new cmd heading: 258.526049 deg.

2021-12-04T11:32:47.728Z,1638617567.728 [Micromodem](INFO): Nmea in: $CAREV,113248,COPROC,0.20.0.39330*76

2021-12-04T11:32:50.155Z,1638617570.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:50.941Z,1638617570.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:51.359Z,1638617571.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:52.171Z,1638617572.171 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113252.44*58

2021-12-04T11:32:52.172Z,1638617572.172 [Micromodem](INFO): Nmea in: $CAREV,113253,AUV,2.1.4000*2D

2021-12-04T11:32:52.235Z,1638617572.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.759979 m, bearing: 246.818311 deg, deltaT: 4.828742 s, deltaX: -2.820007 m, approachRate: -0.584005 m/s, LOS rate: -0.123321 deg/s, posRepo size: 4
2021-12-04T11:32:52.236Z,1638617572.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.759979 m,
      bearing: 246.818311 deg,
      approachRate: -0.584005 m/s,
      LOS rate: -0.123321 deg/s,
      cmd update: -0.369962 deg/s,
      cmd heading: 254.141371 deg,
      new cmd heading: 253.816755 deg.

2021-12-04T11:32:52.568Z,1638617572.568 [Micromodem](INFO): Nmea in: $CAREV,113253,COPROC,0.20.0.39330*7C

2021-12-04T11:32:55.012Z,1638617575.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:32:55.793Z,1638617575.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:32:56.271Z,1638617576.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:32:57.018Z,1638617577.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113257.29*56

2021-12-04T11:32:57.019Z,1638617577.019 [Micromodem](INFO): Nmea in: $CAREV,113258,AUV,2.1.4000*26

2021-12-04T11:32:57.047Z,1638617577.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.059982 m, bearing: 246.796345 deg, deltaT: 4.848054 s, deltaX: -2.699997 m, approachRate: -0.556924 m/s, LOS rate: -0.004531 deg/s, posRepo size: 4
2021-12-04T11:32:57.049Z,1638617577.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.059982 m,
      bearing: 246.796345 deg,
      approachRate: -0.556924 m/s,
      LOS rate: -0.004531 deg/s,
      cmd update: -0.013593 deg/s,
      cmd heading: 252.361057 deg,
      new cmd heading: 252.202750 deg.

2021-12-04T11:32:57.420Z,1638617577.420 [Micromodem](INFO): Nmea in: $CAREV,113258,COPROC,0.20.0.39330*77

2021-12-04T11:32:59.919Z,1638617579.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:00.641Z,1638617580.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:01.051Z,1638617581.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:01.887Z,1638617581.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113302.14*59

2021-12-04T11:33:01.888Z,1638617581.888 [Micromodem](INFO): Nmea in: $CAREV,113303,AUV,2.1.4000*29

2021-12-04T11:33:01.978Z,1638617581.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.299988 m, bearing: 246.493659 deg, deltaT: 4.931202 s, deltaX: -2.759995 m, approachRate: -0.559700 m/s, LOS rate: -0.061382 deg/s, posRepo size: 4
2021-12-04T11:33:01.980Z,1638617581.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.299988 m,
      bearing: 246.493659 deg,
      approachRate: -0.559700 m/s,
      LOS rate: -0.061382 deg/s,
      cmd update: -0.184146 deg/s,
      cmd heading: 252.295268 deg,
      new cmd heading: 252.288213 deg.

2021-12-04T11:33:02.268Z,1638617582.268 [Micromodem](INFO): Nmea in: $CAREV,113303,COPROC,0.20.0.39330*78

2021-12-04T11:33:04.692Z,1638617584.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:05.497Z,1638617585.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:05.922Z,1638617585.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:06.714Z,1638617586.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113307.00*59

2021-12-04T11:33:06.715Z,1638617586.715 [Micromodem](INFO): Nmea in: $CAREV,113308,AUV,2.1.4000*22

2021-12-04T11:33:06.732Z,1638617586.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.360001 m, bearing: 246.291594 deg, deltaT: 4.754926 s, deltaX: -2.939987 m, approachRate: -0.618303 m/s, LOS rate: -0.042496 deg/s, posRepo size: 4
2021-12-04T11:33:06.735Z,1638617586.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.360001 m,
      bearing: 246.291594 deg,
      approachRate: -0.618303 m/s,
      LOS rate: -0.042496 deg/s,
      cmd update: -0.127487 deg/s,
      cmd heading: 251.400331 deg,
      new cmd heading: 251.324092 deg.

2021-12-04T11:33:07.116Z,1638617587.116 [Micromodem](INFO): Nmea in: $CAREV,113308,COPROC,0.20.0.39330*73

2021-12-04T11:33:09.617Z,1638617589.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:10.333Z,1638617590.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:10.748Z,1638617590.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:11.607Z,1638617591.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113311.83*55

2021-12-04T11:33:11.608Z,1638617591.608 [Micromodem](INFO): Nmea in: $CAREV,113312,AUV,2.1.4000*29

2021-12-04T11:33:11.682Z,1638617591.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.479996 m, bearing: 246.562261 deg, deltaT: 4.945156 s, deltaX: -2.880005 m, approachRate: -0.582389 m/s, LOS rate: 0.054734 deg/s, posRepo size: 4
2021-12-04T11:33:11.688Z,1638617591.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.479996 m,
      bearing: 246.562261 deg,
      approachRate: -0.582389 m/s,
      LOS rate: 0.054734 deg/s,
      cmd update: 0.164201 deg/s,
      cmd heading: 250.780224 deg,
      new cmd heading: 250.716597 deg.

2021-12-04T11:33:11.965Z,1638617591.965 [Micromodem](INFO): Nmea in: $CAREV,113312,COPROC,0.20.0.39330*78

2021-12-04T11:33:14.389Z,1638617594.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:15.181Z,1638617595.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:15.623Z,1638617595.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:16.411Z,1638617596.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113316.68*57

2021-12-04T11:33:16.412Z,1638617596.412 [Micromodem](INFO): Nmea in: $CAREV,113317,AUV,2.1.4000*2C

2021-12-04T11:33:16.433Z,1638617596.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.839981 m, bearing: 246.917814 deg, deltaT: 4.755739 s, deltaX: -2.640015 m, approachRate: -0.555122 m/s, LOS rate: 0.074763 deg/s, posRepo size: 4
2021-12-04T11:33:16.460Z,1638617596.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.839981 m,
      bearing: 246.917814 deg,
      approachRate: -0.555122 m/s,
      LOS rate: 0.074763 deg/s,
      cmd update: 0.224288 deg/s,
      cmd heading: 251.573305 deg,
      new cmd heading: 251.642418 deg.

2021-12-04T11:33:16.820Z,1638617596.820 [Micromodem](INFO): Nmea in: $CAREV,113317,COPROC,0.20.0.39330*7D

2021-12-04T11:33:19.258Z,1638617599.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:20.041Z,1638617600.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:20.450Z,1638617600.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:21.263Z,1638617601.263 [Micromodem](INFO): Nmea in: $SNTTA,0.151391,,,,113321.54*4C

2021-12-04T11:33:21.264Z,1638617601.264 [Micromodem](INFO): Nmea in: $CAREV,113322,AUV,2.1.4000*2A

2021-12-04T11:33:21.317Z,1638617601.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.259995 m, bearing: 245.863178 deg, deltaT: 4.883511 s, deltaX: -2.579987 m, approachRate: -0.528306 m/s, LOS rate: -0.215959 deg/s, posRepo size: 4
2021-12-04T11:33:21.319Z,1638617601.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.259995 m,
      bearing: 245.863178 deg,
      approachRate: -0.528306 m/s,
      LOS rate: -0.215959 deg/s,
      cmd update: -0.647876 deg/s,
      cmd heading: 252.669591 deg,
      new cmd heading: 252.763022 deg.

2021-12-04T11:33:21.668Z,1638617601.668 [Micromodem](INFO): Nmea in: $CAREV,113322,COPROC,0.20.0.39330*7B

2021-12-04T11:33:24.097Z,1638617604.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:24.887Z,1638617604.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:25.290Z,1638617605.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:26.131Z,1638617606.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113326.39*50

2021-12-04T11:33:26.132Z,1638617606.132 [Micromodem](INFO): Nmea in: $CAREV,113327,AUV,2.1.4000*2F

2021-12-04T11:33:26.178Z,1638617606.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.379990 m, bearing: 245.716984 deg, deltaT: 4.848025 s, deltaX: -2.880005 m, approachRate: -0.594057 m/s, LOS rate: -0.030155 deg/s, posRepo size: 4
2021-12-04T11:33:26.184Z,1638617606.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.379990 m,
      bearing: 245.716984 deg,
      approachRate: -0.594057 m/s,
      LOS rate: -0.030155 deg/s,
      cmd update: -0.090466 deg/s,
      cmd heading: 249.539079 deg,
      new cmd heading: 249.250551 deg.

2021-12-04T11:33:26.500Z,1638617606.500 [Micromodem](INFO): Nmea in: $CAREV,113327,COPROC,0.20.0.39330*7E

2021-12-04T11:33:28.966Z,1638617608.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:29.725Z,1638617609.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:30.149Z,1638617610.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:30.961Z,1638617610.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113331.22*5C

2021-12-04T11:33:30.964Z,1638617610.964 [Micromodem](INFO): Nmea in: $CAREV,113332,AUV,2.1.4000*2B

2021-12-04T11:33:31.039Z,1638617611.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.440002 m, bearing: 245.553032 deg, deltaT: 4.873370 s, deltaX: -2.939987 m, approachRate: -0.603276 m/s, LOS rate: -0.033642 deg/s, posRepo size: 4
2021-12-04T11:33:31.040Z,1638617611.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.440002 m,
      bearing: 245.553032 deg,
      approachRate: -0.603276 m/s,
      LOS rate: -0.033642 deg/s,
      cmd update: -0.100927 deg/s,
      cmd heading: 249.101292 deg,
      new cmd heading: 249.059067 deg.

2021-12-04T11:33:31.380Z,1638617611.380 [Micromodem](INFO): Nmea in: $CAREV,113332,COPROC,0.20.0.39330*7A

2021-12-04T11:33:33.796Z,1638617613.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:34.581Z,1638617614.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:34.991Z,1638617614.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:35.931Z,1638617615.931 [Micromodem](INFO): Nmea in: $SNTTA,0.140405,,,,113336.08*49

2021-12-04T11:33:35.932Z,1638617615.932 [Micromodem](INFO): Nmea in: $CAREV,113337,AUV,2.1.4000*2E

2021-12-04T11:33:36.013Z,1638617616.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.499985 m, bearing: 245.380092 deg, deltaT: 4.971116 s, deltaX: -2.940018 m, approachRate: -0.591420 m/s, LOS rate: -0.034789 deg/s, posRepo size: 4
2021-12-04T11:33:36.020Z,1638617616.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.499985 m,
      bearing: 245.380092 deg,
      approachRate: -0.591420 m/s,
      LOS rate: -0.034789 deg/s,
      cmd update: -0.104367 deg/s,
      cmd heading: 248.612475 deg,
      new cmd heading: 248.552061 deg.

2021-12-04T11:33:36.207Z,1638617616.207 [Micromodem](INFO): Nmea in: $CAREV,113337,COPROC,0.20.0.39330*7F

2021-12-04T11:33:38.632Z,1638617618.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:39.421Z,1638617619.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:39.835Z,1638617619.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:40.651Z,1638617620.651 [Micromodem](INFO): Nmea in: $SNTTA,0.144863,,,,113340.92*43

2021-12-04T11:33:40.652Z,1638617620.652 [Micromodem](INFO): Nmea in: $CAREV,113341,AUV,2.1.4000*2F

2021-12-04T11:33:40.669Z,1638617620.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.919998 m, bearing: 244.974406 deg, deltaT: 4.659281 s, deltaX: -2.579987 m, approachRate: -0.553731 m/s, LOS rate: -0.087070 deg/s, posRepo size: 4
2021-12-04T11:33:40.671Z,1638617620.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.919998 m,
      bearing: 244.974406 deg,
      approachRate: -0.553731 m/s,
      LOS rate: -0.087070 deg/s,
      cmd update: -0.261211 deg/s,
      cmd heading: 248.108640 deg,
      new cmd heading: 248.064143 deg.

2021-12-04T11:33:41.048Z,1638617621.048 [Micromodem](INFO): Nmea in: $CAREV,113341,COPROC,0.20.0.39330*7E

2021-12-04T11:33:43.476Z,1638617623.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:44.274Z,1638617624.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:44.687Z,1638617624.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:45.499Z,1638617625.499 [Micromodem](INFO): Nmea in: $SNTTA,0.141463,,,,113345.77*44

2021-12-04T11:33:45.500Z,1638617625.500 [Micromodem](INFO): Nmea in: $CAREV,113346,AUV,2.1.4000*28

2021-12-04T11:33:45.608Z,1638617625.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.099991 m, bearing: 245.445416 deg, deltaT: 4.919287 s, deltaX: -2.820007 m, approachRate: -0.573255 m/s, LOS rate: 0.095748 deg/s, posRepo size: 4
2021-12-04T11:33:45.615Z,1638617625.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.099991 m,
      bearing: 245.445416 deg,
      approachRate: -0.573255 m/s,
      LOS rate: 0.095748 deg/s,
      cmd update: 0.287243 deg/s,
      cmd heading: 246.833938 deg,
      new cmd heading: 246.708397 deg.

2021-12-04T11:33:45.928Z,1638617625.928 [Micromodem](INFO): Nmea in: $CAREV,113346,COPROC,0.20.0.39330*79

2021-12-04T11:33:48.325Z,1638617628.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:49.121Z,1638617629.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:49.551Z,1638617629.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:50.350Z,1638617630.350 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113350.62*5F

2021-12-04T11:33:50.352Z,1638617630.352 [Micromodem](INFO): Nmea in: $CAREV,113351,AUV,2.1.4000*2E

2021-12-04T11:33:50.396Z,1638617630.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.339996 m, bearing: 245.846512 deg, deltaT: 4.808219 s, deltaX: -2.759995 m, approachRate: -0.574016 m/s, LOS rate: 0.083419 deg/s, posRepo size: 4
2021-12-04T11:33:50.398Z,1638617630.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.339996 m,
      bearing: 245.846512 deg,
      approachRate: -0.574016 m/s,
      LOS rate: 0.083419 deg/s,
      cmd update: 0.250257 deg/s,
      cmd heading: 248.232162 deg,
      new cmd heading: 248.348828 deg.

2021-12-04T11:33:50.804Z,1638617630.804 [Micromodem](INFO): Nmea in: $CAREV,113351,COPROC,0.20.0.39330*7F

2021-12-04T11:33:53.178Z,1638617633.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:53.965Z,1638617633.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:54.375Z,1638617634.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:55.206Z,1638617635.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113355.46*5C

2021-12-04T11:33:55.207Z,1638617635.207 [Micromodem](INFO): Nmea in: $CAREV,113356,AUV,2.1.4000*29

2021-12-04T11:33:55.267Z,1638617635.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.339981 m, bearing: 245.263296 deg, deltaT: 4.862437 s, deltaX: -3.000015 m, approachRate: -0.616978 m/s, LOS rate: -0.119943 deg/s, posRepo size: 4
2021-12-04T11:33:55.269Z,1638617635.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 245.263296 deg,
      approachRate: -0.616978 m/s,
      LOS rate: -0.119943 deg/s,
      cmd update: -0.359830 deg/s,
      cmd heading: 249.434751 deg,
      new cmd heading: 249.551650 deg.

2021-12-04T11:33:55.628Z,1638617635.628 [Micromodem](INFO): Nmea in: $CAREV,113356,COPROC,0.20.0.39330*78

2021-12-04T11:33:58.030Z,1638617638.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:33:58.817Z,1638617638.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:33:59.223Z,1638617639.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:33:59.663Z,1638617639.663 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T11:33:59.716Z,1638617639.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.339981 m, bearing: 245.294441 deg, deltaT: 4.453880 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.006993 deg/s, posRepo size: 4
2021-12-04T11:33:59.723Z,1638617639.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 245.294441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.006993 deg/s,
      cmd update: 0.020979 deg/s,
      cmd heading: 247.821623 deg,
      new cmd heading: 247.664023 deg.

2021-12-04T11:34:00.064Z,1638617640.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113400.32*58

2021-12-04T11:34:00.065Z,1638617640.065 [Micromodem](INFO): Nmea in: $CAREV,113401,AUV,2.1.4000*2C

2021-12-04T11:34:00.440Z,1638617640.440 [Micromodem](INFO): Nmea in: $CAREV,113401,COPROC,0.20.0.39330*7D

2021-12-04T11:34:02.464Z,1638617642.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:03.257Z,1638617643.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:03.663Z,1638617643.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:04.503Z,1638617644.503 [Micromodem](INFO): Nmea in: $SNTTA,0.141936,,,,113404.76*4A

2021-12-04T11:34:04.504Z,1638617644.504 [Micromodem](INFO): Nmea in: $CAREV,113405,AUV,2.1.4000*28

2021-12-04T11:34:04.560Z,1638617644.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 244.878538 deg, deltaT: 4.808100 s, deltaX: -5.880005 m, approachRate: -1.222937 m/s, LOS rate: -0.086501 deg/s, posRepo size: 4
2021-12-04T11:34:04.562Z,1638617644.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 244.878538 deg,
      approachRate: -1.222937 m/s,
      LOS rate: -0.086501 deg/s,
      cmd update: -0.259502 deg/s,
      cmd heading: 247.922797 deg,
      new cmd heading: 247.931655 deg.

2021-12-04T11:34:04.904Z,1638617644.904 [Micromodem](INFO): Nmea in: $CAREV,113405,COPROC,0.20.0.39330*79

2021-12-04T11:34:07.330Z,1638617647.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:08.109Z,1638617648.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:08.523Z,1638617648.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:08.974Z,1638617648.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 244.989323 deg, deltaT: 4.452078 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.024884 deg/s, posRepo size: 4
2021-12-04T11:34:08.977Z,1638617648.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 244.989323 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.024884 deg/s,
      cmd update: 0.074652 deg/s,
      cmd heading: 246.768041 deg,
      new cmd heading: 246.658439 deg.

2021-12-04T11:34:09.356Z,1638617649.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113409.61*57

2021-12-04T11:34:09.357Z,1638617649.357 [Micromodem](INFO): Nmea in: $CAREV,113410,AUV,2.1.4000*2C

2021-12-04T11:34:09.740Z,1638617649.740 [Micromodem](INFO): Nmea in: $CAREV,113410,COPROC,0.20.0.39330*7D

2021-12-04T11:34:09.762Z,1638617649.762 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:34:11.796Z,1638617651.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:12.560Z,1638617652.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:12.959Z,1638617652.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:13.779Z,1638617653.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113414.06*5A

2021-12-04T11:34:13.780Z,1638617653.780 [Micromodem](INFO): Nmea in: $CAREV,113415,AUV,2.1.4000*29

2021-12-04T11:34:13.844Z,1638617653.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.479996 m, bearing: 244.740677 deg, deltaT: 4.870870 s, deltaX: -4.979980 m, approachRate: -1.022401 m/s, LOS rate: -0.051048 deg/s, posRepo size: 4
2021-12-04T11:34:13.850Z,1638617653.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.479996 m,
      bearing: 244.740677 deg,
      approachRate: -1.022401 m/s,
      LOS rate: -0.051048 deg/s,
      cmd update: -0.153143 deg/s,
      cmd heading: 247.130175 deg,
      new cmd heading: 247.163118 deg.

2021-12-04T11:34:14.188Z,1638617654.188 [Micromodem](INFO): Nmea in: $CAREV,113415,COPROC,0.20.0.39330*78

2021-12-04T11:34:16.615Z,1638617656.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:17.417Z,1638617657.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:17.807Z,1638617657.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:18.631Z,1638617658.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113418.92*5B

2021-12-04T11:34:18.632Z,1638617658.632 [Micromodem](INFO): Nmea in: $CAREV,113419,AUV,2.1.4000*25

2021-12-04T11:34:18.678Z,1638617658.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.599991 m, bearing: 245.322582 deg, deltaT: 4.809835 s, deltaX: -2.880005 m, approachRate: -0.598774 m/s, LOS rate: 0.120982 deg/s, posRepo size: 4
2021-12-04T11:34:18.684Z,1638617658.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.599991 m,
      bearing: 245.322582 deg,
      approachRate: -0.598774 m/s,
      LOS rate: 0.120982 deg/s,
      cmd update: 0.362947 deg/s,
      cmd heading: 246.387343 deg,
      new cmd heading: 246.322278 deg.

2021-12-04T11:34:19.033Z,1638617659.033 [Micromodem](INFO): Nmea in: $CAREV,113419,COPROC,0.20.0.39330*74

2021-12-04T11:34:19.888Z,1638617659.888 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T11:34:21.493Z,1638617661.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:22.263Z,1638617662.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:22.647Z,1638617662.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:23.486Z,1638617663.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113423.76*59

2021-12-04T11:34:23.487Z,1638617663.487 [Micromodem](INFO): Nmea in: $CAREV,113424,AUV,2.1.4000*2B

2021-12-04T11:34:23.533Z,1638617663.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 244.848621 deg, deltaT: 4.851250 s, deltaX: -2.579987 m, approachRate: -0.531819 m/s, LOS rate: -0.097699 deg/s, posRepo size: 4
2021-12-04T11:34:23.540Z,1638617663.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 244.848621 deg,
      approachRate: -0.531819 m/s,
      LOS rate: -0.097699 deg/s,
      cmd update: -0.293096 deg/s,
      cmd heading: 248.151577 deg,
      new cmd heading: 248.303738 deg.

2021-12-04T11:34:23.892Z,1638617663.892 [Micromodem](INFO): Nmea in: $CAREV,113424,COPROC,0.20.0.39330*7A

2021-12-04T11:34:26.301Z,1638617666.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:27.105Z,1638617667.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:27.498Z,1638617667.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:28.028Z,1638617668.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 243.971926 deg, deltaT: 4.522852 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.193837 deg/s, posRepo size: 4
2021-12-04T11:34:28.029Z,1638617668.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 243.971926 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.193837 deg/s,
      cmd update: -0.581511 deg/s,
      cmd heading: 246.856956 deg,
      new cmd heading: 246.711362 deg.

2021-12-04T11:34:28.336Z,1638617668.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113428.60*55

2021-12-04T11:34:28.337Z,1638617668.337 [Micromodem](INFO): Nmea in: $CAREV,113429,AUV,2.1.4000*26

2021-12-04T11:34:28.720Z,1638617668.720 [Micromodem](INFO): Nmea in: $CAREV,113429,COPROC,0.20.0.39330*77

2021-12-04T11:34:30.745Z,1638617670.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:31.537Z,1638617671.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:31.947Z,1638617671.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:32.374Z,1638617672.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 243.512582 deg, deltaT: 4.345206 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.105713 deg/s, posRepo size: 4
2021-12-04T11:34:32.392Z,1638617672.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 243.512582 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.105713 deg/s,
      cmd update: -0.317138 deg/s,
      cmd heading: 244.229354 deg,
      new cmd heading: 244.040740 deg.

2021-12-04T11:34:32.780Z,1638617672.780 [Micromodem](INFO): Nmea in: $SNTTA,0.120855,,,,113433.04*48

2021-12-04T11:34:32.781Z,1638617672.781 [Micromodem](INFO): Nmea in: $CAREV,113434,AUV,2.1.4000*2A

2021-12-04T11:34:33.164Z,1638617673.164 [Micromodem](INFO): Nmea in: $CAREV,113434,COPROC,0.20.0.39330*7B

2021-12-04T11:34:35.218Z,1638617675.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:35.992Z,1638617675.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:36.391Z,1638617676.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:37.210Z,1638617677.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113437.49*50

2021-12-04T11:34:37.211Z,1638617677.211 [Micromodem](INFO): Nmea in: $CAREV,113438,AUV,2.1.4000*26

2021-12-04T11:34:37.279Z,1638617677.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.159988 m, bearing: 244.029982 deg, deltaT: 4.897277 s, deltaX: -7.860016 m, approachRate: -1.604977 m/s, LOS rate: 0.105651 deg/s, posRepo size: 4
2021-12-04T11:34:37.281Z,1638617677.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.159988 m,
      bearing: 244.029982 deg,
      approachRate: -1.604977 m/s,
      LOS rate: 0.105651 deg/s,
      cmd update: 0.316952 deg/s,
      cmd heading: 242.720504 deg,
      new cmd heading: 242.573429 deg.

2021-12-04T11:34:37.656Z,1638617677.656 [Micromodem](INFO): Nmea in: $CAREV,113438,COPROC,0.20.0.39330*77

2021-12-04T11:34:40.048Z,1638617680.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:40.834Z,1638617680.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:41.239Z,1638617681.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:41.709Z,1638617681.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.279999 m, bearing: 244.452306 deg, deltaT: 4.439112 s, deltaX: -2.879990 m, approachRate: -0.648776 m/s, LOS rate: 0.095137 deg/s, posRepo size: 4
2021-12-04T11:34:41.711Z,1638617681.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.279999 m,
      bearing: 244.452306 deg,
      approachRate: -0.648776 m/s,
      LOS rate: 0.095137 deg/s,
      cmd update: 0.285411 deg/s,
      cmd heading: 244.140143 deg,
      new cmd heading: 244.274304 deg.

2021-12-04T11:34:42.079Z,1638617682.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113442.34*58

2021-12-04T11:34:42.080Z,1638617682.080 [Micromodem](INFO): Nmea in: $CAREV,113443,AUV,2.1.4000*2A

2021-12-04T11:34:42.464Z,1638617682.464 [Micromodem](INFO): Nmea in: $CAREV,113443,COPROC,0.20.0.39330*7B

2021-12-04T11:34:44.497Z,1638617684.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:45.273Z,1638617685.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:45.687Z,1638617685.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:46.133Z,1638617686.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.279999 m, bearing: 244.505145 deg, deltaT: 4.423973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.011944 deg/s, posRepo size: 4
2021-12-04T11:34:46.135Z,1638617686.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.279999 m,
      bearing: 244.505145 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.011944 deg/s,
      cmd update: 0.035831 deg/s,
      cmd heading: 245.445282 deg,
      new cmd heading: 245.523590 deg.

2021-12-04T11:34:46.512Z,1638617686.512 [Micromodem](INFO): Nmea in: $SNTTA,0.121518,,,,113446.78*44

2021-12-04T11:34:46.513Z,1638617686.513 [Micromodem](INFO): Nmea in: $CAREV,113447,AUV,2.1.4000*2E

2021-12-04T11:34:46.928Z,1638617686.928 [Micromodem](INFO): Nmea in: $CAREV,113447,COPROC,0.20.0.39330*7F

2021-12-04T11:34:48.953Z,1638617688.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:49.721Z,1638617689.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:50.127Z,1638617690.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:50.572Z,1638617690.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.279999 m, bearing: 243.888106 deg, deltaT: 4.434406 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.139148 deg/s, posRepo size: 4
2021-12-04T11:34:50.574Z,1638617690.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.279999 m,
      bearing: 243.888106 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.139148 deg/s,
      cmd update: -0.417444 deg/s,
      cmd heading: 245.599746 deg,
      new cmd heading: 245.614008 deg.

2021-12-04T11:34:50.970Z,1638617690.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113451.22*5D

2021-12-04T11:34:50.972Z,1638617690.972 [Micromodem](INFO): Nmea in: $CAREV,113452,AUV,2.1.4000*2A

2021-12-04T11:34:51.348Z,1638617691.348 [Micromodem](INFO): Nmea in: $CAREV,113452,COPROC,0.20.0.39330*7B

2021-12-04T11:34:53.377Z,1638617693.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:54.157Z,1638617694.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:54.594Z,1638617694.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:55.017Z,1638617695.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 245.150762 deg, deltaT: 4.449646 s, deltaX: -7.260010 m, approachRate: -1.631593 m/s, LOS rate: 0.283766 deg/s, posRepo size: 4
2021-12-04T11:34:55.019Z,1638617695.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.019989 m,
      bearing: 245.150762 deg,
      approachRate: -1.631593 m/s,
      LOS rate: 0.283766 deg/s,
      cmd update: 0.851297 deg/s,
      cmd heading: 243.735427 deg,
      new cmd heading: 243.576174 deg.

2021-12-04T11:34:55.396Z,1638617695.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113455.66*59

2021-12-04T11:34:55.397Z,1638617695.397 [Micromodem](INFO): Nmea in: $CAREV,113456,AUV,2.1.4000*2E

2021-12-04T11:34:55.800Z,1638617695.800 [Micromodem](INFO): Nmea in: $CAREV,113456,COPROC,0.20.0.39330*7F

2021-12-04T11:34:57.844Z,1638617697.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:34:58.609Z,1638617698.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:34:59.007Z,1638617699.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:34:59.461Z,1638617699.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.319992 m, bearing: 244.460667 deg, deltaT: 4.440262 s, deltaX: -2.699997 m, approachRate: -0.608072 m/s, LOS rate: -0.155418 deg/s, posRepo size: 4
2021-12-04T11:34:59.468Z,1638617699.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.319992 m,
      bearing: 244.460667 deg,
      approachRate: -0.608072 m/s,
      LOS rate: -0.155418 deg/s,
      cmd update: -0.466253 deg/s,
      cmd heading: 247.493962 deg,
      new cmd heading: 247.843611 deg.

2021-12-04T11:34:59.875Z,1638617699.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113500.11*58

2021-12-04T11:34:59.881Z,1638617699.881 [Micromodem](INFO): Nmea in: $CAREV,113501,AUV,2.1.4000*2D

2021-12-04T11:35:00.236Z,1638617700.236 [Micromodem](INFO): Nmea in: $CAREV,113501,COPROC,0.20.0.39330*7C

2021-12-04T11:35:02.264Z,1638617702.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:03.057Z,1638617703.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:03.459Z,1638617703.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:03.962Z,1638617703.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.919998 m, bearing: 245.430881 deg, deltaT: 4.484108 s, deltaX: -2.399994 m, approachRate: -0.535222 m/s, LOS rate: 0.216367 deg/s, posRepo size: 4
2021-12-04T11:35:03.968Z,1638617703.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.919998 m,
      bearing: 245.430881 deg,
      approachRate: -0.535222 m/s,
      LOS rate: 0.216367 deg/s,
      cmd update: 0.649102 deg/s,
      cmd heading: 245.416346 deg,
      new cmd heading: 245.204085 deg.

2021-12-04T11:35:04.288Z,1638617704.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113504.56*5F

2021-12-04T11:35:04.289Z,1638617704.289 [Micromodem](INFO): Nmea in: $CAREV,113505,AUV,2.1.4000*29

2021-12-04T11:35:04.696Z,1638617704.696 [Micromodem](INFO): Nmea in: $CAREV,113505,COPROC,0.20.0.39330*78

2021-12-04T11:35:06.701Z,1638617706.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:07.497Z,1638617707.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:07.939Z,1638617707.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:08.325Z,1638617708.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.039993 m, bearing: 244.147899 deg, deltaT: 4.382027 s, deltaX: -2.880005 m, approachRate: -0.657231 m/s, LOS rate: -0.292783 deg/s, posRepo size: 4
2021-12-04T11:35:08.328Z,1638617708.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 244.147899 deg,
      approachRate: -0.657231 m/s,
      LOS rate: -0.292783 deg/s,
      cmd update: -0.878349 deg/s,
      cmd heading: 248.343088 deg,
      new cmd heading: 248.543774 deg.

2021-12-04T11:35:08.744Z,1638617708.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113509.00*51

2021-12-04T11:35:08.745Z,1638617708.745 [Micromodem](INFO): Nmea in: $CAREV,113510,AUV,2.1.4000*2D

2021-12-04T11:35:09.128Z,1638617709.128 [Micromodem](INFO): Nmea in: $CAREV,113510,COPROC,0.20.0.39330*7C

2021-12-04T11:35:11.173Z,1638617711.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:11.950Z,1638617711.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:12.351Z,1638617712.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:12.796Z,1638617712.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.699997 m, bearing: 244.842638 deg, deltaT: 4.472758 s, deltaX: -2.339996 m, approachRate: -0.523166 m/s, LOS rate: 0.155327 deg/s, posRepo size: 4
2021-12-04T11:35:12.798Z,1638617712.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.699997 m,
      bearing: 244.842638 deg,
      approachRate: -0.523166 m/s,
      LOS rate: 0.155327 deg/s,
      cmd update: 0.465981 deg/s,
      cmd heading: 244.503292 deg,
      new cmd heading: 244.143962 deg.

2021-12-04T11:35:13.192Z,1638617713.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113513.45*5B

2021-12-04T11:35:13.193Z,1638617713.193 [Micromodem](INFO): Nmea in: $CAREV,113514,AUV,2.1.4000*29

2021-12-04T11:35:13.600Z,1638617713.600 [Micromodem](INFO): Nmea in: $CAREV,113514,COPROC,0.20.0.39330*78

2021-12-04T11:35:15.638Z,1638617715.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:16.385Z,1638617716.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:16.800Z,1638617716.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:17.233Z,1638617717.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.240005 m, bearing: 245.031015 deg, deltaT: 4.436984 s, deltaX: -2.459991 m, approachRate: -0.554429 m/s, LOS rate: 0.042456 deg/s, posRepo size: 4
2021-12-04T11:35:17.235Z,1638617717.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.240005 m,
      bearing: 245.031015 deg,
      approachRate: -0.554429 m/s,
      LOS rate: 0.042456 deg/s,
      cmd update: 0.127368 deg/s,
      cmd heading: 246.603135 deg,
      new cmd heading: 246.761460 deg.

2021-12-04T11:35:17.665Z,1638617717.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113517.88*5E

2021-12-04T11:35:17.667Z,1638617717.667 [Micromodem](INFO): Nmea in: $CAREV,113518,AUV,2.1.4000*25

2021-12-04T11:35:18.020Z,1638617718.020 [Micromodem](INFO): Nmea in: $CAREV,113518,COPROC,0.20.0.39330*74

2021-12-04T11:35:20.059Z,1638617720.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:20.837Z,1638617720.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:21.235Z,1638617721.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:21.737Z,1638617721.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.720001 m, bearing: 244.294338 deg, deltaT: 4.480917 s, deltaX: -2.520004 m, approachRate: -0.562386 m/s, LOS rate: -0.164403 deg/s, posRepo size: 4
2021-12-04T11:35:21.744Z,1638617721.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.720001 m,
      bearing: 244.294338 deg,
      approachRate: -0.562386 m/s,
      LOS rate: -0.164403 deg/s,
      cmd update: -0.493209 deg/s,
      cmd heading: 247.162544 deg,
      new cmd heading: 247.217312 deg.

2021-12-04T11:35:22.064Z,1638617722.064 [Micromodem](INFO): Nmea in: $SNTTA,0.104544,,,,113522.34*41

2021-12-04T11:35:22.065Z,1638617722.065 [Micromodem](INFO): Nmea in: $CAREV,113523,AUV,2.1.4000*2D

2021-12-04T11:35:22.460Z,1638617722.460 [Micromodem](INFO): Nmea in: $CAREV,113523,COPROC,0.20.0.39330*7C

2021-12-04T11:35:24.476Z,1638617724.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:25.277Z,1638617725.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:25.689Z,1638617725.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:26.128Z,1638617726.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.199997 m, bearing: 244.831737 deg, deltaT: 4.413927 s, deltaX: -2.520004 m, approachRate: -0.570921 m/s, LOS rate: 0.121751 deg/s, posRepo size: 4
2021-12-04T11:35:26.130Z,1638617726.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.199997 m,
      bearing: 244.831737 deg,
      approachRate: -0.570921 m/s,
      LOS rate: 0.121751 deg/s,
      cmd update: 0.365252 deg/s,
      cmd heading: 244.956799 deg,
      new cmd heading: 244.774156 deg.

2021-12-04T11:35:26.508Z,1638617726.508 [Micromodem](INFO): Nmea in: $SNTTA,0.100560,,,,113526.78*4F

2021-12-04T11:35:26.509Z,1638617726.509 [Micromodem](INFO): Nmea in: $CAREV,113527,AUV,2.1.4000*29

2021-12-04T11:35:26.920Z,1638617726.920 [Micromodem](INFO): Nmea in: $CAREV,113527,COPROC,0.20.0.39330*78

2021-12-04T11:35:28.961Z,1638617728.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:29.725Z,1638617729.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:29.821Z,1638617729.821 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T11:35:30.123Z,1638617730.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:30.546Z,1638617730.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.440002 m, bearing: 244.009765 deg, deltaT: 4.418119 s, deltaX: -2.759995 m, approachRate: -0.624699 m/s, LOS rate: -0.186046 deg/s, posRepo size: 4
2021-12-04T11:35:30.548Z,1638617730.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.440002 m,
      bearing: 244.009765 deg,
      approachRate: -0.624699 m/s,
      LOS rate: -0.186046 deg/s,
      cmd update: -0.558137 deg/s,
      cmd heading: 246.569462 deg,
      new cmd heading: 246.705805 deg.

2021-12-04T11:35:30.968Z,1638617730.968 [Micromodem](INFO): Nmea in: $SNTTA,0.110995,,,,113531.22*41

2021-12-04T11:35:30.969Z,1638617730.969 [Micromodem](INFO): Nmea in: $CAREV,113532,AUV,2.1.4000*2D

2021-12-04T11:35:31.348Z,1638617731.348 [Micromodem](INFO): Nmea in: $CAREV,113532,COPROC,0.20.0.39330*7C

2021-12-04T11:35:33.365Z,1638617733.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:34.161Z,1638617734.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:34.572Z,1638617734.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:35.009Z,1638617735.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.039993 m, bearing: 244.238767 deg, deltaT: 4.462971 s, deltaX: -2.400009 m, approachRate: -0.537760 m/s, LOS rate: 0.051312 deg/s, posRepo size: 4
2021-12-04T11:35:35.011Z,1638617735.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.039993 m,
      bearing: 244.238767 deg,
      approachRate: -0.537760 m/s,
      LOS rate: 0.051312 deg/s,
      cmd update: 0.153935 deg/s,
      cmd heading: 244.075404 deg,
      new cmd heading: 243.870196 deg.

2021-12-04T11:35:35.396Z,1638617735.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113535.66*5E

2021-12-04T11:35:35.397Z,1638617735.397 [Micromodem](INFO): Nmea in: $CAREV,113536,AUV,2.1.4000*29

2021-12-04T11:35:35.796Z,1638617735.796 [Micromodem](INFO): Nmea in: $CAREV,113536,COPROC,0.20.0.39330*78

2021-12-04T11:35:37.864Z,1638617737.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:38.608Z,1638617738.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:39.011Z,1638617739.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:39.435Z,1638617739.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.339996 m, bearing: 243.949441 deg, deltaT: 4.426077 s, deltaX: -2.699997 m, approachRate: -0.610020 m/s, LOS rate: -0.065369 deg/s, posRepo size: 4
2021-12-04T11:35:39.437Z,1638617739.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.339996 m,
      bearing: 243.949441 deg,
      approachRate: -0.610020 m/s,
      LOS rate: -0.065369 deg/s,
      cmd update: -0.196106 deg/s,
      cmd heading: 244.755732 deg,
      new cmd heading: 244.813293 deg.

2021-12-04T11:35:39.856Z,1638617739.856 [Micromodem](INFO): Nmea in: $SNTTA,0.100874,,,,113540.11*48

2021-12-04T11:35:39.860Z,1638617739.860 [Micromodem](INFO): Nmea in: $CAREV,113541,AUV,2.1.4000*29

2021-12-04T11:35:40.228Z,1638617740.228 [Micromodem](INFO): Nmea in: $CAREV,113541,COPROC,0.20.0.39330*78

2021-12-04T11:35:41.946Z,1638617741.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:42.653Z,1638617742.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:43.051Z,1638617743.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:43.472Z,1638617743.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 244.324227 deg, deltaT: 4.037203 s, deltaX: -2.279999 m, approachRate: -0.564747 m/s, LOS rate: 0.092833 deg/s, posRepo size: 4
2021-12-04T11:35:43.475Z,1638617743.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.059998 m,
      bearing: 244.324227 deg,
      approachRate: -0.564747 m/s,
      LOS rate: 0.092833 deg/s,
      cmd update: 0.278499 deg/s,
      cmd heading: 243.964223 deg,
      new cmd heading: 243.890635 deg.

2021-12-04T11:35:43.900Z,1638617743.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113544.15*5C

2021-12-04T11:35:43.901Z,1638617743.901 [Micromodem](INFO): Nmea in: $CAREV,113545,AUV,2.1.4000*2D

2021-12-04T11:35:44.272Z,1638617744.272 [Micromodem](INFO): Nmea in: $CAREV,113545,COPROC,0.20.0.39330*7C

2021-12-04T11:35:46.288Z,1638617746.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:47.093Z,1638617747.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:47.495Z,1638617747.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:48.011Z,1638617748.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.660004 m, bearing: 244.037632 deg, deltaT: 4.534872 s, deltaX: -2.399994 m, approachRate: -0.529231 m/s, LOS rate: -0.063198 deg/s, posRepo size: 4
2021-12-04T11:35:48.013Z,1638617748.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.660004 m,
      bearing: 244.037632 deg,
      approachRate: -0.529231 m/s,
      LOS rate: -0.063198 deg/s,
      cmd update: -0.189594 deg/s,
      cmd heading: 245.200290 deg,
      new cmd heading: 245.331630 deg.

2021-12-04T11:35:48.332Z,1638617748.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113548.59*58

2021-12-04T11:35:48.333Z,1638617748.333 [Micromodem](INFO): Nmea in: $CAREV,113549,AUV,2.1.4000*21

2021-12-04T11:35:48.720Z,1638617748.720 [Micromodem](INFO): Nmea in: $CAREV,113549,COPROC,0.20.0.39330*70

2021-12-04T11:35:50.756Z,1638617750.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:51.544Z,1638617751.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:51.935Z,1638617751.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:52.364Z,1638617752.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.960007 m, bearing: 245.045877 deg, deltaT: 4.356190 s, deltaX: -2.699997 m, approachRate: -0.619807 m/s, LOS rate: 0.231451 deg/s, posRepo size: 4
2021-12-04T11:35:52.365Z,1638617752.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.960007 m,
      bearing: 245.045877 deg,
      approachRate: -0.619807 m/s,
      LOS rate: 0.231451 deg/s,
      cmd update: 0.694353 deg/s,
      cmd heading: 244.352395 deg,
      new cmd heading: 244.284976 deg.

2021-12-04T11:35:52.792Z,1638617752.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113553.04*5A

2021-12-04T11:35:52.793Z,1638617752.793 [Micromodem](INFO): Nmea in: $CAREV,113554,AUV,2.1.4000*2D

2021-12-04T11:35:53.168Z,1638617753.168 [Micromodem](INFO): Nmea in: $CAREV,113554,COPROC,0.20.0.39330*7C

2021-12-04T11:35:55.195Z,1638617755.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:35:55.977Z,1638617755.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:35:56.379Z,1638617756.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:35:56.812Z,1638617756.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.259995 m, bearing: 244.314938 deg, deltaT: 4.448122 s, deltaX: -2.700012 m, approachRate: -0.607000 m/s, LOS rate: -0.164325 deg/s, posRepo size: 4
2021-12-04T11:35:56.813Z,1638617756.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.259995 m,
      bearing: 244.314938 deg,
      approachRate: -0.607000 m/s,
      LOS rate: -0.164325 deg/s,
      cmd update: -0.492976 deg/s,
      cmd heading: 247.417074 deg,
      new cmd heading: 247.687879 deg.

2021-12-04T11:35:57.212Z,1638617757.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113557.48*56

2021-12-04T11:35:57.213Z,1638617757.213 [Micromodem](INFO): Nmea in: $CAREV,113558,AUV,2.1.4000*21

2021-12-04T11:35:57.636Z,1638617757.636 [Micromodem](INFO): Nmea in: $CAREV,113558,COPROC,0.20.0.39330*70

2021-12-04T11:35:59.689Z,1638617759.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:00.421Z,1638617760.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:00.838Z,1638617760.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:01.285Z,1638617761.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.740005 m, bearing: 243.661808 deg, deltaT: 4.469745 s, deltaX: -2.519989 m, approachRate: -0.563788 m/s, LOS rate: -0.146122 deg/s, posRepo size: 4
2021-12-04T11:36:01.291Z,1638617761.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.740005 m,
      bearing: 243.661808 deg,
      approachRate: -0.563788 m/s,
      LOS rate: -0.146122 deg/s,
      cmd update: -0.438367 deg/s,
      cmd heading: 245.206108 deg,
      new cmd heading: 245.019225 deg.

2021-12-04T11:36:01.668Z,1638617761.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113601.92*51

2021-12-04T11:36:01.669Z,1638617761.669 [Micromodem](INFO): Nmea in: $CAREV,113602,AUV,2.1.4000*2D

2021-12-04T11:36:02.048Z,1638617762.048 [Micromodem](INFO): Nmea in: $CAREV,113602,COPROC,0.20.0.39330*7C

2021-12-04T11:36:04.091Z,1638617764.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:04.896Z,1638617764.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:05.271Z,1638617765.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:05.736Z,1638617765.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.160004 m, bearing: 242.796395 deg, deltaT: 4.454441 s, deltaX: -2.580002 m, approachRate: -0.579198 m/s, LOS rate: -0.194281 deg/s, posRepo size: 4
2021-12-04T11:36:05.738Z,1638617765.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.160004 m,
      bearing: 242.796395 deg,
      approachRate: -0.579198 m/s,
      LOS rate: -0.194281 deg/s,
      cmd update: -0.582842 deg/s,
      cmd heading: 243.279014 deg,
      new cmd heading: 243.089123 deg.

2021-12-04T11:36:06.090Z,1638617766.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113606.39*57

2021-12-04T11:36:06.104Z,1638617766.104 [Micromodem](INFO): Nmea in: $CAREV,113607,AUV,2.1.4000*28

2021-12-04T11:36:06.496Z,1638617766.496 [Micromodem](INFO): Nmea in: $CAREV,113607,COPROC,0.20.0.39330*79

2021-12-04T11:36:08.512Z,1638617768.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:09.309Z,1638617769.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:09.728Z,1638617769.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:10.169Z,1638617770.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.760010 m, bearing: 245.156362 deg, deltaT: 4.433395 s, deltaX: -2.399994 m, approachRate: -0.541344 m/s, LOS rate: 0.532316 deg/s, posRepo size: 4
2021-12-04T11:36:10.171Z,1638617770.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.760010 m,
      bearing: 245.156362 deg,
      approachRate: -0.541344 m/s,
      LOS rate: 0.532316 deg/s,
      cmd update: 1.596948 deg/s,
      cmd heading: 240.661712 deg,
      new cmd heading: 240.442424 deg.

2021-12-04T11:36:10.556Z,1638617770.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113610.81*53

2021-12-04T11:36:10.557Z,1638617770.557 [Micromodem](INFO): Nmea in: $CAREV,113611,AUV,2.1.4000*2F

2021-12-04T11:36:10.947Z,1638617770.947 [Micromodem](INFO): Nmea in: $CAREV,113611,COPROC,0.20.0.39330*7E

2021-12-04T11:36:12.976Z,1638617772.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:13.753Z,1638617773.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:14.151Z,1638617774.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:14.608Z,1638617774.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.060005 m, bearing: 243.159406 deg, deltaT: 4.436217 s, deltaX: -2.700005 m, approachRate: -0.608628 m/s, LOS rate: -0.450148 deg/s, posRepo size: 4
2021-12-04T11:36:14.612Z,1638617774.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.060005 m,
      bearing: 243.159406 deg,
      approachRate: -0.608628 m/s,
      LOS rate: -0.450148 deg/s,
      cmd update: -1.350445 deg/s,
      cmd heading: 247.678362 deg,
      new cmd heading: 248.349148 deg.

2021-12-04T11:36:14.996Z,1638617774.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113615.26*5B

2021-12-04T11:36:14.997Z,1638617774.997 [Micromodem](INFO): Nmea in: $CAREV,113616,AUV,2.1.4000*28

2021-12-04T11:36:15.372Z,1638617775.372 [Micromodem](INFO): Nmea in: $CAREV,113616,COPROC,0.20.0.39330*79

2021-12-04T11:36:17.408Z,1638617777.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:18.201Z,1638617778.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:18.611Z,1638617778.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:19.049Z,1638617779.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.600006 m, bearing: 243.365077 deg, deltaT: 4.443195 s, deltaX: -2.459999 m, approachRate: -0.553655 m/s, LOS rate: 0.046289 deg/s, posRepo size: 4
2021-12-04T11:36:19.051Z,1638617779.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.600006 m,
      bearing: 243.365077 deg,
      approachRate: -0.553655 m/s,
      LOS rate: 0.046289 deg/s,
      cmd update: 0.138867 deg/s,
      cmd heading: 241.661244 deg,
      new cmd heading: 241.112706 deg.

2021-12-04T11:36:19.444Z,1638617779.444 [Micromodem](INFO): Nmea in: $SNTTA,0.080168,,,,113619.70*4D

2021-12-04T11:36:19.445Z,1638617779.445 [Micromodem](INFO): Nmea in: $CAREV,113620,AUV,2.1.4000*2D

2021-12-04T11:36:19.831Z,1638617779.831 [Micromodem](INFO): Nmea in: $CAREV,113620,COPROC,0.20.0.39330*7C

2021-12-04T11:36:21.928Z,1638617781.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:22.640Z,1638617782.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:23.062Z,1638617783.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:23.491Z,1638617783.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.900009 m, bearing: 245.190513 deg, deltaT: 4.442435 s, deltaX: -2.699997 m, approachRate: -0.607774 m/s, LOS rate: 0.410909 deg/s, posRepo size: 4
2021-12-04T11:36:23.493Z,1638617783.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.900009 m,
      bearing: 245.190513 deg,
      approachRate: -0.607774 m/s,
      LOS rate: 0.410909 deg/s,
      cmd update: 1.232727 deg/s,
      cmd heading: 242.280109 deg,
      new cmd heading: 242.334524 deg.

2021-12-04T11:36:23.879Z,1638617783.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113624.17*5B

2021-12-04T11:36:23.891Z,1638617783.891 [Micromodem](INFO): Nmea in: $CAREV,113625,AUV,2.1.4000*28

2021-12-04T11:36:24.280Z,1638617784.280 [Micromodem](INFO): Nmea in: $CAREV,113625,COPROC,0.20.0.39330*79

2021-12-04T11:36:26.304Z,1638617786.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:27.093Z,1638617787.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:27.495Z,1638617787.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:27.985Z,1638617787.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.380005 m, bearing: 244.700707 deg, deltaT: 4.493718 s, deltaX: -2.520004 m, approachRate: -0.560784 m/s, LOS rate: -0.108998 deg/s, posRepo size: 4
2021-12-04T11:36:27.987Z,1638617787.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 244.700707 deg,
      approachRate: -0.560784 m/s,
      LOS rate: -0.108998 deg/s,
      cmd update: -0.326994 deg/s,
      cmd heading: 247.812894 deg,
      new cmd heading: 248.303125 deg.

2021-12-04T11:36:28.340Z,1638617788.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113628.59*5D

2021-12-04T11:36:28.341Z,1638617788.341 [Micromodem](INFO): Nmea in: $CAREV,113629,AUV,2.1.4000*24

2021-12-04T11:36:28.716Z,1638617788.716 [Micromodem](INFO): Nmea in: $CAREV,113629,COPROC,0.20.0.39330*75

2021-12-04T11:36:30.892Z,1638617790.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:31.529Z,1638617791.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:31.935Z,1638617791.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:32.379Z,1638617792.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.799995 m, bearing: 244.042277 deg, deltaT: 4.370498 s, deltaX: -2.580009 m, approachRate: -0.590324 m/s, LOS rate: -0.150653 deg/s, posRepo size: 4
2021-12-04T11:36:32.381Z,1638617792.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.799995 m,
      bearing: 244.042277 deg,
      approachRate: -0.590324 m/s,
      LOS rate: -0.150653 deg/s,
      cmd update: -0.451960 deg/s,
      cmd heading: 246.364417 deg,
      new cmd heading: 246.253835 deg.

2021-12-04T11:36:32.764Z,1638617792.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113633.03*58

2021-12-04T11:36:32.765Z,1638617792.765 [Micromodem](INFO): Nmea in: $CAREV,113634,AUV,2.1.4000*28

2021-12-04T11:36:33.156Z,1638617793.156 [Micromodem](INFO): Nmea in: $CAREV,113634,COPROC,0.20.0.39330*79

2021-12-04T11:36:35.189Z,1638617795.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:35.981Z,1638617795.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:36.379Z,1638617796.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:36.804Z,1638617796.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.400002 m, bearing: 244.402555 deg, deltaT: 4.448376 s, deltaX: -2.399994 m, approachRate: -0.539521 m/s, LOS rate: 0.080991 deg/s, posRepo size: 4
2021-12-04T11:36:36.805Z,1638617796.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.400002 m,
      bearing: 244.402555 deg,
      approachRate: -0.539521 m/s,
      LOS rate: 0.080991 deg/s,
      cmd update: 0.242973 deg/s,
      cmd heading: 244.373700 deg,
      new cmd heading: 244.201094 deg.

2021-12-04T11:36:37.208Z,1638617797.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113637.48*53

2021-12-04T11:36:37.209Z,1638617797.209 [Micromodem](INFO): Nmea in: $CAREV,113638,AUV,2.1.4000*24

2021-12-04T11:36:37.640Z,1638617797.640 [Micromodem](INFO): Nmea in: $CAREV,113638,COPROC,0.20.0.39330*75

2021-12-04T11:36:39.710Z,1638617799.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:40.425Z,1638617800.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:40.819Z,1638617800.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:41.280Z,1638617801.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.700005 m, bearing: 244.438264 deg, deltaT: 4.471878 s, deltaX: -2.699997 m, approachRate: -0.603773 m/s, LOS rate: 0.007985 deg/s, posRepo size: 4
2021-12-04T11:36:41.281Z,1638617801.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.700005 m,
      bearing: 244.438264 deg,
      approachRate: -0.603773 m/s,
      LOS rate: 0.007985 deg/s,
      cmd update: 0.023955 deg/s,
      cmd heading: 245.461691 deg,
      new cmd heading: 245.553038 deg.

2021-12-04T11:36:41.675Z,1638617801.675 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113641.93*54

2021-12-04T11:36:41.676Z,1638617801.676 [Micromodem](INFO): Nmea in: $CAREV,113642,AUV,2.1.4000*29

2021-12-04T11:36:42.052Z,1638617802.052 [Micromodem](INFO): Nmea in: $CAREV,113642,COPROC,0.20.0.39330*78

2021-12-04T11:36:44.088Z,1638617804.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:44.880Z,1638617804.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:45.267Z,1638617805.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:45.786Z,1638617805.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 243.460481 deg, deltaT: 4.510263 s, deltaX: -2.639999 m, approachRate: -0.585332 m/s, LOS rate: -0.216791 deg/s, posRepo size: 4
2021-12-04T11:36:45.788Z,1638617805.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.060005 m,
      bearing: 243.460481 deg,
      approachRate: -0.585332 m/s,
      LOS rate: -0.216791 deg/s,
      cmd update: -0.650372 deg/s,
      cmd heading: 245.567359 deg,
      new cmd heading: 245.578748 deg.

2021-12-04T11:36:46.092Z,1638617806.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113646.38*52

2021-12-04T11:36:46.093Z,1638617806.093 [Micromodem](INFO): Nmea in: $CAREV,113647,AUV,2.1.4000*2C

2021-12-04T11:36:46.492Z,1638617806.492 [Micromodem](INFO): Nmea in: $CAREV,113647,COPROC,0.20.0.39330*7D

2021-12-04T11:36:48.508Z,1638617808.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:49.305Z,1638617809.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:49.739Z,1638617809.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:50.159Z,1638617810.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.720001 m, bearing: 243.552771 deg, deltaT: 4.373467 s, deltaX: -2.340004 m, approachRate: -0.535046 m/s, LOS rate: 0.021102 deg/s, posRepo size: 4
2021-12-04T11:36:50.161Z,1638617810.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 243.552771 deg,
      approachRate: -0.535046 m/s,
      LOS rate: 0.021102 deg/s,
      cmd update: 0.063306 deg/s,
      cmd heading: 242.651391 deg,
      new cmd heading: 242.413950 deg.

2021-12-04T11:36:50.544Z,1638617810.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113650.81*57

2021-12-04T11:36:50.545Z,1638617810.545 [Micromodem](INFO): Nmea in: $CAREV,113651,AUV,2.1.4000*2B

2021-12-04T11:36:50.944Z,1638617810.944 [Micromodem](INFO): Nmea in: $CAREV,113651,COPROC,0.20.0.39330*7A

2021-12-04T11:36:52.963Z,1638617812.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:53.756Z,1638617813.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:54.148Z,1638617814.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:54.583Z,1638617814.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.440002 m, bearing: 245.918174 deg, deltaT: 4.424049 s, deltaX: -2.279999 m, approachRate: -0.515365 m/s, LOS rate: 0.534669 deg/s, posRepo size: 4
2021-12-04T11:36:54.585Z,1638617814.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.440002 m,
      bearing: 245.918174 deg,
      approachRate: -0.515365 m/s,
      LOS rate: 0.534669 deg/s,
      cmd update: 1.604008 deg/s,
      cmd heading: 242.930242 deg,
      new cmd heading: 242.954574 deg.

2021-12-04T11:36:54.992Z,1638617814.992 [Micromodem](INFO): Nmea in: $SNTTA,0.093058,,,,113655.26*46

2021-12-04T11:36:54.993Z,1638617814.993 [Micromodem](INFO): Nmea in: $CAREV,113656,AUV,2.1.4000*2C

2021-12-04T11:36:55.409Z,1638617815.409 [Micromodem](INFO): Nmea in: $CAREV,113656,COPROC,0.20.0.39330*7D

2021-12-04T11:36:57.406Z,1638617817.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:36:58.193Z,1638617818.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:36:58.619Z,1638617818.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:36:59.049Z,1638617819.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.739998 m, bearing: 243.570802 deg, deltaT: 4.462143 s, deltaX: -2.700005 m, approachRate: -0.605091 m/s, LOS rate: -0.526064 deg/s, posRepo size: 4
2021-12-04T11:36:59.056Z,1638617819.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.739998 m,
      bearing: 243.570802 deg,
      approachRate: -0.605091 m/s,
      LOS rate: -0.526064 deg/s,
      cmd update: -1.578192 deg/s,
      cmd heading: 250.065380 deg,
      new cmd heading: 250.710919 deg.

2021-12-04T11:37:01.917Z,1638617821.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:02.643Z,1638617822.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:04.701Z,1638617824.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:05.464Z,1638617825.464 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:37:07.492Z,1638617827.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:10.012Z,1638617830.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:11.116Z,1638617831.116 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:37:12.745Z,1638617832.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:13.948Z,1638617833.948 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:15.609Z,1638617835.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:16.376Z,1638617836.376 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:37:18.400Z,1638617838.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:21.249Z,1638617841.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:22.028Z,1638617842.028 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:37:24.077Z,1638617844.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:25.260Z,1638617845.260 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:25.664Z,1638617845.664 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-12-04T11:37:25.664Z,1638617845.664 [Micromodem] Hardware Fault, FailCount= 1
2021-12-04T11:37:25.664Z,1638617845.664 [Micromodem](ERROR): Hardware Fault
2021-12-04T11:37:25.815Z,1638617845.815 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-12-04T11:37:26.068Z,1638617846.068 [Micromodem](INFO): Powering down
2021-12-04T11:37:26.472Z,1638617846.472 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-12-04T11:37:26.908Z,1638617846.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:27.011Z,1638617847.011 [CBIT](INFO): Clearing failed state for component Micromodem
2021-12-04T11:37:27.011Z,1638617847.011 [Micromodem] No Fault, FailCount= 1
2021-12-04T11:37:27.684Z,1638617847.684 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:37:29.739Z,1638617849.739 [Micromodem](INFO): Powering up
2021-12-04T11:37:29.739Z,1638617849.739 [Micromodem](DEBUG): Initializing Micromodem.
2021-12-04T11:37:29.787Z,1638617849.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:32.549Z,1638617852.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:33.355Z,1638617853.355 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:37:33.776Z,1638617853.776 [Micromodem](INFO): Nmea in: $CAREV,113735,INIT,2.1.4000*70

2021-12-04T11:37:34.153Z,1638617854.153 [Micromodem](INFO): Nmea in: $CAREV,113735,SLOT1,2.1.4000*5F

2021-12-04T11:37:34.556Z,1638617854.556 [Micromodem](INFO): Nmea in: $CAREV,113735,AUV,2.1.4000*28

2021-12-04T11:37:34.558Z,1638617854.558 [Micromodem](INFO): Nmea in: $CAREV,113735,COPROC,0.20.0.39330*79

2021-12-04T11:37:34.964Z,1638617854.964 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T11:37:35.080784Z,RTC,RTC*57

2021-12-04T11:37:34.964Z,1638617854.964 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-12-04T11:37:35.080784Z,RTC,RTC*57

2021-12-04T11:37:35.388Z,1638617855.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:36.580Z,1638617856.580 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:36.983Z,1638617856.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:37:37.007Z,1638617857.007 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-12-04T11:37:37.386Z,1638617857.386 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-12-04T11:37:37.386Z,1638617857.386 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2021-12-04T11:37:37.451Z,1638617857.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.779999 m, bearing: 258.067633 deg, deltaT: 38.401828 s, deltaX: -18.959999 m, approachRate: -0.493726 m/s, LOS rate: 0.377504 deg/s, posRepo size: 4
2021-12-04T11:37:37.453Z,1638617857.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.779999 m,
      bearing: 258.067633 deg,
      approachRate: -0.493726 m/s,
      LOS rate: 0.377504 deg/s,
      cmd update: 1.132511 deg/s,
      cmd heading: 189.477489 deg,
      new cmd heading: 188.831484 deg.

2021-12-04T11:37:37.816Z,1638617857.816 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2021-12-04T11:37:37.816Z,1638617857.816 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-12-04T11:37:38.207Z,1638617858.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113738.08*59

2021-12-04T11:37:38.208Z,1638617858.208 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,113738.08*59

2021-12-04T11:37:38.600Z,1638617858.600 [Micromodem](INFO): Nmea in: $CAREV,113739,AUV,2.1.4000*24

2021-12-04T11:37:39.004Z,1638617859.004 [Micromodem](INFO): Nmea in: $CAREV,113739,COPROC,0.20.0.39330*75

2021-12-04T11:37:39.415Z,1638617859.415 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-12-04T11:37:39.416Z,1638617859.416 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-12-04T11:37:39.820Z,1638617859.820 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-12-04T11:37:39.820Z,1638617859.820 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-12-04T11:37:40.209Z,1638617860.209 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-12-04T11:37:40.209Z,1638617860.209 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-12-04T11:37:40.254Z,1638617860.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:40.610Z,1638617860.610 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-12-04T11:37:40.611Z,1638617860.611 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-12-04T11:37:41.025Z,1638617861.025 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-12-04T11:37:41.025Z,1638617861.025 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-12-04T11:37:41.421Z,1638617861.421 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-12-04T11:37:41.421Z,1638617861.421 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-12-04T11:37:41.829Z,1638617861.829 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-12-04T11:37:41.830Z,1638617861.830 [Micromodem](INFO): Nmea out: $CCCLK,2021,12,04,11,37,42*40

2021-12-04T11:37:42.228Z,1638617862.228 [Micromodem](INFO): Nmea in: $CACLK,2021,12,4,11,37,42*72

2021-12-04T11:37:42.642Z,1638617862.642 [Micromodem](INFO): Nmea in: $CATMS,0,2021-12-04T11:37:43Z*73

2021-12-04T11:37:43.038Z,1638617863.038 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T11:37:43.027110Z,USER_CMD,RTC*11

2021-12-04T11:37:43.087Z,1638617863.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:45.931Z,1638617865.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:47.897Z,1638617867.897 [Micromodem](INFO): Nmea in: $CAREV,113748,AUV,2.1.4000*22

2021-12-04T11:37:47.898Z,1638617867.898 [Micromodem](INFO): Nmea in: $CAREV,113748,COPROC,0.20.0.39330*73

2021-12-04T11:37:48.704Z,1638617868.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:49.497Z,1638617869.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:49.935Z,1638617869.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:37:50.319Z,1638617870.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 262.323305 deg, deltaT: 12.871980 s, deltaX: -3.059998 m, approachRate: -0.237725 m/s, LOS rate: 0.330615 deg/s, posRepo size: 4
2021-12-04T11:37:50.321Z,1638617870.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.720001 m,
      bearing: 262.323305 deg,
      approachRate: -0.237725 m/s,
      LOS rate: 0.330615 deg/s,
      cmd update: 0.991846 deg/s,
      cmd heading: 204.176978 deg,
      new cmd heading: 204.518693 deg.

2021-12-04T11:37:50.744Z,1638617870.744 [Micromodem](INFO): Nmea in: $SNTTA,0.068234,,,,113750.00*4A

2021-12-04T11:37:50.745Z,1638617870.745 [Micromodem](INFO): Nmea in: $CAREV,113751,AUV,2.1.4000*2A

2021-12-04T11:37:51.128Z,1638617871.128 [Micromodem](INFO): Nmea in: $CAREV,113751,COPROC,0.20.0.39330*7B

2021-12-04T11:37:53.181Z,1638617873.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:53.957Z,1638617873.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:54.351Z,1638617874.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:37:54.815Z,1638617874.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 260.856645 deg, deltaT: 4.495842 s, deltaX: -1.080002 m, approachRate: -0.240222 m/s, LOS rate: -0.326226 deg/s, posRepo size: 4
2021-12-04T11:37:54.817Z,1638617874.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 260.856645 deg,
      approachRate: -0.240222 m/s,
      LOS rate: -0.326226 deg/s,
      cmd update: -0.978678 deg/s,
      cmd heading: 208.523135 deg,
      new cmd heading: 208.935447 deg.

2021-12-04T11:37:55.188Z,1638617875.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113754.46*59

2021-12-04T11:37:55.189Z,1638617875.189 [Micromodem](INFO): Nmea in: $CAREV,113755,AUV,2.1.4000*2E

2021-12-04T11:37:55.596Z,1638617875.596 [Micromodem](INFO): Nmea in: $CAREV,113755,COPROC,0.20.0.39330*7F

2021-12-04T11:37:57.648Z,1638617877.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:37:58.389Z,1638617878.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:37:58.794Z,1638617878.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:37:59.222Z,1638617879.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 261.358473 deg, deltaT: 4.406106 s, deltaX: -1.139999 m, approachRate: -0.258732 m/s, LOS rate: 0.113894 deg/s, posRepo size: 4
2021-12-04T11:37:59.240Z,1638617879.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 261.358473 deg,
      approachRate: -0.258732 m/s,
      LOS rate: 0.113894 deg/s,
      cmd update: 0.341681 deg/s,
      cmd heading: 204.127606 deg,
      new cmd heading: 203.803434 deg.

2021-12-04T11:37:59.660Z,1638617879.660 [Micromodem](INFO): Nmea in: $SNTTA,0.060604,,,,113758.89*4C

2021-12-04T11:37:59.661Z,1638617879.661 [Micromodem](INFO): Nmea in: $CAREV,113759,AUV,2.1.4000*22

2021-12-04T11:38:00.012Z,1638617880.012 [Micromodem](INFO): Nmea in: $CAREV,113759,COPROC,0.20.0.39330*73

2021-12-04T11:38:02.068Z,1638617882.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:02.834Z,1638617882.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:03.235Z,1638617883.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:03.713Z,1638617883.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.240005 m, bearing: 269.310206 deg, deltaT: 4.471709 s, deltaX: -1.259995 m, approachRate: -0.281770 m/s, LOS rate: 1.778231 deg/s, posRepo size: 4
2021-12-04T11:38:03.724Z,1638617883.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 269.310206 deg,
      approachRate: -0.281770 m/s,
      LOS rate: 1.778231 deg/s,
      cmd update: 5.334694 deg/s,
      cmd heading: 205.634069 deg,
      new cmd heading: 205.774701 deg.

2021-12-04T11:38:04.064Z,1638617884.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113803.35*50

2021-12-04T11:38:04.065Z,1638617884.065 [Micromodem](INFO): Nmea in: $CAREV,113804,AUV,2.1.4000*25

2021-12-04T11:38:04.456Z,1638617884.456 [Micromodem](INFO): Nmea in: $CAREV,113804,COPROC,0.20.0.39330*74

2021-12-04T11:38:06.480Z,1638617886.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:07.277Z,1638617887.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:07.696Z,1638617887.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:08.129Z,1638617888.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.100006 m, bearing: 265.716379 deg, deltaT: 4.435624 s, deltaX: -1.139999 m, approachRate: -0.257010 m/s, LOS rate: -0.810219 deg/s, posRepo size: 4
2021-12-04T11:38:08.131Z,1638617888.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.100006 m,
      bearing: 265.716379 deg,
      approachRate: -0.257010 m/s,
      LOS rate: -0.810219 deg/s,
      cmd update: -2.430657 deg/s,
      cmd heading: 229.490838 deg,
      new cmd heading: 231.395879 deg.

2021-12-04T11:38:08.524Z,1638617888.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113807.78*5D

2021-12-04T11:38:08.525Z,1638617888.525 [Micromodem](INFO): Nmea in: $CAREV,113808,AUV,2.1.4000*29

2021-12-04T11:38:08.938Z,1638617888.938 [Micromodem](INFO): Nmea in: $CAREV,113808,COPROC,0.20.0.39330*78

2021-12-04T11:38:10.958Z,1638617890.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:11.725Z,1638617891.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:12.131Z,1638617892.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:12.548Z,1638617892.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 261.725910 deg, deltaT: 4.419198 s, deltaX: -1.680000 m, approachRate: -0.380160 m/s, LOS rate: -0.902985 deg/s, posRepo size: 4
2021-12-04T11:38:12.550Z,1638617892.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.420006 m,
      bearing: 261.725910 deg,
      approachRate: -0.380160 m/s,
      LOS rate: -0.902985 deg/s,
      cmd update: -2.708955 deg/s,
      cmd heading: 218.781903 deg,
      new cmd heading: 217.881840 deg.

2021-12-04T11:38:12.968Z,1638617892.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113812.22*56

2021-12-04T11:38:12.969Z,1638617892.969 [Micromodem](INFO): Nmea in: $CAREV,113813,AUV,2.1.4000*23

2021-12-04T11:38:13.344Z,1638617893.344 [Micromodem](INFO): Nmea in: $CAREV,113813,COPROC,0.20.0.39330*72

2021-12-04T11:38:15.368Z,1638617895.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:16.161Z,1638617896.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:16.581Z,1638617896.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:17.023Z,1638617897.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.800011 m, bearing: 265.741214 deg, deltaT: 4.472744 s, deltaX: -1.619995 m, approachRate: -0.362193 m/s, LOS rate: 0.897727 deg/s, posRepo size: 4
2021-12-04T11:38:17.025Z,1638617897.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 265.741214 deg,
      approachRate: -0.362193 m/s,
      LOS rate: 0.897727 deg/s,
      cmd update: 2.693182 deg/s,
      cmd heading: 206.761394 deg,
      new cmd heading: 205.656309 deg.

2021-12-04T11:38:17.412Z,1638617897.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113816.66*52

2021-12-04T11:38:17.413Z,1638617897.413 [Micromodem](INFO): Nmea in: $CAREV,113817,AUV,2.1.4000*27

2021-12-04T11:38:17.792Z,1638617897.792 [Micromodem](INFO): Nmea in: $CAREV,113817,COPROC,0.20.0.39330*76

2021-12-04T11:38:19.862Z,1638617899.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:20.608Z,1638617900.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:21.015Z,1638617901.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:21.431Z,1638617901.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 278.126970 deg, deltaT: 4.410130 s, deltaX: -1.320007 m, approachRate: -0.299313 m/s, LOS rate: 2.808479 deg/s, posRepo size: 4
2021-12-04T11:38:21.433Z,1638617901.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.480003 m,
      bearing: 278.126970 deg,
      approachRate: -0.299313 m/s,
      LOS rate: 2.808479 deg/s,
      cmd update: 8.425436 deg/s,
      cmd heading: 218.727536 deg,
      new cmd heading: 219.731958 deg.

2021-12-04T11:38:21.860Z,1638617901.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113821.11*56

2021-12-04T11:38:21.864Z,1638617901.864 [Micromodem](INFO): Nmea in: $CAREV,113822,AUV,2.1.4000*21

2021-12-04T11:38:22.232Z,1638617902.232 [Micromodem](INFO): Nmea in: $CAREV,113822,COPROC,0.20.0.39330*70

2021-12-04T11:38:24.256Z,1638617904.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:25.045Z,1638617905.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:25.463Z,1638617905.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:25.968Z,1638617905.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 267.287978 deg, deltaT: 4.533383 s, deltaX: -1.019997 m, approachRate: -0.224997 m/s, LOS rate: -2.390928 deg/s, posRepo size: 4
2021-12-04T11:38:25.970Z,1638617905.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.460007 m,
      bearing: 267.287978 deg,
      approachRate: -0.224997 m/s,
      LOS rate: -2.390928 deg/s,
      cmd update: -7.172783 deg/s,
      cmd heading: 256.109259 deg,
      new cmd heading: 260.098340 deg.

2021-12-04T11:38:26.295Z,1638617906.295 [Micromodem](INFO): Nmea in: $SNTTA,0.081975,,,,113825.55*4E

2021-12-04T11:38:26.296Z,1638617906.296 [Micromodem](INFO): Nmea in: $CAREV,113826,AUV,2.1.4000*25

2021-12-04T11:38:26.680Z,1638617906.680 [Micromodem](INFO): Nmea in: $CAREV,113826,COPROC,0.20.0.39330*74

2021-12-04T11:38:28.700Z,1638617908.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:29.494Z,1638617909.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:29.929Z,1638617909.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:30.319Z,1638617910.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 272.679812 deg, deltaT: 4.354576 s, deltaX: -1.740009 m, approachRate: -0.399582 m/s, LOS rate: 1.238199 deg/s, posRepo size: 4
2021-12-04T11:38:30.321Z,1638617910.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.719997 m,
      bearing: 272.679812 deg,
      approachRate: -0.399582 m/s,
      LOS rate: 1.238199 deg/s,
      cmd update: 3.714598 deg/s,
      cmd heading: 223.700782 deg,
      new cmd heading: 221.506807 deg.

2021-12-04T11:38:30.736Z,1638617910.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113830.00*56

2021-12-04T11:38:30.737Z,1638617910.737 [Micromodem](INFO): Nmea in: $CAREV,113831,AUV,2.1.4000*23

2021-12-04T11:38:31.127Z,1638617911.127 [Micromodem](INFO): Nmea in: $CAREV,113831,COPROC,0.20.0.39330*72

2021-12-04T11:38:33.164Z,1638617913.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:33.949Z,1638617913.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:34.347Z,1638617914.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:34.802Z,1638617914.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 272.904798 deg, deltaT: 4.475576 s, deltaX: -1.919991 m, approachRate: -0.428993 m/s, LOS rate: 0.050270 deg/s, posRepo size: 4
2021-12-04T11:38:34.804Z,1638617914.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.800007 m,
      bearing: 272.904798 deg,
      approachRate: -0.428993 m/s,
      LOS rate: 0.050270 deg/s,
      cmd update: 0.150809 deg/s,
      cmd heading: 239.976975 deg,
      new cmd heading: 241.476840 deg.

2021-12-04T11:38:35.192Z,1638617915.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113834.45*53

2021-12-04T11:38:35.193Z,1638617915.193 [Micromodem](INFO): Nmea in: $CAREV,113835,AUV,2.1.4000*27

2021-12-04T11:38:35.592Z,1638617915.592 [Micromodem](INFO): Nmea in: $CAREV,113835,COPROC,0.20.0.39330*76

2021-12-04T11:38:37.645Z,1638617917.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:38.393Z,1638617918.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:38.792Z,1638617918.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:39.251Z,1638617919.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.759998 m, bearing: 273.451432 deg, deltaT: 4.448072 s, deltaX: -2.040009 m, approachRate: -0.458628 m/s, LOS rate: 0.122892 deg/s, posRepo size: 4
2021-12-04T11:38:39.252Z,1638617919.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.759998 m,
      bearing: 273.451432 deg,
      approachRate: -0.458628 m/s,
      LOS rate: 0.122892 deg/s,
      cmd update: 0.368677 deg/s,
      cmd heading: 240.647372 deg,
      new cmd heading: 240.708687 deg.

2021-12-04T11:38:39.656Z,1638617919.656 [Micromodem](INFO): Nmea in: $SNTTA,0.058611,,,,113838.89*4A

2021-12-04T11:38:39.657Z,1638617919.657 [Micromodem](INFO): Nmea in: $CAREV,113839,AUV,2.1.4000*2B

2021-12-04T11:38:40.004Z,1638617920.004 [Micromodem](INFO): Nmea in: $CAREV,113839,COPROC,0.20.0.39330*7A

2021-12-04T11:38:42.056Z,1638617922.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:42.833Z,1638617922.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:43.235Z,1638617923.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:43.698Z,1638617923.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 275.604526 deg, deltaT: 4.455632 s, deltaX: -1.799999 m, approachRate: -0.403983 m/s, LOS rate: 0.483230 deg/s, posRepo size: 4
2021-12-04T11:38:43.700Z,1638617923.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.959999 m,
      bearing: 275.604526 deg,
      approachRate: -0.403983 m/s,
      LOS rate: 0.483230 deg/s,
      cmd update: 1.449689 deg/s,
      cmd heading: 242.286450 deg,
      new cmd heading: 242.438464 deg.

2021-12-04T11:38:44.080Z,1638617924.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113843.33*52

2021-12-04T11:38:44.081Z,1638617924.081 [Micromodem](INFO): Nmea in: $CAREV,113844,AUV,2.1.4000*21

2021-12-04T11:38:44.464Z,1638617924.464 [Micromodem](INFO): Nmea in: $CAREV,113844,COPROC,0.20.0.39330*70

2021-12-04T11:38:46.481Z,1638617926.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:47.273Z,1638617927.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:47.685Z,1638617927.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:48.116Z,1638617928.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.740002 m, bearing: 277.429689 deg, deltaT: 4.418126 s, deltaX: -2.219997 m, approachRate: -0.502475 m/s, LOS rate: 0.413108 deg/s, posRepo size: 4
2021-12-04T11:38:48.118Z,1638617928.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.740002 m,
      bearing: 277.429689 deg,
      approachRate: -0.502475 m/s,
      LOS rate: 0.413108 deg/s,
      cmd update: 1.239324 deg/s,
      cmd heading: 248.752578 deg,
      new cmd heading: 249.288681 deg.

2021-12-04T11:38:48.520Z,1638617928.520 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113847.77*56

2021-12-04T11:38:48.521Z,1638617928.521 [Micromodem](INFO): Nmea in: $CAREV,113848,AUV,2.1.4000*2D

2021-12-04T11:38:48.932Z,1638617928.932 [Micromodem](INFO): Nmea in: $CAREV,113848,COPROC,0.20.0.39330*7C

2021-12-04T11:38:50.969Z,1638617930.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:51.718Z,1638617931.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:52.128Z,1638617932.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:52.592Z,1638617932.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.339996 m, bearing: 279.583029 deg, deltaT: 4.465948 s, deltaX: -2.400005 m, approachRate: -0.537401 m/s, LOS rate: 0.482169 deg/s, posRepo size: 4
2021-12-04T11:38:52.593Z,1638617932.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 279.583029 deg,
      approachRate: -0.537401 m/s,
      LOS rate: 0.482169 deg/s,
      cmd update: 1.446506 deg/s,
      cmd heading: 254.245733 deg,
      new cmd heading: 254.752774 deg.

2021-12-04T11:38:52.960Z,1638617932.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113852.22*52

2021-12-04T11:38:52.961Z,1638617932.961 [Micromodem](INFO): Nmea in: $CAREV,113853,AUV,2.1.4000*27

2021-12-04T11:38:53.344Z,1638617933.344 [Micromodem](INFO): Nmea in: $CAREV,113853,COPROC,0.20.0.39330*76

2021-12-04T11:38:55.373Z,1638617935.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:38:56.153Z,1638617936.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:38:56.571Z,1638617936.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:38:57.025Z,1638617937.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 281.607443 deg, deltaT: 4.439229 s, deltaX: -1.979996 m, approachRate: -0.446022 m/s, LOS rate: 0.456028 deg/s, posRepo size: 4
2021-12-04T11:38:57.031Z,1638617937.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 281.607443 deg,
      approachRate: -0.446022 m/s,
      LOS rate: 0.456028 deg/s,
      cmd update: 1.368084 deg/s,
      cmd heading: 260.655534 deg,
      new cmd heading: 261.256810 deg.

2021-12-04T11:38:57.413Z,1638617937.413 [Micromodem](INFO): Nmea in: $SNTTA,0.062367,,,,113856.65*4D

2021-12-04T11:38:57.414Z,1638617937.414 [Micromodem](INFO): Nmea in: $CAREV,113857,AUV,2.1.4000*23

2021-12-04T11:38:57.792Z,1638617937.792 [Micromodem](INFO): Nmea in: $CAREV,113857,COPROC,0.20.0.39330*72

2021-12-04T11:38:59.873Z,1638617939.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:00.601Z,1638617940.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:01.010Z,1638617941.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:01.444Z,1638617941.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 281.400980 deg, deltaT: 4.423037 s, deltaX: -2.520004 m, approachRate: -0.569745 m/s, LOS rate: -0.046679 deg/s, posRepo size: 4
2021-12-04T11:39:01.446Z,1638617941.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.839996 m,
      bearing: 281.400980 deg,
      approachRate: -0.569745 m/s,
      LOS rate: -0.046679 deg/s,
      cmd update: -0.140037 deg/s,
      cmd heading: 266.731042 deg,
      new cmd heading: 267.269829 deg.

2021-12-04T11:39:01.865Z,1638617941.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113901.10*54

2021-12-04T11:39:01.868Z,1638617941.868 [Micromodem](INFO): Nmea in: $CAREV,113902,AUV,2.1.4000*22

2021-12-04T11:39:02.236Z,1638617942.236 [Micromodem](INFO): Nmea in: $CAREV,113902,COPROC,0.20.0.39330*73

2021-12-04T11:39:04.262Z,1638617944.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:05.045Z,1638617945.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:05.455Z,1638617945.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:06.020Z,1638617946.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 282.446873 deg, deltaT: 4.575591 s, deltaX: -2.519997 m, approachRate: -0.550748 m/s, LOS rate: 0.228581 deg/s, posRepo size: 4
2021-12-04T11:39:06.022Z,1638617946.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.320000 m,
      bearing: 282.446873 deg,
      approachRate: -0.550748 m/s,
      LOS rate: 0.228581 deg/s,
      cmd update: 0.685743 deg/s,
      cmd heading: 266.109846 deg,
      new cmd heading: 266.035179 deg.

2021-12-04T11:39:06.295Z,1638617946.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113905.55*51

2021-12-04T11:39:06.296Z,1638617946.296 [Micromodem](INFO): Nmea in: $CAREV,113906,AUV,2.1.4000*26

2021-12-04T11:39:06.676Z,1638617946.676 [Micromodem](INFO): Nmea in: $CAREV,113906,COPROC,0.20.0.39330*77

2021-12-04T11:39:08.713Z,1638617948.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:09.493Z,1638617949.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:09.931Z,1638617949.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:10.323Z,1638617950.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 282.747784 deg, deltaT: 4.302674 s, deltaX: -2.399998 m, approachRate: -0.557792 m/s, LOS rate: 0.069936 deg/s, posRepo size: 4
2021-12-04T11:39:10.325Z,1638617950.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.920002 m,
      bearing: 282.747784 deg,
      approachRate: -0.557792 m/s,
      LOS rate: 0.069936 deg/s,
      cmd update: 0.209807 deg/s,
      cmd heading: 269.216539 deg,
      new cmd heading: 269.426182 deg.

2021-12-04T11:39:10.736Z,1638617950.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113910.00*55

2021-12-04T11:39:10.737Z,1638617950.737 [Micromodem](INFO): Nmea in: $CAREV,113911,AUV,2.1.4000*20

2021-12-04T11:39:11.116Z,1638617951.116 [Micromodem](INFO): Nmea in: $CAREV,113911,COPROC,0.20.0.39330*71

2021-12-04T11:39:13.147Z,1638617953.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:13.941Z,1638617953.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:14.421Z,1638617954.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:14.768Z,1638617954.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 284.389433 deg, deltaT: 4.445167 s, deltaX: -2.700001 m, approachRate: -0.607401 m/s, LOS rate: 0.369311 deg/s, posRepo size: 4
2021-12-04T11:39:14.769Z,1638617954.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.220001 m,
      bearing: 284.389433 deg,
      approachRate: -0.607401 m/s,
      LOS rate: 0.369311 deg/s,
      cmd update: 1.107933 deg/s,
      cmd heading: 270.148957 deg,
      new cmd heading: 270.213255 deg.

2021-12-04T11:39:15.185Z,1638617955.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113914.44*51

2021-12-04T11:39:15.186Z,1638617955.186 [Micromodem](INFO): Nmea in: $CAREV,113915,AUV,2.1.4000*24

2021-12-04T11:39:15.580Z,1638617955.580 [Micromodem](INFO): Nmea in: $CAREV,113915,COPROC,0.20.0.39330*75

2021-12-04T11:39:17.648Z,1638617957.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:18.381Z,1638617958.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:18.784Z,1638617958.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:19.224Z,1638617959.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 284.570679 deg, deltaT: 4.456487 s, deltaX: -2.400002 m, approachRate: -0.538541 m/s, LOS rate: 0.040670 deg/s, posRepo size: 4
2021-12-04T11:39:19.225Z,1638617959.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 38.82 m.
2021-12-04T11:39:19.227Z,1638617959.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.820000 m,
      bearing: 284.570679 deg,
      approachRate: -0.538541 m/s,
      LOS rate: 0.040670 deg/s,
      cmd update: 0.122010 deg/s,
      cmd heading: 274.972239 deg,
      new cmd heading: 275.426271 deg.

2021-12-04T11:39:19.680Z,1638617959.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113918.88*5D

2021-12-04T11:39:19.681Z,1638617959.681 [Micromodem](INFO): Nmea in: $CAREV,113919,AUV,2.1.4000*28

2021-12-04T11:39:19.711Z,1638617959.711 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T11:39:19.711Z,1638617959.711 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T11:39:19.712Z,1638617959.712 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T11:39:19.713Z,1638617959.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 38.820000 m (mode 1 count ).
2021-12-04T11:39:19.713Z,1638617959.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T11:39:19.713Z,1638617959.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T11:39:20.044Z,1638617960.044 [Micromodem](INFO): Nmea in: $CAREV,113919,COPROC,0.20.0.39330*79

2021-12-04T11:39:20.065Z,1638617960.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T11:39:20.065Z,1638617960.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T11:39:20.065Z,1638617960.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T11:39:20.065Z,1638617960.065 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T11:39:22.050Z,1638617962.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:22.829Z,1638617962.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:23.237Z,1638617963.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:23.679Z,1638617963.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:23.684Z,1638617963.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 284.925767 deg, deltaT: 4.459415 s, deltaX: -2.580002 m, approachRate: -0.578552 m/s, LOS rate: 0.079627 deg/s, posRepo size: 4
2021-12-04T11:39:23.684Z,1638617963.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 36.24 m.
2021-12-04T11:39:23.686Z,1638617963.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.239998 m,
      bearing: 284.925767 deg,
      approachRate: -0.578552 m/s,
      LOS rate: 0.079627 deg/s,
      cmd update: 0.238880 deg/s,
      cmd heading: 275.515520 deg,
      new cmd heading: 275.566301 deg.

2021-12-04T11:39:24.062Z,1638617964.062 [Micromodem](INFO): Nmea in: $SNTTA,0.039745,,,,113923.37*43

2021-12-04T11:39:24.065Z,1638617964.065 [Micromodem](INFO): Nmea in: $CAREV,113924,AUV,2.1.4000*26

2021-12-04T11:39:24.073Z,1638617964.073 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:39:24.452Z,1638617964.452 [Micromodem](INFO): Nmea in: $CAREV,113924,COPROC,0.20.0.39330*77

2021-12-04T11:39:26.500Z,1638617966.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:27.272Z,1638617967.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:27.683Z,1638617967.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:28.096Z,1638617968.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:28.101Z,1638617968.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 290.100127 deg, deltaT: 4.417229 s, deltaX: -1.860001 m, approachRate: -0.421079 m/s, LOS rate: 1.171404 deg/s, posRepo size: 4
2021-12-04T11:39:28.101Z,1638617968.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 34.38 m.
2021-12-04T11:39:28.102Z,1638617968.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.38 m.
2021-12-04T11:39:28.102Z,1638617968.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T11:39:28.120Z,1638617968.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 276.581756 deg,
      new cmd heading: 276.670178 deg.

2021-12-04T11:39:28.512Z,1638617968.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113927.78*5E

2021-12-04T11:39:28.513Z,1638617968.513 [Micromodem](INFO): Nmea in: $CAREV,113928,AUV,2.1.4000*2A

2021-12-04T11:39:28.549Z,1638617968.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 277.882559 deg,
      new cmd heading: 279.459024 deg.

2021-12-04T11:39:28.912Z,1638617968.912 [Micromodem](INFO): Nmea in: $CAREV,113928,COPROC,0.20.0.39330*7B

2021-12-04T11:39:28.953Z,1638617968.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 279.459024 deg,
      new cmd heading: 280.876218 deg.

2021-12-04T11:39:29.318Z,1638617969.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 280.876218 deg,
      new cmd heading: 282.159025 deg.

2021-12-04T11:39:29.756Z,1638617969.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 282.159025 deg,
      new cmd heading: 283.627717 deg.

2021-12-04T11:39:30.143Z,1638617970.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 283.627717 deg,
      new cmd heading: 285.058012 deg.

2021-12-04T11:39:30.528Z,1638617970.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 285.058012 deg,
      new cmd heading: 286.407824 deg.

2021-12-04T11:39:30.938Z,1638617970.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:30.941Z,1638617970.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 286.407824 deg,
      new cmd heading: 287.862581 deg.

2021-12-04T11:39:31.346Z,1638617971.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 287.862581 deg,
      new cmd heading: 289.285479 deg.

2021-12-04T11:39:31.709Z,1638617971.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:31.829Z,1638617971.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 289.285479 deg,
      new cmd heading: 290.978728 deg.

2021-12-04T11:39:32.115Z,1638617972.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:32.167Z,1638617972.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 290.100127 deg,
      approachRate: -0.421079 m/s,
      LOS rate: 1.171404 deg/s,
      cmd update: 3.514212 deg/s,
      cmd heading: 290.978728 deg,
      new cmd heading: 292.170514 deg.

2021-12-04T11:39:32.546Z,1638617972.546 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:32.567Z,1638617972.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 288.768186 deg, deltaT: 4.449809 s, deltaX: -3.359995 m, approachRate: -0.755087 m/s, LOS rate: -0.299326 deg/s, posRepo size: 4
2021-12-04T11:39:32.569Z,1638617972.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 292.170514 deg,
      new cmd heading: 293.520330 deg.

2021-12-04T11:39:32.956Z,1638617972.956 [Micromodem](INFO): Nmea in: $SNTTA,0.039435,,,,113932.21*40

2021-12-04T11:39:32.957Z,1638617972.957 [Micromodem](INFO): Nmea in: $CAREV,113933,AUV,2.1.4000*20

2021-12-04T11:39:33.006Z,1638617973.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 291.825599 deg,
      new cmd heading: 291.416606 deg.

2021-12-04T11:39:33.356Z,1638617973.356 [Micromodem](INFO): Nmea in: $CAREV,113933,COPROC,0.20.0.39330*71

2021-12-04T11:39:33.371Z,1638617973.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 291.416606 deg,
      new cmd heading: 291.088829 deg.

2021-12-04T11:39:33.779Z,1638617973.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 291.088829 deg,
      new cmd heading: 290.722791 deg.

2021-12-04T11:39:34.184Z,1638617974.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 290.722791 deg,
      new cmd heading: 290.359518 deg.

2021-12-04T11:39:34.581Z,1638617974.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 290.359518 deg,
      new cmd heading: 290.015251 deg.

2021-12-04T11:39:34.000Z,1638617975.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 290.015251 deg,
      new cmd heading: 289.641080 deg.

2021-12-04T11:39:35.378Z,1638617975.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:35.381Z,1638617975.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 289.641080 deg,
      new cmd heading: 289.284099 deg.

2021-12-04T11:39:35.808Z,1638617975.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 289.284099 deg,
      new cmd heading: 288.900822 deg.

2021-12-04T11:39:36.161Z,1638617976.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:36.269Z,1638617976.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 288.900822 deg,
      new cmd heading: 288.486767 deg.

2021-12-04T11:39:36.574Z,1638617976.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:36.607Z,1638617976.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 288.768186 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.299326 deg/s,
      cmd update: -0.897977 deg/s,
      cmd heading: 288.486767 deg,
      new cmd heading: 288.183410 deg.

2021-12-04T11:39:37.004Z,1638617977.004 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:37.009Z,1638617977.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 287.606261 deg, deltaT: 4.458708 s, deltaX: -2.820004 m, approachRate: -0.632471 m/s, LOS rate: -0.260597 deg/s, posRepo size: 4
2021-12-04T11:39:37.011Z,1638617977.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 288.183410 deg,
      new cmd heading: 287.821772 deg.

2021-12-04T11:39:37.408Z,1638617977.408 [Micromodem](INFO): Nmea in: $SNTTA,0.046671,,,,113936.66*4D

2021-12-04T11:39:37.409Z,1638617977.409 [Micromodem](INFO): Nmea in: $CAREV,113937,AUV,2.1.4000*24

2021-12-04T11:39:37.431Z,1638617977.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 287.868563 deg,
      new cmd heading: 287.539227 deg.

2021-12-04T11:39:37.788Z,1638617977.788 [Micromodem](INFO): Nmea in: $CAREV,113937,COPROC,0.20.0.39330*75

2021-12-04T11:39:37.857Z,1638617977.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 287.539227 deg,
      new cmd heading: 287.217812 deg.

2021-12-04T11:39:38.231Z,1638617978.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 287.217812 deg,
      new cmd heading: 286.913773 deg.

2021-12-04T11:39:38.617Z,1638617978.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 286.913773 deg,
      new cmd heading: 286.611974 deg.

2021-12-04T11:39:39.035Z,1638617979.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 286.611974 deg,
      new cmd heading: 286.285077 deg.

2021-12-04T11:39:39.419Z,1638617979.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 286.285077 deg,
      new cmd heading: 285.985056 deg.

2021-12-04T11:39:39.940Z,1638617979.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:39.951Z,1638617979.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 285.985056 deg,
      new cmd heading: 285.575491 deg.

2021-12-04T11:39:40.233Z,1638617980.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 285.575491 deg,
      new cmd heading: 285.348634 deg.

2021-12-04T11:39:40.606Z,1638617980.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:40.707Z,1638617980.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 285.348634 deg,
      new cmd heading: 284.981866 deg.

2021-12-04T11:39:41.007Z,1638617981.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:41.064Z,1638617981.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 287.606261 deg,
      approachRate: -0.632471 m/s,
      LOS rate: -0.260597 deg/s,
      cmd update: -0.781790 deg/s,
      cmd heading: 284.981866 deg,
      new cmd heading: 284.699337 deg.

2021-12-04T11:39:41.455Z,1638617981.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:41.464Z,1638617981.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 285.195724 deg, deltaT: 4.450594 s, deltaX: -2.580000 m, approachRate: -0.579698 m/s, LOS rate: -0.541622 deg/s, posRepo size: 4
2021-12-04T11:39:41.466Z,1638617981.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 284.699337 deg,
      new cmd heading: 284.389356 deg.

2021-12-04T11:39:41.843Z,1638617981.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113941.11*51

2021-12-04T11:39:41.844Z,1638617981.844 [Micromodem](INFO): Nmea in: $CAREV,113942,AUV,2.1.4000*26

2021-12-04T11:39:41.948Z,1638617981.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 284.055076 deg,
      new cmd heading: 283.282663 deg.

2021-12-04T11:39:42.232Z,1638617982.232 [Micromodem](INFO): Nmea in: $CAREV,113942,COPROC,0.20.0.39330*77

2021-12-04T11:39:42.279Z,1638617982.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 283.282663 deg,
      new cmd heading: 282.724891 deg.

2021-12-04T11:39:42.653Z,1638617982.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 282.724891 deg,
      new cmd heading: 282.115833 deg.

2021-12-04T11:39:43.078Z,1638617983.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 282.115833 deg,
      new cmd heading: 281.426372 deg.

2021-12-04T11:39:43.456Z,1638617983.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 281.426372 deg,
      new cmd heading: 280.813444 deg.

2021-12-04T11:39:43.921Z,1638617983.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 280.813444 deg,
      new cmd heading: 280.056717 deg.

2021-12-04T11:39:44.249Z,1638617984.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:44.268Z,1638617984.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 280.056717 deg,
      new cmd heading: 279.491779 deg.

2021-12-04T11:39:44.671Z,1638617984.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 279.491779 deg,
      new cmd heading: 278.839638 deg.

2021-12-04T11:39:45.045Z,1638617985.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:45.167Z,1638617985.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 278.839638 deg,
      new cmd heading: 278.038573 deg.

2021-12-04T11:39:45.444Z,1638617985.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:45.482Z,1638617985.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.619999 m,
      bearing: 285.195724 deg,
      approachRate: -0.579698 m/s,
      LOS rate: -0.541622 deg/s,
      cmd update: -1.624865 deg/s,
      cmd heading: 278.038573 deg,
      new cmd heading: 277.521611 deg.

2021-12-04T11:39:45.953Z,1638617985.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:45.966Z,1638617985.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 286.822866 deg, deltaT: 4.497760 s, deltaX: -2.400002 m, approachRate: -0.533599 m/s, LOS rate: 0.361767 deg/s, posRepo size: 4
2021-12-04T11:39:45.968Z,1638617985.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 277.521611 deg,
      new cmd heading: 276.745535 deg.

2021-12-04T11:39:46.295Z,1638617986.295 [Micromodem](INFO): Nmea in: $SNTTA,0.042898,,,,113945.55*44

2021-12-04T11:39:46.296Z,1638617986.296 [Micromodem](INFO): Nmea in: $CAREV,113946,AUV,2.1.4000*22

2021-12-04T11:39:46.330Z,1638617986.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 278.039978 deg,
      new cmd heading: 278.443406 deg.

2021-12-04T11:39:46.676Z,1638617986.676 [Micromodem](INFO): Nmea in: $CAREV,113946,COPROC,0.20.0.39330*73

2021-12-04T11:39:46.692Z,1638617986.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 278.443406 deg,
      new cmd heading: 278.835467 deg.

2021-12-04T11:39:47.129Z,1638617987.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 278.835467 deg,
      new cmd heading: 279.309244 deg.

2021-12-04T11:39:47.491Z,1638617987.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 279.309244 deg,
      new cmd heading: 279.703174 deg.

2021-12-04T11:39:47.977Z,1638617987.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 279.703174 deg,
      new cmd heading: 280.230506 deg.

2021-12-04T11:39:48.312Z,1638617988.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 280.230506 deg,
      new cmd heading: 280.593619 deg.

2021-12-04T11:39:48.693Z,1638617988.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:48.696Z,1638617988.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 280.593619 deg,
      new cmd heading: 281.011445 deg.

2021-12-04T11:39:49.125Z,1638617989.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 281.011445 deg,
      new cmd heading: 281.476377 deg.

2021-12-04T11:39:49.489Z,1638617989.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:49.614Z,1638617989.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 281.476377 deg,
      new cmd heading: 282.003447 deg.

2021-12-04T11:39:49.931Z,1638617989.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:50.006Z,1638617990.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.219997 m,
      bearing: 286.822866 deg,
      approachRate: -0.533599 m/s,
      LOS rate: 0.361767 deg/s,
      cmd update: 1.085302 deg/s,
      cmd heading: 282.003447 deg,
      new cmd heading: 282.432430 deg.

2021-12-04T11:39:50.310Z,1638617990.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:50.347Z,1638617990.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 285.896446 deg, deltaT: 4.378164 s, deltaX: -2.519997 m, approachRate: -0.575583 m/s, LOS rate: -0.211600 deg/s, posRepo size: 4
2021-12-04T11:39:50.349Z,1638617990.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 282.432430 deg,
      new cmd heading: 282.797410 deg.

2021-12-04T11:39:50.732Z,1638617990.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113949.99*59

2021-12-04T11:39:50.733Z,1638617990.733 [Micromodem](INFO): Nmea in: $CAREV,113951,AUV,2.1.4000*24

2021-12-04T11:39:50.772Z,1638617990.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 282.218951 deg,
      new cmd heading: 281.946290 deg.

2021-12-04T11:39:51.128Z,1638617991.128 [Micromodem](INFO): Nmea in: $CAREV,113951,COPROC,0.20.0.39330*75

2021-12-04T11:39:51.187Z,1638617991.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 281.946290 deg,
      new cmd heading: 281.685739 deg.

2021-12-04T11:39:51.603Z,1638617991.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 281.685739 deg,
      new cmd heading: 281.430511 deg.

2021-12-04T11:39:52.019Z,1638617992.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 281.430511 deg,
      new cmd heading: 281.154762 deg.

2021-12-04T11:39:52.355Z,1638617992.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 281.154762 deg,
      new cmd heading: 280.941145 deg.

2021-12-04T11:39:52.748Z,1638617992.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 280.941145 deg,
      new cmd heading: 280.691613 deg.

2021-12-04T11:39:53.162Z,1638617993.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:53.165Z,1638617993.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 280.691613 deg,
      new cmd heading: 280.426560 deg.

2021-12-04T11:39:53.614Z,1638617993.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 280.426560 deg,
      new cmd heading: 280.142132 deg.

2021-12-04T11:39:53.941Z,1638617993.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:54.065Z,1638617994.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 280.142132 deg,
      new cmd heading: 279.855336 deg.

2021-12-04T11:39:54.335Z,1638617994.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:54.367Z,1638617994.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 285.896446 deg,
      approachRate: -0.575583 m/s,
      LOS rate: -0.211600 deg/s,
      cmd update: -0.634800 deg/s,
      cmd heading: 279.855336 deg,
      new cmd heading: 279.663625 deg.

2021-12-04T11:39:54.789Z,1638617994.789 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:54.794Z,1638617994.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 285.355577 deg, deltaT: 4.457822 s, deltaX: -2.400002 m, approachRate: -0.538380 m/s, LOS rate: -0.121330 deg/s, posRepo size: 4
2021-12-04T11:39:54.796Z,1638617994.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 279.663625 deg,
      new cmd heading: 279.392859 deg.

2021-12-04T11:39:55.188Z,1638617995.188 [Micromodem](INFO): Nmea in: $SNTTA,0.057156,,,,113954.44*4B

2021-12-04T11:39:55.189Z,1638617995.189 [Micromodem](INFO): Nmea in: $CAREV,113955,AUV,2.1.4000*20

2021-12-04T11:39:55.213Z,1638617995.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 279.508369 deg,
      new cmd heading: 279.355759 deg.

2021-12-04T11:39:55.587Z,1638617995.587 [Micromodem](INFO): Nmea in: $CAREV,113955,COPROC,0.20.0.39330*71

2021-12-04T11:39:55.642Z,1638617995.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 279.355759 deg,
      new cmd heading: 279.199644 deg.

2021-12-04T11:39:55.000Z,1638617996.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 279.199644 deg,
      new cmd heading: 279.069562 deg.

2021-12-04T11:39:56.391Z,1638617996.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 279.069562 deg,
      new cmd heading: 278.927073 deg.

2021-12-04T11:39:56.799Z,1638617996.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 278.927073 deg,
      new cmd heading: 278.778608 deg.

2021-12-04T11:39:57.207Z,1638617997.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 278.778608 deg,
      new cmd heading: 278.630079 deg.

2021-12-04T11:39:57.647Z,1638617997.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:39:57.650Z,1638617997.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 278.630079 deg,
      new cmd heading: 278.468758 deg.

2021-12-04T11:39:58.013Z,1638617998.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 278.468758 deg,
      new cmd heading: 278.336717 deg.

2021-12-04T11:39:58.377Z,1638617998.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:39:58.477Z,1638617998.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 278.336717 deg,
      new cmd heading: 278.170047 deg.

2021-12-04T11:39:58.787Z,1638617998.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:39:58.839Z,1638617998.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 285.355577 deg,
      approachRate: -0.538380 m/s,
      LOS rate: -0.121330 deg/s,
      cmd update: -0.363991 deg/s,
      cmd heading: 278.170047 deg,
      new cmd heading: 278.036170 deg.

2021-12-04T11:39:59.218Z,1638617999.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:39:59.223Z,1638617999.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 286.028843 deg, deltaT: 4.429439 s, deltaX: -2.400002 m, approachRate: -0.541830 m/s, LOS rate: 0.151998 deg/s, posRepo size: 4
2021-12-04T11:39:59.225Z,1638617999.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 278.036170 deg,
      new cmd heading: 277.896178 deg.

2021-12-04T11:39:59.640Z,1638617999.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113958.88*59

2021-12-04T11:39:59.641Z,1638617999.641 [Micromodem](INFO): Nmea in: $CAREV,113959,AUV,2.1.4000*2C

2021-12-04T11:39:59.698Z,1638617999.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 278.211548 deg,
      new cmd heading: 278.428133 deg.

2021-12-04T11:39:59.000Z,1638618000.000 [Micromodem](INFO): Nmea in: $CAREV,113959,COPROC,0.20.0.39330*7D

2021-12-04T11:40:00.044Z,1638618000.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 278.428133 deg,
      new cmd heading: 278.583866 deg.

2021-12-04T11:40:00.431Z,1638618000.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 278.583866 deg,
      new cmd heading: 278.762285 deg.

2021-12-04T11:40:00.855Z,1638618000.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 278.762285 deg,
      new cmd heading: 278.953664 deg.

2021-12-04T11:40:01.262Z,1638618001.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 278.953664 deg,
      new cmd heading: 279.132518 deg.

2021-12-04T11:40:01.686Z,1638618001.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 279.132518 deg,
      new cmd heading: 279.334706 deg.

2021-12-04T11:40:02.040Z,1638618002.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:02.043Z,1638618002.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 279.334706 deg,
      new cmd heading: 279.497234 deg.

2021-12-04T11:40:02.449Z,1638618002.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 279.497234 deg,
      new cmd heading: 279.682639 deg.

2021-12-04T11:40:02.817Z,1638618002.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:02.920Z,1638618002.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 279.682639 deg,
      new cmd heading: 279.894729 deg.

2021-12-04T11:40:03.232Z,1638618003.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:03.283Z,1638618003.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 286.028843 deg,
      approachRate: -0.541830 m/s,
      LOS rate: 0.151998 deg/s,
      cmd update: 0.455994 deg/s,
      cmd heading: 279.894729 deg,
      new cmd heading: 280.062612 deg.

2021-12-04T11:40:03.689Z,1638618003.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:03.703Z,1638618003.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 285.302684 deg, deltaT: 4.470933 s, deltaX: -2.580000 m, approachRate: -0.577061 m/s, LOS rate: -0.162418 deg/s, posRepo size: 4
2021-12-04T11:40:03.705Z,1638618003.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 280.062612 deg,
      new cmd heading: 280.252442 deg.

2021-12-04T11:40:04.060Z,1638618004.060 [Micromodem](INFO): Nmea in: $SNTTA,0.066487,,,,114003.32*4D

2021-12-04T11:40:04.061Z,1638618004.061 [Micromodem](INFO): Nmea in: $CAREV,114004,AUV,2.1.4000*2A

2021-12-04T11:40:04.086Z,1638618004.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 279.859768 deg,
      new cmd heading: 279.671035 deg.

2021-12-04T11:40:04.448Z,1638618004.448 [Micromodem](INFO): Nmea in: $CAREV,114004,COPROC,0.20.0.39330*7B

2021-12-04T11:40:04.467Z,1638618004.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 279.671035 deg,
      new cmd heading: 279.485499 deg.

2021-12-04T11:40:04.901Z,1638618004.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 279.485499 deg,
      new cmd heading: 279.273867 deg.

2021-12-04T11:40:05.261Z,1638618005.261 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:40:05.289Z,1638618005.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 279.273867 deg,
      new cmd heading: 279.084772 deg.

2021-12-04T11:40:05.721Z,1638618005.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 279.084772 deg,
      new cmd heading: 278.874398 deg.

2021-12-04T11:40:06.091Z,1638618006.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 278.874398 deg,
      new cmd heading: 278.694476 deg.

2021-12-04T11:40:06.474Z,1638618006.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:06.477Z,1638618006.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 278.694476 deg,
      new cmd heading: 278.506060 deg.

2021-12-04T11:40:06.920Z,1638618006.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 278.506060 deg,
      new cmd heading: 278.290386 deg.

2021-12-04T11:40:07.261Z,1638618007.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:07.358Z,1638618007.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 278.290386 deg,
      new cmd heading: 278.078523 deg.

2021-12-04T11:40:07.671Z,1638618007.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:07.731Z,1638618007.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 285.302684 deg,
      approachRate: -0.577061 m/s,
      LOS rate: -0.162418 deg/s,
      cmd update: -0.487253 deg/s,
      cmd heading: 278.078523 deg,
      new cmd heading: 277.895012 deg.

2021-12-04T11:40:08.092Z,1638618008.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:08.097Z,1638618008.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.920002 m, bearing: 286.221727 deg, deltaT: 4.403148 s, deltaX: -2.399996 m, approachRate: -0.545064 m/s, LOS rate: 0.208724 deg/s, posRepo size: 4
2021-12-04T11:40:08.100Z,1638618008.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 277.895012 deg,
      new cmd heading: 277.716531 deg.

2021-12-04T11:40:08.504Z,1638618008.504 [Micromodem](INFO): Nmea in: $SNTTA,0.035889,,,,114007.76*4D

2021-12-04T11:40:08.505Z,1638618008.505 [Micromodem](INFO): Nmea in: $CAREV,114008,AUV,2.1.4000*26

2021-12-04T11:40:08.520Z,1638618008.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 278.124381 deg,
      new cmd heading: 278.388976 deg.

2021-12-04T11:40:08.916Z,1638618008.916 [Micromodem](INFO): Nmea in: $CAREV,114008,COPROC,0.20.0.39330*77

2021-12-04T11:40:08.942Z,1638618008.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 278.388976 deg,
      new cmd heading: 278.653056 deg.

2021-12-04T11:40:09.315Z,1638618009.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 278.653056 deg,
      new cmd heading: 278.886669 deg.

2021-12-04T11:40:09.737Z,1638618009.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 278.886669 deg,
      new cmd heading: 279.150975 deg.

2021-12-04T11:40:10.140Z,1638618010.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 279.150975 deg,
      new cmd heading: 279.393258 deg.

2021-12-04T11:40:10.528Z,1638618010.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 279.393258 deg,
      new cmd heading: 279.646707 deg.

2021-12-04T11:40:10.951Z,1638618010.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:10.954Z,1638618010.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 279.646707 deg,
      new cmd heading: 279.913122 deg.

2021-12-04T11:40:11.330Z,1638618011.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 279.913122 deg,
      new cmd heading: 280.148636 deg.

2021-12-04T11:40:11.705Z,1638618011.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:11.849Z,1638618011.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 280.148636 deg,
      new cmd heading: 280.465375 deg.

2021-12-04T11:40:12.116Z,1638618012.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:12.173Z,1638618012.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 286.221727 deg,
      approachRate: -0.545064 m/s,
      LOS rate: 0.208724 deg/s,
      cmd update: 0.626172 deg/s,
      cmd heading: 280.465375 deg,
      new cmd heading: 280.676556 deg.

2021-12-04T11:40:12.539Z,1638618012.539 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:12.545Z,1638618012.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 286.259375 deg, deltaT: 4.447025 s, deltaX: -2.520002 m, approachRate: -0.566671 m/s, LOS rate: 0.008466 deg/s, posRepo size: 4
2021-12-04T11:40:12.547Z,1638618012.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.676556 deg,
      new cmd heading: 280.909217 deg.

2021-12-04T11:40:12.960Z,1638618012.960 [Micromodem](INFO): Nmea in: $SNTTA,0.009319,,,,114012.21*46

2021-12-04T11:40:12.961Z,1638618012.961 [Micromodem](INFO): Nmea in: $CAREV,114013,AUV,2.1.4000*2C

2021-12-04T11:40:12.991Z,1638618012.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.685992 deg,
      new cmd heading: 280.697324 deg.

2021-12-04T11:40:13.344Z,1638618013.344 [Micromodem](INFO): Nmea in: $CAREV,114013,COPROC,0.20.0.39330*7D

2021-12-04T11:40:13.363Z,1638618013.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.697324 deg,
      new cmd heading: 280.706767 deg.

2021-12-04T11:40:13.781Z,1638618013.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.706767 deg,
      new cmd heading: 280.717387 deg.

2021-12-04T11:40:14.174Z,1638618014.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.717387 deg,
      new cmd heading: 280.727362 deg.

2021-12-04T11:40:14.563Z,1638618014.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.727362 deg,
      new cmd heading: 280.737248 deg.

2021-12-04T11:40:14.988Z,1638618014.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.737248 deg,
      new cmd heading: 280.748027 deg.

2021-12-04T11:40:15.352Z,1638618015.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:15.355Z,1638618015.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.748027 deg,
      new cmd heading: 280.757374 deg.

2021-12-04T11:40:15.804Z,1638618015.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.757374 deg,
      new cmd heading: 280.768356 deg.

2021-12-04T11:40:16.160Z,1638618016.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:16.276Z,1638618016.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.768356 deg,
      new cmd heading: 280.780616 deg.

2021-12-04T11:40:16.558Z,1638618016.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:16.592Z,1638618016.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 286.259375 deg,
      approachRate: -0.566671 m/s,
      LOS rate: 0.008466 deg/s,
      cmd update: 0.025398 deg/s,
      cmd heading: 280.780616 deg,
      new cmd heading: 280.788766 deg.

2021-12-04T11:40:16.976Z,1638618016.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:16.997Z,1638618016.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.820000 m, bearing: 288.055660 deg, deltaT: 4.436632 s, deltaX: -2.580000 m, approachRate: -0.581522 m/s, LOS rate: 0.404876 deg/s, posRepo size: 4
2021-12-04T11:40:16.999Z,1638618016.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 280.788766 deg,
      new cmd heading: 280.799067 deg.

2021-12-04T11:40:17.407Z,1638618017.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114016.66*5D

2021-12-04T11:40:17.408Z,1638618017.408 [Micromodem](INFO): Nmea in: $CAREV,114017,AUV,2.1.4000*28

2021-12-04T11:40:17.427Z,1638618017.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 281.281426 deg,
      new cmd heading: 281.804177 deg.

2021-12-04T11:40:17.788Z,1638618017.788 [Micromodem](INFO): Nmea in: $CAREV,114017,COPROC,0.20.0.39330*79

2021-12-04T11:40:17.862Z,1638618017.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 281.804177 deg,
      new cmd heading: 282.320366 deg.

2021-12-04T11:40:18.216Z,1638618018.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 282.320366 deg,
      new cmd heading: 282.761460 deg.

2021-12-04T11:40:18.623Z,1638618018.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 282.761460 deg,
      new cmd heading: 283.256037 deg.

2021-12-04T11:40:19.016Z,1638618019.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 283.256037 deg,
      new cmd heading: 283.733212 deg.

2021-12-04T11:40:19.423Z,1638618019.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 283.733212 deg,
      new cmd heading: 284.227920 deg.

2021-12-04T11:40:19.872Z,1638618019.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:19.882Z,1638618019.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 284.227920 deg,
      new cmd heading: 284.785664 deg.

2021-12-04T11:40:20.223Z,1638618020.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 284.785664 deg,
      new cmd heading: 285.200005 deg.

2021-12-04T11:40:20.589Z,1638618020.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:20.699Z,1638618020.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 285.200005 deg,
      new cmd heading: 285.773188 deg.

2021-12-04T11:40:20.999Z,1638618020.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:21.051Z,1638618021.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 288.055660 deg,
      approachRate: -0.581522 m/s,
      LOS rate: 0.404876 deg/s,
      cmd update: 1.214627 deg/s,
      cmd heading: 285.773188 deg,
      new cmd heading: 286.205387 deg.

2021-12-04T11:40:21.409Z,1638618021.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:21.413Z,1638618021.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.720000 m, bearing: 287.418486 deg, deltaT: 4.432615 s, deltaX: -2.099999 m, approachRate: -0.473761 m/s, LOS rate: -0.143747 deg/s, posRepo size: 4
2021-12-04T11:40:21.415Z,1638618021.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 286.205387 deg,
      new cmd heading: 286.646058 deg.

2021-12-04T11:40:21.832Z,1638618021.832 [Micromodem](INFO): Nmea in: $SNTTA,0.048573,,,,114021.09*43

2021-12-04T11:40:21.833Z,1638618021.833 [Micromodem](INFO): Nmea in: $CAREV,114022,AUV,2.1.4000*2E

2021-12-04T11:40:21.931Z,1638618021.931 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T11:40:21.931Z,1638618021.931 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T11:40:21.931Z,1638618021.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T11:40:21.931Z,1638618021.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T11:40:21.931Z,1638618021.931 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T11:40:21.932Z,1638618021.932 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.720000 m 
2021-12-04T11:40:21.932Z,1638618021.932 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T11:40:21.932Z,1638618021.932 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T11:40:21.932Z,1638618021.932 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T11:40:21.935Z,1638618021.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 286.048932 deg,
      new cmd heading: 285.824194 deg.

2021-12-04T11:40:22.216Z,1638618022.216 [Micromodem](INFO): Nmea in: $CAREV,114022,COPROC,0.20.0.39330*7F

2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T114022: (41.552319, -70.708603)
2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T11:40:22.234Z,1638618022.234 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T11:40:22.235Z,1638618022.235 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T11:40:22.235Z,1638618022.235 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T11:40:22.237Z,1638618022.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 285.824194 deg,
      new cmd heading: 285.693708 deg.

2021-12-04T11:40:22.631Z,1638618022.631 [UniversalFixResidualReporter](INFO): Fix residual: 1.3 %DT, over the last 581.5 m. Residual distance 7.7 m at bearing 136.2 degrees. Fix at (41.5510, -70.6911) with 0.0 m made good.
2021-12-04T11:40:22.637Z,1638618022.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 285.693708 deg,
      new cmd heading: 285.521154 deg.

2021-12-04T11:40:23.068Z,1638618023.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 285.521154 deg,
      new cmd heading: 285.335602 deg.

2021-12-04T11:40:23.479Z,1638618023.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 285.335602 deg,
      new cmd heading: 285.159933 deg.

2021-12-04T11:40:23.913Z,1638618023.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:23.916Z,1638618023.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 285.159933 deg,
      new cmd heading: 284.969626 deg.

2021-12-04T11:40:24.272Z,1638618024.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 284.969626 deg,
      new cmd heading: 284.823402 deg.

2021-12-04T11:40:24.638Z,1638618024.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:24.737Z,1638618024.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 284.823402 deg,
      new cmd heading: 284.618762 deg.

2021-12-04T11:40:25.050Z,1638618025.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:25.067Z,1638618025.067 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:40:25.087Z,1638618025.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 287.418486 deg,
      approachRate: -0.473761 m/s,
      LOS rate: -0.143747 deg/s,
      cmd update: -0.431241 deg/s,
      cmd heading: 284.618762 deg,
      new cmd heading: 284.464993 deg.

2021-12-04T11:40:25.486Z,1638618025.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:25.491Z,1638618025.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.640001 m, bearing: 283.477958 deg, deltaT: 4.077507 s, deltaX: -1.080000 m, approachRate: -0.264868 m/s, LOS rate: -0.966406 deg/s, posRepo size: 4
2021-12-04T11:40:25.493Z,1638618025.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 284.464993 deg,
      new cmd heading: 284.290627 deg.

2021-12-04T11:40:25.888Z,1638618025.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114025.14*58

2021-12-04T11:40:25.889Z,1638618025.889 [Micromodem](INFO): Nmea in: $CAREV,114026,AUV,2.1.4000*2A

2021-12-04T11:40:25.953Z,1638618025.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 283.292737 deg,
      new cmd heading: 281.953519 deg.

2021-12-04T11:40:26.280Z,1638618026.280 [Micromodem](INFO): Nmea in: $CAREV,114026,COPROC,0.20.0.39330*7B

2021-12-04T11:40:26.315Z,1638618026.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 281.953519 deg,
      new cmd heading: 280.904805 deg.

2021-12-04T11:40:26.693Z,1638618026.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 280.904805 deg,
      new cmd heading: 279.806642 deg.

2021-12-04T11:40:27.104Z,1638618027.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 279.806642 deg,
      new cmd heading: 278.616304 deg.

2021-12-04T11:40:27.504Z,1638618027.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 278.616304 deg,
      new cmd heading: 277.459076 deg.

2021-12-04T11:40:27.950Z,1638618027.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 277.459076 deg,
      new cmd heading: 276.163482 deg.

2021-12-04T11:40:28.300Z,1638618028.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:28.304Z,1638618028.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 276.163482 deg,
      new cmd heading: 275.138858 deg.

2021-12-04T11:40:28.731Z,1638618028.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 275.138858 deg,
      new cmd heading: 273.898561 deg.

2021-12-04T11:40:29.085Z,1638618029.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:29.200Z,1638618029.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 273.898561 deg,
      new cmd heading: 272.552306 deg.

2021-12-04T11:40:29.499Z,1638618029.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:29.603Z,1638618029.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.640001 m,
      bearing: 283.477958 deg,
      approachRate: -0.264868 m/s,
      LOS rate: -0.966406 deg/s,
      cmd update: -2.899218 deg/s,
      cmd heading: 272.552306 deg,
      new cmd heading: 271.412614 deg.

2021-12-04T11:40:29.986Z,1638618029.986 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:40:29.997Z,1638618029.997 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:30.002Z,1638618030.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 314.109472 deg, deltaT: 4.511224 s, deltaX: 1.319999 m, approachRate: 0.292603 m/s, LOS rate: 6.790067 deg/s, posRepo size: 4
2021-12-04T11:40:30.004Z,1638618030.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.412614 deg,
      new cmd heading: 270.212988 deg.

2021-12-04T11:40:30.333Z,1638618030.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114029.59*5D

2021-12-04T11:40:30.334Z,1638618030.334 [Micromodem](INFO): Nmea in: $CAREV,114030,AUV,2.1.4000*2D

2021-12-04T11:40:30.349Z,1638618030.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.377927 deg,
      new cmd heading: 280.537091 deg.

2021-12-04T11:40:30.704Z,1638618030.704 [Micromodem](INFO): Nmea in: $CAREV,114030,COPROC,0.20.0.39330*7C

2021-12-04T11:40:30.723Z,1638618030.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.537091 deg,
      new cmd heading: 285.021347 deg.

2021-12-04T11:40:31.147Z,1638618031.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 285.021347 deg,
      new cmd heading: 290.106407 deg.

2021-12-04T11:40:31.602Z,1638618031.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.106407 deg,
      new cmd heading: 295.429835 deg.

2021-12-04T11:40:31.991Z,1638618031.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 295.429835 deg,
      new cmd heading: 300.242699 deg.

2021-12-04T11:40:32.355Z,1638618032.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 300.242699 deg,
      new cmd heading: 304.609283 deg.

2021-12-04T11:40:32.742Z,1638618032.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:32.745Z,1638618032.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 304.609283 deg,
      new cmd heading: 309.286283 deg.

2021-12-04T11:40:33.164Z,1638618033.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 309.286283 deg,
      new cmd heading: 314.314236 deg.

2021-12-04T11:40:33.530Z,1638618033.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:33.632Z,1638618033.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 314.314236 deg,
      new cmd heading: 319.939872 deg.

2021-12-04T11:40:33.939Z,1638618033.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:34.005Z,1638618034.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 314.109472 deg,
      approachRate: 0.292603 m/s,
      LOS rate: 6.790067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 319.939872 deg,
      new cmd heading: 324.404136 deg.

2021-12-04T11:40:34.365Z,1638618034.365 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:34.370Z,1638618034.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 308.181878 deg, deltaT: 4.367804 s, deltaX: 4.619999 m, approachRate: 1.057739 m/s, LOS rate: -1.357111 deg/s, posRepo size: 4
2021-12-04T11:40:34.371Z,1638618034.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.58 m.
2021-12-04T11:40:34.372Z,1638618034.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 324.404136 deg,
      new cmd heading: 328.792404 deg.

2021-12-04T11:40:34.772Z,1638618034.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114034.03*5E

2021-12-04T11:40:34.773Z,1638618034.773 [Micromodem](INFO): Nmea in: $CAREV,114035,AUV,2.1.4000*28

2021-12-04T11:40:34.795Z,1638618034.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 322.915295 deg,
      new cmd heading: 321.187055 deg.

2021-12-04T11:40:35.164Z,1638618035.164 [Micromodem](INFO): Nmea in: $CAREV,114035,COPROC,0.20.0.39330*79

2021-12-04T11:40:35.175Z,1638618035.175 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T11:40:35.190Z,1638618035.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 321.187055 deg,
      new cmd heading: 319.579400 deg.

2021-12-04T11:40:35.622Z,1638618035.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 319.579400 deg,
      new cmd heading: 317.834541 deg.

2021-12-04T11:40:36.018Z,1638618036.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.58 m.
2021-12-04T11:40:36.020Z,1638618036.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 317.834541 deg,
      new cmd heading: 316.201632 deg.

2021-12-04T11:40:36.384Z,1638618036.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.58 m.
2021-12-04T11:40:36.386Z,1638618036.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 316.201632 deg,
      new cmd heading: 314.709216 deg.

2021-12-04T11:40:36.808Z,1638618036.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 314.709216 deg,
      new cmd heading: 312.993438 deg.

2021-12-04T11:40:37.197Z,1638618037.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:37.200Z,1638618037.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 312.993438 deg,
      new cmd heading: 311.392986 deg.

2021-12-04T11:40:37.624Z,1638618037.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 311.392986 deg,
      new cmd heading: 309.670605 deg.

2021-12-04T11:40:37.969Z,1638618037.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:38.091Z,1638618038.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.58 m.
2021-12-04T11:40:38.092Z,1638618038.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 309.670605 deg,
      new cmd heading: 307.762037 deg.

2021-12-04T11:40:38.368Z,1638618038.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:38.429Z,1638618038.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.58 m.
2021-12-04T11:40:38.435Z,1638618038.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 308.181878 deg,
      approachRate: 1.057739 m/s,
      LOS rate: -1.357111 deg/s,
      cmd update: -4.071332 deg/s,
      cmd heading: 307.762037 deg,
      new cmd heading: 306.384686 deg.

2021-12-04T11:40:38.787Z,1638618038.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:38.808Z,1638618038.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.339999 m, bearing: 283.191910 deg, deltaT: 4.421623 s, deltaX: -0.239999 m, approachRate: -0.054278 m/s, LOS rate: -5.651764 deg/s, posRepo size: 4
2021-12-04T11:40:38.808Z,1638618038.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.34 m.
2021-12-04T11:40:38.810Z,1638618038.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 306.384686 deg,
      new cmd heading: 304.914886 deg.

2021-12-04T11:40:39.219Z,1638618039.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114038.47*52

2021-12-04T11:40:39.221Z,1638618039.221 [Micromodem](INFO): Nmea in: $CAREV,114039,AUV,2.1.4000*24

2021-12-04T11:40:39.255Z,1638618039.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 302.052541 deg,
      new cmd heading: 296.498521 deg.

2021-12-04T11:40:39.624Z,1638618039.624 [Micromodem](INFO): Nmea in: $CAREV,114039,COPROC,0.20.0.39330*75

2021-12-04T11:40:39.669Z,1638618039.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 296.498521 deg,
      new cmd heading: 291.527089 deg.

2021-12-04T11:40:39.999Z,1638618039.999 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:40:40.039Z,1638618040.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.527089 deg,
      new cmd heading: 287.100637 deg.

2021-12-04T11:40:40.488Z,1638618040.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.100637 deg,
      new cmd heading: 281.698681 deg.

2021-12-04T11:40:40.870Z,1638618040.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.698681 deg,
      new cmd heading: 277.311865 deg.

2021-12-04T11:40:41.251Z,1638618041.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 277.311865 deg,
      new cmd heading: 272.542309 deg.

2021-12-04T11:40:41.712Z,1638618041.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:41.715Z,1638618041.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 272.542309 deg,
      new cmd heading: 266.972532 deg.

2021-12-04T11:40:42.051Z,1638618042.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 266.972532 deg,
      new cmd heading: 262.935636 deg.

2021-12-04T11:40:42.413Z,1638618042.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:42.519Z,1638618042.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 262.935636 deg,
      new cmd heading: 257.370600 deg.

2021-12-04T11:40:42.819Z,1638618042.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:42.898Z,1638618042.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.191910 deg,
      approachRate: -0.054278 m/s,
      LOS rate: -5.651764 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.370600 deg,
      new cmd heading: 252.773988 deg.

2021-12-04T11:40:43.243Z,1638618043.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:43.248Z,1638618043.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 310.414749 deg, deltaT: 4.456170 s, deltaX: 3.959999 m, approachRate: 0.888655 m/s, LOS rate: 6.109022 deg/s, posRepo size: 4
2021-12-04T11:40:43.250Z,1638618043.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.773988 deg,
      new cmd heading: 248.578356 deg.

2021-12-04T11:40:43.664Z,1638618043.664 [Micromodem](INFO): Nmea in: $SNTTA,0.034271,,,,114042.91*49

2021-12-04T11:40:43.665Z,1638618043.665 [Micromodem](INFO): Nmea in: $CAREV,114043,AUV,2.1.4000*29

2021-12-04T11:40:43.716Z,1638618043.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.969620 deg,
      new cmd heading: 262.594788 deg.

2021-12-04T11:40:44.048Z,1638618044.048 [Micromodem](INFO): Nmea in: $CAREV,114043,COPROC,0.20.0.39330*78

2021-12-04T11:40:44.077Z,1638618044.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 262.594788 deg,
      new cmd heading: 266.884560 deg.

2021-12-04T11:40:44.463Z,1638618044.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 266.884560 deg,
      new cmd heading: 271.549681 deg.

2021-12-04T11:40:44.941Z,1638618044.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.549681 deg,
      new cmd heading: 277.215901 deg.

2021-12-04T11:40:45.279Z,1638618045.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.215901 deg,
      new cmd heading: 281.341273 deg.

2021-12-04T11:40:45.698Z,1638618045.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.341273 deg,
      new cmd heading: 286.370209 deg.

2021-12-04T11:40:46.072Z,1638618046.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:46.075Z,1638618046.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 286.370209 deg,
      new cmd heading: 290.896609 deg.

2021-12-04T11:40:46.492Z,1638618046.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.896609 deg,
      new cmd heading: 295.900501 deg.

2021-12-04T11:40:46.867Z,1638618046.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:46.968Z,1638618046.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 295.900501 deg,
      new cmd heading: 301.556437 deg.

2021-12-04T11:40:47.271Z,1638618047.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:47.311Z,1638618047.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 310.414749 deg,
      approachRate: 0.888655 m/s,
      LOS rate: 6.109022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 301.556437 deg,
      new cmd heading: 305.726426 deg.

2021-12-04T11:40:47.705Z,1638618047.705 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:47.710Z,1638618047.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 286.690169 deg, deltaT: 4.461848 s, deltaX: 0.780004 m, approachRate: 0.174816 m/s, LOS rate: -5.317209 deg/s, posRepo size: 4
2021-12-04T11:40:47.712Z,1638618047.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 305.726426 deg,
      new cmd heading: 310.520474 deg.

2021-12-04T11:40:48.100Z,1638618048.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114047.37*5D

2021-12-04T11:40:48.101Z,1638618048.101 [Micromodem](INFO): Nmea in: $CAREV,114048,AUV,2.1.4000*22

2021-12-04T11:40:48.146Z,1638618048.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.932377 deg,
      new cmd heading: 295.730749 deg.

2021-12-04T11:40:48.484Z,1638618048.484 [Micromodem](INFO): Nmea in: $CAREV,114048,COPROC,0.20.0.39330*73

2021-12-04T11:40:48.520Z,1638618048.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.730749 deg,
      new cmd heading: 291.224269 deg.

2021-12-04T11:40:48.940Z,1638618048.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.224269 deg,
      new cmd heading: 286.373821 deg.

2021-12-04T11:40:49.303Z,1638618049.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 286.373821 deg,
      new cmd heading: 281.822737 deg.

2021-12-04T11:40:49.748Z,1638618049.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.822737 deg,
      new cmd heading: 276.725269 deg.

2021-12-04T11:40:50.129Z,1638618050.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.725269 deg,
      new cmd heading: 271.911445 deg.

2021-12-04T11:40:50.504Z,1638618050.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:50.507Z,1638618050.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.911445 deg,
      new cmd heading: 267.372156 deg.

2021-12-04T11:40:50.965Z,1638618050.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 267.372156 deg,
      new cmd heading: 261.871680 deg.

2021-12-04T11:40:51.302Z,1638618051.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:51.396Z,1638618051.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 261.871680 deg,
      new cmd heading: 256.930308 deg.

2021-12-04T11:40:51.716Z,1638618051.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:51.781Z,1638618051.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 286.690169 deg,
      approachRate: 0.174816 m/s,
      LOS rate: -5.317209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 256.930308 deg,
      new cmd heading: 252.088968 deg.

2021-12-04T11:40:52.132Z,1638618052.132 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:52.138Z,1638618052.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 308.089753 deg, deltaT: 4.427725 s, deltaX: 2.819996 m, approachRate: 0.636895 m/s, LOS rate: 4.833088 deg/s, posRepo size: 4
2021-12-04T11:40:52.140Z,1638618052.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.088968 deg,
      new cmd heading: 247.799616 deg.

2021-12-04T11:40:52.536Z,1638618052.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114051.80*56

2021-12-04T11:40:52.537Z,1638618052.537 [Micromodem](INFO): Nmea in: $CAREV,114052,AUV,2.1.4000*29

2021-12-04T11:40:52.556Z,1638618052.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.378320 deg,
      new cmd heading: 261.390276 deg.

2021-12-04T11:40:52.940Z,1638618052.940 [Micromodem](INFO): Nmea in: $CAREV,114052,COPROC,0.20.0.39330*78

2021-12-04T11:40:52.975Z,1638618052.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.390276 deg,
      new cmd heading: 266.414496 deg.

2021-12-04T11:40:53.360Z,1638618053.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 266.414496 deg,
      new cmd heading: 271.031593 deg.

2021-12-04T11:40:53.790Z,1638618053.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.031593 deg,
      new cmd heading: 276.198253 deg.

2021-12-04T11:40:54.173Z,1638618054.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.198253 deg,
      new cmd heading: 280.775101 deg.

2021-12-04T11:40:54.563Z,1638618054.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.775101 deg,
      new cmd heading: 285.476449 deg.

2021-12-04T11:40:54.974Z,1638618054.974 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T11:40:54.974Z,1638618054.974 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T11:40:54.974Z,1638618054.974 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T11:40:55.016Z,1638618055.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:55.019Z,1638618055.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 285.476449 deg,
      new cmd heading: 290.944237 deg.

2021-12-04T11:40:55.083Z,1638618055.083 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T11:40:55.419Z,1638618055.419 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T11:40:55.435Z,1638618055.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.944237 deg,
      new cmd heading: 295.939669 deg.

2021-12-04T11:40:55.746Z,1638618055.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:40:55.865Z,1638618055.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 295.939669 deg,
      new cmd heading: 301.099633 deg.

2021-12-04T11:40:56.149Z,1638618056.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:40:56.183Z,1638618056.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 308.089753 deg,
      approachRate: 0.636895 m/s,
      LOS rate: 4.833088 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 301.099633 deg,
      new cmd heading: 304.916869 deg.

2021-12-04T11:40:56.231Z,1638618056.231 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T11:40:56.231Z,1638618056.231 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T11:40:56.591Z,1638618056.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:40:56.596Z,1638618056.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 287.257239 deg, deltaT: 4.458122 s, deltaX: 3.720001 m, approachRate: 0.834432 m/s, LOS rate: -4.672935 deg/s, posRepo size: 4
2021-12-04T11:40:56.597Z,1638618056.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 304.916869 deg,
      new cmd heading: 309.867038 deg.

2021-12-04T11:40:56.992Z,1638618056.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114056.25*5E

2021-12-04T11:40:56.993Z,1638618056.993 [Micromodem](INFO): Nmea in: $CAREV,114057,AUV,2.1.4000*2C

2021-12-04T11:40:57.012Z,1638618057.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 299.966701 deg,
      new cmd heading: 294.968989 deg.

2021-12-04T11:40:57.380Z,1638618057.380 [Micromodem](INFO): Nmea in: $CAREV,114057,COPROC,0.20.0.39330*7D

2021-12-04T11:40:57.395Z,1638618057.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 294.968989 deg,
      new cmd heading: 290.373817 deg.

2021-12-04T11:40:57.817Z,1638618057.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 290.373817 deg,
      new cmd heading: 285.306925 deg.

2021-12-04T11:40:58.196Z,1638618058.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.306925 deg,
      new cmd heading: 280.765825 deg.

2021-12-04T11:40:58.609Z,1638618058.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.765825 deg,
      new cmd heading: 275.807461 deg.

2021-12-04T11:40:59.015Z,1638618059.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 275.807461 deg,
      new cmd heading: 270.937201 deg.

2021-12-04T11:40:59.396Z,1638618059.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:40:59.404Z,1638618059.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.937201 deg,
      new cmd heading: 266.287164 deg.

2021-12-04T11:40:59.855Z,1638618059.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 266.287164 deg,
      new cmd heading: 260.853876 deg.

2021-12-04T11:41:00.189Z,1638618060.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:00.291Z,1638618060.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 260.853876 deg,
      new cmd heading: 255.706536 deg.

2021-12-04T11:41:00.591Z,1638618060.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:00.645Z,1638618060.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 287.257239 deg,
      approachRate: 0.834432 m/s,
      LOS rate: -4.672935 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 255.706536 deg,
      new cmd heading: 251.640048 deg.

2021-12-04T11:41:01.019Z,1638618061.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:41:01.024Z,1638618061.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 281.527311 deg, deltaT: 4.428620 s, deltaX: 1.139999 m, approachRate: 0.257416 m/s, LOS rate: -1.293840 deg/s, posRepo size: 4
2021-12-04T11:41:01.026Z,1638618061.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 251.640048 deg,
      new cmd heading: 246.820740 deg.

2021-12-04T11:41:01.427Z,1638618061.427 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114100.69*54

2021-12-04T11:41:01.428Z,1638618061.428 [Micromodem](INFO): Nmea in: $CAREV,114101,AUV,2.1.4000*2E

2021-12-04T11:41:01.447Z,1638618061.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 250.081194 deg,
      new cmd heading: 248.441535 deg.

2021-12-04T11:41:01.820Z,1638618061.820 [Micromodem](INFO): Nmea in: $CAREV,114101,COPROC,0.20.0.39330*7F

2021-12-04T11:41:01.865Z,1638618061.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 248.441535 deg,
      new cmd heading: 246.817972 deg.

2021-12-04T11:41:02.247Z,1638618062.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 246.817972 deg,
      new cmd heading: 245.334404 deg.

2021-12-04T11:41:02.645Z,1638618062.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 245.334404 deg,
      new cmd heading: 243.788996 deg.

2021-12-04T11:41:03.044Z,1638618063.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 243.788996 deg,
      new cmd heading: 242.243960 deg.

2021-12-04T11:41:03.451Z,1638618063.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 242.243960 deg,
      new cmd heading: 240.661273 deg.

2021-12-04T11:41:03.865Z,1638618063.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:03.868Z,1638618063.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 240.661273 deg,
      new cmd heading: 239.045113 deg.

2021-12-04T11:41:04.267Z,1638618064.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 239.045113 deg,
      new cmd heading: 237.493366 deg.

2021-12-04T11:41:04.641Z,1638618064.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:04.740Z,1638618064.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 237.493366 deg,
      new cmd heading: 235.686471 deg.

2021-12-04T11:41:05.047Z,1638618065.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:05.095Z,1638618065.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 281.527311 deg,
      approachRate: 0.257416 m/s,
      LOS rate: -1.293840 deg/s,
      cmd update: -3.881521 deg/s,
      cmd heading: 235.686471 deg,
      new cmd heading: 234.280107 deg.

2021-12-04T11:41:05.474Z,1638618065.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T11:41:05.479Z,1638618065.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 294.345445 deg, deltaT: 4.454838 s, deltaX: 3.540003 m, approachRate: 0.794642 m/s, LOS rate: 2.877351 deg/s, posRepo size: 4
2021-12-04T11:41:05.480Z,1638618065.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.30 m. Rolling out.
2021-12-04T11:41:05.480Z,1638618065.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-12-04T11:41:05.879Z,1638618065.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114105.14*5B

2021-12-04T11:41:05.880Z,1638618065.880 [Micromodem](INFO): Nmea in: $CAREV,114106,AUV,2.1.4000*29

2021-12-04T11:41:05.911Z,1638618065.911 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T11:41:05.912Z,1638618065.912 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T11:41:05.912Z,1638618065.912 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T11:41:05.913Z,1638618065.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 24.300001 m (mode 4 count ).
2021-12-04T11:41:05.913Z,1638618065.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T11:41:05.913Z,1638618065.913 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T11:41:05.916Z,1638618065.916 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T11:41:06.264Z,1638618066.264 [Micromodem](INFO): Nmea in: $CAREV,114106,COPROC,0.20.0.39330*78

2021-12-04T11:41:06.280Z,1638618066.280 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T11:41:06.280Z,1638618066.280 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T11:41:06.280Z,1638618066.280 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T11:41:06.280Z,1638618066.280 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T11:41:08.280Z,1638618068.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:09.077Z,1638618069.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:09.490Z,1638618069.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:09.958Z,1638618069.958 [DDM](ERROR): Could not parse whisker state
2021-12-04T11:41:10.021Z,1638618070.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 297.337396 deg, deltaT: 4.525765 s, deltaX: 1.319998 m, approachRate: 0.291663 m/s, LOS rate: 0.661093 deg/s, posRepo size: 4
2021-12-04T11:41:10.336Z,1638618070.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114109.58*5F

2021-12-04T11:41:10.337Z,1638618070.337 [Micromodem](INFO): Nmea in: $CAREV,114110,AUV,2.1.4000*2E

2021-12-04T11:41:10.716Z,1638618070.716 [Micromodem](INFO): Nmea in: $CAREV,114110,COPROC,0.20.0.39330*7F

2021-12-04T11:41:12.744Z,1638618072.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:13.525Z,1638618073.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:13.923Z,1638618073.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:14.378Z,1638618074.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 273.327478 deg, deltaT: 4.373457 s, deltaX: 1.199999 m, approachRate: 0.274382 m/s, LOS rate: -5.489917 deg/s, posRepo size: 4
2021-12-04T11:41:14.760Z,1638618074.760 [Micromodem](INFO): Nmea in: $SNTTA,0.026577,,,,114114.03*42

2021-12-04T11:41:14.761Z,1638618074.761 [Micromodem](INFO): Nmea in: $CAREV,114115,AUV,2.1.4000*2B

2021-12-04T11:41:15.156Z,1638618075.156 [Micromodem](INFO): Nmea in: $CAREV,114115,COPROC,0.20.0.39330*7A

2021-12-04T11:41:17.168Z,1638618077.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:17.961Z,1638618077.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:18.380Z,1638618078.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:18.817Z,1638618078.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.440001 m, bearing: 241.538165 deg, deltaT: 4.438890 s, deltaX: 1.620003 m, approachRate: 0.364957 m/s, LOS rate: -7.161546 deg/s, posRepo size: 4
2021-12-04T11:41:19.210Z,1638618079.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114118.46*50

2021-12-04T11:41:19.212Z,1638618079.212 [Micromodem](INFO): Nmea in: $CAREV,114119,AUV,2.1.4000*27

2021-12-04T11:41:19.639Z,1638618079.639 [Micromodem](INFO): Nmea in: $CAREV,114119,COPROC,0.20.0.39330*76

2021-12-04T11:41:21.717Z,1638618081.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:22.411Z,1638618082.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:22.818Z,1638618082.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:23.258Z,1638618083.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 209.829599 deg, deltaT: 4.440644 s, deltaX: -0.480003 m, approachRate: -0.108093 m/s, LOS rate: -7.140533 deg/s, posRepo size: 4
2021-12-04T11:41:23.676Z,1638618083.676 [Micromodem](INFO): Nmea in: $SNTTA,0.039756,,,,114122.91*43

2021-12-04T11:41:23.677Z,1638618083.677 [Micromodem](INFO): Nmea in: $CAREV,114123,AUV,2.1.4000*2E

2021-12-04T11:41:24.040Z,1638618084.040 [Micromodem](INFO): Nmea in: $CAREV,114123,COPROC,0.20.0.39330*7F

2021-12-04T11:41:25.795Z,1638618085.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:26.446Z,1638618086.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:26.851Z,1638618086.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:27.279Z,1638618087.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.079998 m, bearing: 194.031085 deg, deltaT: 4.019268 s, deltaX: 0.120001 m, approachRate: 0.029856 m/s, LOS rate: -3.930694 deg/s, posRepo size: 4
2021-12-04T11:41:27.712Z,1638618087.712 [Micromodem](INFO): Nmea in: $SNTTA,0.041228,,,,114126.95*40

2021-12-04T11:41:27.713Z,1638618087.713 [Micromodem](INFO): Nmea in: $CAREV,114128,AUV,2.1.4000*25

2021-12-04T11:41:28.082Z,1638618088.082 [Micromodem](INFO): Nmea in: $CAREV,114128,COPROC,0.20.0.39330*74

2021-12-04T11:41:29.779Z,1638618089.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:30.485Z,1638618090.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:30.898Z,1638618090.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:31.721Z,1638618091.721 [Micromodem](INFO): Nmea in: $SNTTA,0.048472,,,,114130.99*4B

2021-12-04T11:41:31.722Z,1638618091.722 [Micromodem](INFO): Nmea in: $CAREV,114132,AUV,2.1.4000*2E

2021-12-04T11:41:32.105Z,1638618092.105 [Micromodem](INFO): Nmea in: $CAREV,114132,COPROC,0.20.0.39330*7F

2021-12-04T11:41:32.528Z,1638618092.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:34.131Z,1638618094.131 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:41:35.353Z,1638618095.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:36.144Z,1638618096.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:36.559Z,1638618096.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:37.000Z,1638618097.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 205.801864 deg, deltaT: 9.723352 s, deltaX: 0.600000 m, approachRate: 0.061707 m/s, LOS rate: 1.210568 deg/s, posRepo size: 4
2021-12-04T11:41:37.392Z,1638618097.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114136.65*5D

2021-12-04T11:41:37.393Z,1638618097.393 [Micromodem](INFO): Nmea in: $CAREV,114137,AUV,2.1.4000*2B

2021-12-04T11:41:37.792Z,1638618097.792 [Micromodem](INFO): Nmea in: $CAREV,114137,COPROC,0.20.0.39330*7A

2021-12-04T11:41:39.841Z,1638618099.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:40.589Z,1638618100.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:40.991Z,1638618100.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:41.415Z,1638618101.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 204.558742 deg, deltaT: 4.414277 s, deltaX: -0.120001 m, approachRate: -0.027185 m/s, LOS rate: -0.281614 deg/s, posRepo size: 4
2021-12-04T11:41:41.828Z,1638618101.828 [Micromodem](INFO): Nmea in: $SNTTA,0.092596,,,,114141.09*48

2021-12-04T11:41:41.829Z,1638618101.829 [Micromodem](INFO): Nmea in: $CAREV,114142,AUV,2.1.4000*29

2021-12-04T11:41:42.220Z,1638618102.220 [Micromodem](INFO): Nmea in: $CAREV,114142,COPROC,0.20.0.39330*78

2021-12-04T11:41:44.244Z,1638618104.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:45.029Z,1638618105.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:45.439Z,1638618105.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:45.918Z,1638618105.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 199.226482 deg, deltaT: 4.483604 s, deltaX: 0.120001 m, approachRate: 0.026764 m/s, LOS rate: -1.189280 deg/s, posRepo size: 4
2021-12-04T11:41:46.272Z,1638618106.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114145.53*5C

2021-12-04T11:41:46.273Z,1638618106.273 [Micromodem](INFO): Nmea in: $CAREV,114146,AUV,2.1.4000*2D

2021-12-04T11:41:46.672Z,1638618106.672 [Micromodem](INFO): Nmea in: $CAREV,114146,COPROC,0.20.0.39330*7C

2021-12-04T11:41:48.711Z,1638618108.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:49.477Z,1638618109.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:49.880Z,1638618109.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:50.303Z,1638618110.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 218.820259 deg, deltaT: 4.405087 s, deltaX: -0.420002 m, approachRate: -0.095345 m/s, LOS rate: 4.447989 deg/s, posRepo size: 4
2021-12-04T11:41:50.734Z,1638618110.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114149.98*57

2021-12-04T11:41:50.736Z,1638618110.736 [Micromodem](INFO): Nmea in: $CAREV,114151,AUV,2.1.4000*2B

2021-12-04T11:41:51.100Z,1638618111.100 [Micromodem](INFO): Nmea in: $CAREV,114151,COPROC,0.20.0.39330*7A

2021-12-04T11:41:53.132Z,1638618113.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:53.917Z,1638618113.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:54.327Z,1638618114.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:54.757Z,1638618114.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 224.736364 deg, deltaT: 4.453687 s, deltaX: -0.239996 m, approachRate: -0.053887 m/s, LOS rate: 1.328361 deg/s, posRepo size: 4
2021-12-04T11:41:55.156Z,1638618115.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114154.42*5C

2021-12-04T11:41:55.157Z,1638618115.157 [Micromodem](INFO): Nmea in: $CAREV,114155,AUV,2.1.4000*2F

2021-12-04T11:41:55.568Z,1638618115.568 [Micromodem](INFO): Nmea in: $CAREV,114155,COPROC,0.20.0.39330*7E

2021-12-04T11:41:57.619Z,1638618117.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:41:58.369Z,1638618118.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:41:58.779Z,1638618118.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:41:59.195Z,1638618119.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 195.889580 deg, deltaT: 4.437503 s, deltaX: -1.139999 m, approachRate: -0.256901 m/s, LOS rate: -6.500680 deg/s, posRepo size: 4
2021-12-04T11:41:59.635Z,1638618119.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114158.87*59

2021-12-04T11:41:59.661Z,1638618119.661 [Micromodem](INFO): Nmea in: $CAREV,114159,AUV,2.1.4000*23

2021-12-04T11:41:59.996Z,1638618119.996 [Micromodem](INFO): Nmea in: $CAREV,114159,COPROC,0.20.0.39330*72

2021-12-04T11:42:01.711Z,1638618121.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:02.412Z,1638618122.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:02.811Z,1638618122.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:03.253Z,1638618123.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 190.922652 deg, deltaT: 4.042768 s, deltaX: -0.360003 m, approachRate: -0.089049 m/s, LOS rate: -1.228596 deg/s, posRepo size: 4
2021-12-04T11:42:03.680Z,1638618123.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114202.92*51

2021-12-04T11:42:03.681Z,1638618123.681 [Micromodem](INFO): Nmea in: $CAREV,114203,AUV,2.1.4000*2F

2021-12-04T11:42:04.036Z,1638618124.036 [Micromodem](INFO): Nmea in: $CAREV,114203,COPROC,0.20.0.39330*7E

2021-12-04T11:42:06.052Z,1638618126.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:06.849Z,1638618126.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:07.259Z,1638618127.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:07.727Z,1638618127.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 186.296715 deg, deltaT: 4.489057 s, deltaX: -0.299999 m, approachRate: -0.066829 m/s, LOS rate: -1.030492 deg/s, posRepo size: 4
2021-12-04T11:42:08.104Z,1638618128.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114207.36*5A

2021-12-04T11:42:08.105Z,1638618128.105 [Micromodem](INFO): Nmea in: $CAREV,114208,AUV,2.1.4000*24

2021-12-04T11:42:08.488Z,1638618128.488 [Micromodem](INFO): Nmea in: $CAREV,114208,COPROC,0.20.0.39330*75

2021-12-04T11:42:10.513Z,1638618130.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:11.328Z,1638618131.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:11.715Z,1638618131.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:12.132Z,1638618132.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 183.972320 deg, deltaT: 4.405701 s, deltaX: -0.359999 m, approachRate: -0.081712 m/s, LOS rate: -0.527588 deg/s, posRepo size: 4
2021-12-04T11:42:12.517Z,1638618132.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114211.83*53

2021-12-04T11:42:12.539Z,1638618132.539 [Micromodem](INFO): Nmea in: $CAREV,114212,AUV,2.1.4000*2F

2021-12-04T11:42:12.941Z,1638618132.941 [Micromodem](INFO): Nmea in: $CAREV,114212,COPROC,0.20.0.39330*7E

2021-12-04T11:42:14.988Z,1638618134.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:15.741Z,1638618135.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:16.137Z,1638618136.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:16.567Z,1638618136.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 184.619576 deg, deltaT: 4.434410 s, deltaX: -0.480003 m, approachRate: -0.108245 m/s, LOS rate: 0.145962 deg/s, posRepo size: 4
2021-12-04T11:42:16.981Z,1638618136.981 [Micromodem](INFO): Nmea in: $SNTTA,0.030537,,,,114216.25*44

2021-12-04T11:42:16.982Z,1638618136.982 [Micromodem](INFO): Nmea in: $CAREV,114217,AUV,2.1.4000*2A

2021-12-04T11:42:17.364Z,1638618137.364 [Micromodem](INFO): Nmea in: $CAREV,114217,COPROC,0.20.0.39330*7B

2021-12-04T11:42:19.393Z,1638618139.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:20.181Z,1638618140.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:20.583Z,1638618140.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:21.048Z,1638618141.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 186.447512 deg, deltaT: 4.455586 s, deltaX: -0.479998 m, approachRate: -0.107729 m/s, LOS rate: 0.410257 deg/s, posRepo size: 4
2021-12-04T11:42:21.424Z,1638618141.424 [Micromodem](INFO): Nmea in: $SNTTA,0.036469,,,,114220.69*45

2021-12-04T11:42:21.425Z,1638618141.425 [Micromodem](INFO): Nmea in: $CAREV,114221,AUV,2.1.4000*2F

2021-12-04T11:42:21.809Z,1638618141.809 [Micromodem](INFO): Nmea in: $CAREV,114221,COPROC,0.20.0.39330*7E

2021-12-04T11:42:23.865Z,1638618143.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:24.621Z,1638618144.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:25.035Z,1638618145.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:25.476Z,1638618145.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 182.794632 deg, deltaT: 4.449566 s, deltaX: -0.360003 m, approachRate: -0.080907 m/s, LOS rate: -0.820952 deg/s, posRepo size: 4
2021-12-04T11:42:25.872Z,1638618145.872 [Micromodem](INFO): Nmea in: $SNTTA,0.101105,,,,114225.13*47

2021-12-04T11:42:25.873Z,1638618145.873 [Micromodem](INFO): Nmea in: $CAREV,114226,AUV,2.1.4000*28

2021-12-04T11:42:26.252Z,1638618146.252 [Micromodem](INFO): Nmea in: $CAREV,114226,COPROC,0.20.0.39330*79

2021-12-04T11:42:28.280Z,1638618148.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:29.077Z,1638618149.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:29.482Z,1638618149.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:29.962Z,1638618149.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 189.336013 deg, deltaT: 4.464197 s, deltaX: -0.179998 m, approachRate: -0.040320 m/s, LOS rate: 1.465299 deg/s, posRepo size: 4
2021-12-04T11:42:30.308Z,1638618150.308 [Micromodem](INFO): Nmea in: $SNTTA,0.047584,,,,114229.58*4A

2021-12-04T11:42:30.309Z,1638618150.309 [Micromodem](INFO): Nmea in: $CAREV,114230,AUV,2.1.4000*2F

2021-12-04T11:42:30.716Z,1638618150.716 [Micromodem](INFO): Nmea in: $CAREV,114230,COPROC,0.20.0.39330*7E

2021-12-04T11:42:32.730Z,1638618152.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:33.505Z,1638618153.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:33.923Z,1638618153.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:34.336Z,1638618154.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 189.726713 deg, deltaT: 4.399825 s, deltaX: -0.420000 m, approachRate: -0.095458 m/s, LOS rate: 0.088799 deg/s, posRepo size: 4
2021-12-04T11:42:34.748Z,1638618154.748 [Micromodem](INFO): Nmea in: $SNTTA,0.061521,,,,114234.01*41

2021-12-04T11:42:34.749Z,1638618154.749 [Micromodem](INFO): Nmea in: $CAREV,114235,AUV,2.1.4000*2A

2021-12-04T11:42:35.140Z,1638618155.140 [Micromodem](INFO): Nmea in: $CAREV,114235,COPROC,0.20.0.39330*7B

2021-12-04T11:42:37.180Z,1638618157.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:37.953Z,1638618157.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:38.351Z,1638618158.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:38.809Z,1638618158.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 193.071457 deg, deltaT: 4.469112 s, deltaX: -0.420002 m, approachRate: -0.093979 m/s, LOS rate: 0.748413 deg/s, posRepo size: 4
2021-12-04T11:42:39.188Z,1638618159.188 [Micromodem](INFO): Nmea in: $SNTTA,0.038540,,,,114238.46*45

2021-12-04T11:42:39.189Z,1638618159.189 [Micromodem](INFO): Nmea in: $CAREV,114239,AUV,2.1.4000*26

2021-12-04T11:42:39.600Z,1638618159.600 [Micromodem](INFO): Nmea in: $CAREV,114239,COPROC,0.20.0.39330*77

2021-12-04T11:42:41.711Z,1638618161.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:42.397Z,1638618162.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:42.811Z,1638618162.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:43.247Z,1638618163.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 196.449846 deg, deltaT: 4.438637 s, deltaX: -0.420000 m, approachRate: -0.094624 m/s, LOS rate: 0.761132 deg/s, posRepo size: 4
2021-12-04T11:42:43.672Z,1638618163.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114242.90*57

2021-12-04T11:42:43.673Z,1638618163.673 [Micromodem](INFO): Nmea in: $CAREV,114243,AUV,2.1.4000*2B

2021-12-04T11:42:44.030Z,1638618164.030 [Micromodem](INFO): Nmea in: $CAREV,114243,COPROC,0.20.0.39330*7A

2021-12-04T11:42:46.048Z,1638618166.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:46.833Z,1638618166.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:47.248Z,1638618167.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:47.718Z,1638618167.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 197.234799 deg, deltaT: 4.474393 s, deltaX: -0.420000 m, approachRate: -0.093867 m/s, LOS rate: 0.175432 deg/s, posRepo size: 4
2021-12-04T11:42:48.084Z,1638618168.084 [Micromodem](INFO): Nmea in: $SNTTA,0.063220,,,,114247.34*47

2021-12-04T11:42:48.085Z,1638618168.085 [Micromodem](INFO): Nmea in: $CAREV,114248,AUV,2.1.4000*20

2021-12-04T11:42:48.472Z,1638618168.472 [Micromodem](INFO): Nmea in: $CAREV,114248,COPROC,0.20.0.39330*71

2021-12-04T11:42:50.504Z,1638618170.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:51.281Z,1638618171.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:51.707Z,1638618171.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:52.133Z,1638618172.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 200.163174 deg, deltaT: 4.408845 s, deltaX: -0.239996 m, approachRate: -0.054435 m/s, LOS rate: 0.664205 deg/s, posRepo size: 4
2021-12-04T11:42:52.528Z,1638618172.528 [Micromodem](INFO): Nmea in: $SNTTA,0.032661,,,,114251.78*4D

2021-12-04T11:42:52.529Z,1638618172.529 [Micromodem](INFO): Nmea in: $CAREV,114252,AUV,2.1.4000*2B

2021-12-04T11:42:52.912Z,1638618172.912 [Micromodem](INFO): Nmea in: $CAREV,114252,COPROC,0.20.0.39330*7A

2021-12-04T11:42:54.945Z,1638618174.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:42:55.725Z,1638618175.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:42:56.139Z,1638618176.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:42:56.551Z,1638618176.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 187.649721 deg, deltaT: 4.424564 s, deltaX: 0.719999 m, approachRate: 0.162728 m/s, LOS rate: -2.828178 deg/s, posRepo size: 4
2021-12-04T11:42:56.968Z,1638618176.968 [Micromodem](INFO): Nmea in: $SNTTA,0.028202,,,,114256.23*4E

2021-12-04T11:42:56.969Z,1638618176.969 [Micromodem](INFO): Nmea in: $CAREV,114257,AUV,2.1.4000*2E

2021-12-04T11:42:57.360Z,1638618177.360 [Micromodem](INFO): Nmea in: $CAREV,114257,COPROC,0.20.0.39330*7F

2021-12-04T11:42:59.389Z,1638618179.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:00.177Z,1638618180.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:00.578Z,1638618180.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:01.020Z,1638618181.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 215.498848 deg, deltaT: 4.468922 s, deltaX: -1.500002 m, approachRate: -0.335652 m/s, LOS rate: 6.231733 deg/s, posRepo size: 4
2021-12-04T11:43:01.411Z,1638618181.411 [Micromodem](INFO): Nmea in: $SNTTA,,0.123504,,,114300.68*48

2021-12-04T11:43:01.412Z,1638618181.412 [Micromodem](INFO): Nmea in: $CAREV,114301,AUV,2.1.4000*2C

2021-12-04T11:43:01.800Z,1638618181.800 [Micromodem](INFO): Nmea in: $CAREV,114301,COPROC,0.20.0.39330*7D

2021-12-04T11:43:03.863Z,1638618183.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:04.613Z,1638618184.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:05.051Z,1638618185.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:05.454Z,1638618185.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 223.409204 deg, deltaT: 4.433553 s, deltaX: -0.299999 m, approachRate: -0.067666 m/s, LOS rate: 1.784203 deg/s, posRepo size: 4
2021-12-04T11:43:05.864Z,1638618185.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114305.12*5F

2021-12-04T11:43:05.865Z,1638618185.865 [Micromodem](INFO): Nmea in: $CAREV,114306,AUV,2.1.4000*2B

2021-12-04T11:43:06.232Z,1638618186.232 [Micromodem](INFO): Nmea in: $CAREV,114306,COPROC,0.20.0.39330*7A

2021-12-04T11:43:08.269Z,1638618188.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:09.059Z,1638618189.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:09.471Z,1638618189.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:09.945Z,1638618189.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 235.608496 deg, deltaT: 4.491494 s, deltaX: -0.420002 m, approachRate: -0.093511 m/s, LOS rate: 2.716088 deg/s, posRepo size: 4
2021-12-04T11:43:10.304Z,1638618190.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114309.56*53

2021-12-04T11:43:10.305Z,1638618190.305 [Micromodem](INFO): Nmea in: $CAREV,114310,AUV,2.1.4000*2C

2021-12-04T11:43:10.717Z,1638618190.717 [Micromodem](INFO): Nmea in: $CAREV,114310,COPROC,0.20.0.39330*7D

2021-12-04T11:43:12.750Z,1638618192.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:13.509Z,1638618193.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:13.915Z,1638618193.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:14.327Z,1638618194.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 213.604112 deg, deltaT: 4.382098 s, deltaX: 0.660004 m, approachRate: 0.150614 m/s, LOS rate: -5.021427 deg/s, posRepo size: 4
2021-12-04T11:43:14.740Z,1638618194.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114314.01*5D

2021-12-04T11:43:14.741Z,1638618194.741 [Micromodem](INFO): Nmea in: $CAREV,114315,AUV,2.1.4000*29

2021-12-04T11:43:15.136Z,1638618195.136 [Micromodem](INFO): Nmea in: $CAREV,114315,COPROC,0.20.0.39330*78

2021-12-04T11:43:17.145Z,1638618197.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:17.937Z,1638618197.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:18.353Z,1638618198.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:18.806Z,1638618198.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 229.177627 deg, deltaT: 4.475364 s, deltaX: -1.560001 m, approachRate: -0.348575 m/s, LOS rate: 3.479832 deg/s, posRepo size: 4
2021-12-04T11:43:21.713Z,1638618201.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:22.389Z,1638618202.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:22.799Z,1638618202.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:23.230Z,1638618203.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 233.450156 deg, deltaT: 4.427477 s, deltaX: -0.240002 m, approachRate: -0.054207 m/s, LOS rate: 0.965003 deg/s, posRepo size: 4
2021-12-04T11:43:23.660Z,1638618203.660 [Micromodem](INFO): Nmea in: $SNTTA,0.067481,,,,114322.89*4A

2021-12-04T11:43:23.661Z,1638618203.661 [Micromodem](INFO): Nmea in: $CAREV,114323,AUV,2.1.4000*2C

2021-12-04T11:43:24.020Z,1638618204.020 [Micromodem](INFO): Nmea in: $CAREV,114323,COPROC,0.20.0.39330*7D

2021-12-04T11:43:26.043Z,1638618206.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:26.841Z,1638618206.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:27.235Z,1638618207.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:27.741Z,1638618207.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 211.227439 deg, deltaT: 4.506018 s, deltaX: 0.600004 m, approachRate: 0.133156 m/s, LOS rate: -4.931786 deg/s, posRepo size: 4
2021-12-04T11:43:28.068Z,1638618208.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114327.35*5A

2021-12-04T11:43:28.069Z,1638618208.069 [Micromodem](INFO): Nmea in: $CAREV,114328,AUV,2.1.4000*27

2021-12-04T11:43:28.472Z,1638618208.472 [Micromodem](INFO): Nmea in: $CAREV,114328,COPROC,0.20.0.39330*76

2021-12-04T11:43:30.477Z,1638618210.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:31.274Z,1638618211.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:31.703Z,1638618211.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:32.111Z,1638618212.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 224.311253 deg, deltaT: 4.375345 s, deltaX: -0.360003 m, approachRate: -0.082280 m/s, LOS rate: 2.990351 deg/s, posRepo size: 4
2021-12-04T11:43:32.520Z,1638618212.520 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114331.78*54

2021-12-04T11:43:32.521Z,1638618212.521 [Micromodem](INFO): Nmea in: $CAREV,114332,AUV,2.1.4000*2C

2021-12-04T11:43:32.900Z,1638618212.900 [Micromodem](INFO): Nmea in: $CAREV,114332,COPROC,0.20.0.39330*7D

2021-12-04T11:43:34.935Z,1638618214.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:35.721Z,1638618215.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:36.123Z,1638618216.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:36.539Z,1638618216.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 224.666874 deg, deltaT: 4.427765 s, deltaX: 0.060003 m, approachRate: 0.013552 m/s, LOS rate: 0.080316 deg/s, posRepo size: 4
2021-12-04T11:43:36.960Z,1638618216.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114336.23*5D

2021-12-04T11:43:36.961Z,1638618216.961 [Micromodem](INFO): Nmea in: $CAREV,114337,AUV,2.1.4000*29

2021-12-04T11:43:37.352Z,1638618217.352 [Micromodem](INFO): Nmea in: $CAREV,114337,COPROC,0.20.0.39330*78

2021-12-04T11:43:39.368Z,1638618219.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:40.165Z,1638618220.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:40.579Z,1638618220.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:41.018Z,1638618221.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 222.127874 deg, deltaT: 4.478750 s, deltaX: -0.360003 m, approachRate: -0.080380 m/s, LOS rate: -0.566899 deg/s, posRepo size: 4
2021-12-04T11:43:41.396Z,1638618221.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114340.67*5C

2021-12-04T11:43:41.397Z,1638618221.397 [Micromodem](INFO): Nmea in: $CAREV,114341,AUV,2.1.4000*28

2021-12-04T11:43:41.792Z,1638618221.792 [Micromodem](INFO): Nmea in: $CAREV,114341,COPROC,0.20.0.39330*79

2021-12-04T11:43:43.850Z,1638618223.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:44.602Z,1638618224.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:45.043Z,1638618225.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:45.457Z,1638618225.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 223.311655 deg, deltaT: 4.438962 s, deltaX: -0.240002 m, approachRate: -0.054067 m/s, LOS rate: 0.266680 deg/s, posRepo size: 4
2021-12-04T11:43:45.880Z,1638618225.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114345.11*58

2021-12-04T11:43:45.881Z,1638618225.881 [Micromodem](INFO): Nmea in: $CAREV,114346,AUV,2.1.4000*2F

2021-12-04T11:43:46.236Z,1638618226.236 [Micromodem](INFO): Nmea in: $CAREV,114346,COPROC,0.20.0.39330*7E

2021-12-04T11:43:48.265Z,1638618228.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:49.057Z,1638618229.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:49.462Z,1638618229.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:49.950Z,1638618229.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 224.487527 deg, deltaT: 4.488542 s, deltaX: -0.120001 m, approachRate: -0.026735 m/s, LOS rate: 0.261972 deg/s, posRepo size: 4
2021-12-04T11:43:50.296Z,1638618230.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114349.56*57

2021-12-04T11:43:50.297Z,1638618230.297 [Micromodem](INFO): Nmea in: $CAREV,114350,AUV,2.1.4000*28

2021-12-04T11:43:50.720Z,1638618230.720 [Micromodem](INFO): Nmea in: $CAREV,114350,COPROC,0.20.0.39330*79

2021-12-04T11:43:52.727Z,1638618232.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:53.497Z,1638618233.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:53.912Z,1638618233.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:54.328Z,1638618234.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 242.194902 deg, deltaT: 4.382923 s, deltaX: -1.499998 m, approachRate: -0.342237 m/s, LOS rate: 4.040083 deg/s, posRepo size: 4
2021-12-04T11:43:54.741Z,1638618234.741 [Micromodem](INFO): Nmea in: $SNTTA,0.093657,,,,114354.00*48

2021-12-04T11:43:54.743Z,1638618234.743 [Micromodem](INFO): Nmea in: $CAREV,114355,AUV,2.1.4000*2D

2021-12-04T11:43:55.132Z,1638618235.132 [Micromodem](INFO): Nmea in: $CAREV,114355,COPROC,0.20.0.39330*7C

2021-12-04T11:43:57.153Z,1638618237.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:43:57.953Z,1638618237.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:43:58.351Z,1638618238.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:43:58.824Z,1638618238.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 240.714417 deg, deltaT: 4.485455 s, deltaX: -0.179998 m, approachRate: -0.040129 m/s, LOS rate: -0.330063 deg/s, posRepo size: 4
2021-12-04T11:43:59.184Z,1638618239.184 [Micromodem](INFO): Nmea in: $SNTTA,0.075583,,,,114358.46*44

2021-12-04T11:43:59.185Z,1638618239.185 [Micromodem](INFO): Nmea in: $CAREV,114359,AUV,2.1.4000*21

2021-12-04T11:43:59.596Z,1638618239.596 [Micromodem](INFO): Nmea in: $CAREV,114359,COPROC,0.20.0.39330*70

2021-12-04T11:44:01.716Z,1638618241.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:02.385Z,1638618242.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:02.791Z,1638618242.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:03.207Z,1638618243.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 224.581073 deg, deltaT: 4.393150 s, deltaX: 1.019999 m, approachRate: 0.232179 m/s, LOS rate: -3.672387 deg/s, posRepo size: 4
2021-12-04T11:44:03.653Z,1638618243.653 [Micromodem](INFO): Nmea in: $SNTTA,0.031503,,,,114402.89*47

2021-12-04T11:44:03.660Z,1638618243.660 [Micromodem](INFO): Nmea in: $CAREV,114403,AUV,2.1.4000*29

2021-12-04T11:44:04.012Z,1638618244.012 [Micromodem](INFO): Nmea in: $CAREV,114403,COPROC,0.20.0.39330*78

2021-12-04T11:44:05.710Z,1638618245.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:06.418Z,1638618246.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:06.839Z,1638618246.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:07.273Z,1638618247.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 212.942458 deg, deltaT: 4.066039 s, deltaX: -1.319998 m, approachRate: -0.324640 m/s, LOS rate: -2.862396 deg/s, posRepo size: 4
2021-12-04T11:44:07.672Z,1638618247.672 [Micromodem](INFO): Nmea in: $SNTTA,0.040424,,,,114406.92*4B

2021-12-04T11:44:07.673Z,1638618247.673 [Micromodem](INFO): Nmea in: $CAREV,114407,AUV,2.1.4000*2D

2021-12-04T11:44:08.048Z,1638618248.048 [Micromodem](INFO): Nmea in: $CAREV,114407,COPROC,0.20.0.39330*7C

2021-12-04T11:44:10.097Z,1638618250.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:10.873Z,1638618250.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:11.275Z,1638618251.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:11.760Z,1638618251.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 203.138937 deg, deltaT: 4.487379 s, deltaX: -0.240002 m, approachRate: -0.053484 m/s, LOS rate: -2.184687 deg/s, posRepo size: 4
2021-12-04T11:44:12.116Z,1638618252.116 [Micromodem](INFO): Nmea in: $SNTTA,0.126883,,,,114411.38*4D

2021-12-04T11:44:12.117Z,1638618252.117 [Micromodem](INFO): Nmea in: $CAREV,114412,AUV,2.1.4000*29

2021-12-04T11:44:12.496Z,1638618252.496 [Micromodem](INFO): Nmea in: $CAREV,114412,COPROC,0.20.0.39330*78

2021-12-04T11:44:14.516Z,1638618254.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:15.313Z,1638618255.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:15.719Z,1638618255.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:16.152Z,1638618256.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 199.498132 deg, deltaT: 4.390783 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.829193 deg/s, posRepo size: 4
2021-12-04T11:44:16.552Z,1638618256.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114415.82*50

2021-12-04T11:44:16.553Z,1638618256.553 [Micromodem](INFO): Nmea in: $CAREV,114416,AUV,2.1.4000*2D

2021-12-04T11:44:16.940Z,1638618256.940 [Micromodem](INFO): Nmea in: $CAREV,114416,COPROC,0.20.0.39330*7C

2021-12-04T11:44:18.977Z,1638618258.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:19.757Z,1638618259.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:20.167Z,1638618260.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:20.617Z,1638618260.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 198.484614 deg, deltaT: 4.462200 s, deltaX: -0.299999 m, approachRate: -0.067231 m/s, LOS rate: -0.227134 deg/s, posRepo size: 4
2021-12-04T11:44:20.999Z,1638618260.999 [Micromodem](INFO): Nmea in: $SNTTA,0.037930,,,,114420.26*48

2021-12-04T11:44:21.001Z,1638618261.001 [Micromodem](INFO): Nmea in: $CAREV,114421,AUV,2.1.4000*29

2021-12-04T11:44:21.380Z,1638618261.380 [Micromodem](INFO): Nmea in: $CAREV,114421,COPROC,0.20.0.39330*78

2021-12-04T11:44:23.412Z,1638618263.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:24.201Z,1638618264.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:24.612Z,1638618264.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:25.097Z,1638618265.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 204.754291 deg, deltaT: 4.479865 s, deltaX: -0.240002 m, approachRate: -0.053573 m/s, LOS rate: 1.399524 deg/s, posRepo size: 4
2021-12-04T11:44:25.448Z,1638618265.448 [Micromodem](INFO): Nmea in: $SNTTA,0.036464,,,,114424.71*43

2021-12-04T11:44:25.449Z,1638618265.449 [Micromodem](INFO): Nmea in: $CAREV,114425,AUV,2.1.4000*2D

2021-12-04T11:44:25.824Z,1638618265.824 [Micromodem](INFO): Nmea in: $CAREV,114425,COPROC,0.20.0.39330*7C

2021-12-04T11:44:27.898Z,1638618267.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:28.668Z,1638618268.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:29.067Z,1638618269.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:29.481Z,1638618269.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 204.563250 deg, deltaT: 4.388092 s, deltaX: 0.060003 m, approachRate: 0.013674 m/s, LOS rate: -0.043536 deg/s, posRepo size: 4
2021-12-04T11:44:29.884Z,1638618269.884 [Micromodem](INFO): Nmea in: $SNTTA,0.477569,,,,114429.17*43

2021-12-04T11:44:29.885Z,1638618269.885 [Micromodem](INFO): Nmea in: $CAREV,114430,AUV,2.1.4000*29

2021-12-04T11:44:30.280Z,1638618270.280 [Micromodem](INFO): Nmea in: $CAREV,114430,COPROC,0.20.0.39330*78

2021-12-04T11:44:32.308Z,1638618272.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:33.101Z,1638618273.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:33.543Z,1638618273.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:34.003Z,1638618274.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 207.991869 deg, deltaT: 4.521822 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.758238 deg/s, posRepo size: 4
2021-12-04T11:44:34.360Z,1638618274.360 [Micromodem](INFO): Nmea in: $SNTTA,0.032959,,,,114433.61*43

2021-12-04T11:44:34.361Z,1638618274.361 [Micromodem](INFO): Nmea in: $CAREV,114434,AUV,2.1.4000*2D

2021-12-04T11:44:34.763Z,1638618274.763 [Micromodem](INFO): Nmea in: $CAREV,114434,COPROC,0.20.0.39330*7C

2021-12-04T11:44:36.779Z,1638618276.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:37.624Z,1638618277.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:37.990Z,1638618277.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:38.425Z,1638618278.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 211.418588 deg, deltaT: 4.418190 s, deltaX: 1.079996 m, approachRate: 0.244443 m/s, LOS rate: 0.775594 deg/s, posRepo size: 4
2021-12-04T11:44:38.801Z,1638618278.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114438.13*57

2021-12-04T11:44:39.200Z,1638618279.200 [Micromodem](INFO): Nmea in: $CAREV,114439,AUV,2.1.4000*20

2021-12-04T11:44:39.201Z,1638618279.201 [Micromodem](INFO): Nmea in: $CAREV,114439,COPROC,0.20.0.39330*71

2021-12-04T11:44:41.238Z,1638618281.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:41.667Z,1638618281.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:42.022Z,1638618282.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:42.449Z,1638618282.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 233.003762 deg, deltaT: 4.027656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 5.359240 deg/s, posRepo size: 4
2021-12-04T11:44:42.855Z,1638618282.855 [Micromodem](INFO): Nmea in: $SNTTA,0.063405,,,,114442.17*44

2021-12-04T11:44:42.858Z,1638618282.858 [Micromodem](INFO): Nmea in: $CAREV,114443,AUV,2.1.4000*2D

2021-12-04T11:44:42.884Z,1638618282.884 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:44:43.232Z,1638618283.232 [Micromodem](INFO): Nmea in: $CAREV,114443,COPROC,0.20.0.39330*7C

2021-12-04T11:44:45.278Z,1638618285.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:46.062Z,1638618286.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:46.463Z,1638618286.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:46.937Z,1638618286.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 194.434940 deg, deltaT: 4.487995 s, deltaX: 0.179998 m, approachRate: 0.040107 m/s, LOS rate: -8.593776 deg/s, posRepo size: 4
2021-12-04T11:44:47.308Z,1638618287.308 [Micromodem](INFO): Nmea in: $SNTTA,0.070908,,,,114446.57*46

2021-12-04T11:44:47.309Z,1638618287.309 [Micromodem](INFO): Nmea in: $CAREV,114447,AUV,2.1.4000*29

2021-12-04T11:44:47.717Z,1638618287.717 [Micromodem](INFO): Nmea in: $CAREV,114447,COPROC,0.20.0.39330*78

2021-12-04T11:44:49.757Z,1638618289.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:50.501Z,1638618290.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:50.911Z,1638618290.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:51.340Z,1638618291.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 163.362675 deg, deltaT: 4.386657 s, deltaX: -1.740000 m, approachRate: -0.396657 m/s, LOS rate: -7.083359 deg/s, posRepo size: 4
2021-12-04T11:44:51.736Z,1638618291.736 [Micromodem](INFO): Nmea in: $SNTTA,0.041937,,,,114451.00*4C

2021-12-04T11:44:51.737Z,1638618291.737 [Micromodem](INFO): Nmea in: $CAREV,114452,AUV,2.1.4000*2D

2021-12-04T11:44:52.132Z,1638618292.132 [Micromodem](INFO): Nmea in: $CAREV,114452,COPROC,0.20.0.39330*7C

2021-12-04T11:44:54.154Z,1638618294.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:54.941Z,1638618294.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:55.348Z,1638618295.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:55.840Z,1638618295.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 160.679708 deg, deltaT: 4.495349 s, deltaX: 0.120001 m, approachRate: 0.026694 m/s, LOS rate: -0.596832 deg/s, posRepo size: 4
2021-12-04T11:44:56.190Z,1638618296.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114455.44*5E

2021-12-04T11:44:56.191Z,1638618296.191 [Micromodem](INFO): Nmea in: $CAREV,114456,AUV,2.1.4000*29

2021-12-04T11:44:56.572Z,1638618296.572 [Micromodem](INFO): Nmea in: $CAREV,114456,COPROC,0.20.0.39330*78

2021-12-04T11:44:58.599Z,1638618298.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:44:59.389Z,1638618299.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:44:59.807Z,1638618299.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:44:59.841Z,1638618299.841 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:45:00.234Z,1638618300.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 158.080849 deg, deltaT: 4.415107 s, deltaX: -0.120001 m, approachRate: -0.027180 m/s, LOS rate: -0.588629 deg/s, posRepo size: 4
2021-12-04T11:45:00.644Z,1638618300.644 [Micromodem](INFO): Nmea in: $SNTTA,0.064284,,,,114459.90*49

2021-12-04T11:45:00.655Z,1638618300.655 [Micromodem](INFO): Nmea in: $CAREV,114500,AUV,2.1.4000*2B

2021-12-04T11:45:01.016Z,1638618301.016 [Micromodem](INFO): Nmea in: $CAREV,114500,COPROC,0.20.0.39330*7A

2021-12-04T11:45:03.063Z,1638618303.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:03.837Z,1638618303.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:04.247Z,1638618304.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:04.695Z,1638618304.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 158.192604 deg, deltaT: 4.460948 s, deltaX: -0.179998 m, approachRate: -0.040350 m/s, LOS rate: 0.025052 deg/s, posRepo size: 4
2021-12-04T11:45:05.083Z,1638618305.083 [Micromodem](INFO): Nmea in: $SNTTA,,0.083188,,,114504.34*48

2021-12-04T11:45:05.084Z,1638618305.084 [Micromodem](INFO): Nmea in: $CAREV,114505,AUV,2.1.4000*2E

2021-12-04T11:45:05.460Z,1638618305.460 [Micromodem](INFO): Nmea in: $CAREV,114505,COPROC,0.20.0.39330*7F

2021-12-04T11:45:07.489Z,1638618307.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:08.273Z,1638618308.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:08.699Z,1638618308.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:09.128Z,1638618309.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 168.997144 deg, deltaT: 4.428755 s, deltaX: 0.120001 m, approachRate: 0.027096 m/s, LOS rate: 2.439634 deg/s, posRepo size: 4
2021-12-04T11:45:09.513Z,1638618309.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114508.78*58

2021-12-04T11:45:09.539Z,1638618309.539 [Micromodem](INFO): Nmea in: $CAREV,114509,AUV,2.1.4000*22

2021-12-04T11:45:09.900Z,1638618309.900 [Micromodem](INFO): Nmea in: $CAREV,114509,COPROC,0.20.0.39330*73

2021-12-04T11:45:11.969Z,1638618311.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:12.721Z,1638618312.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:13.127Z,1638618313.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:13.605Z,1638618313.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 173.178777 deg, deltaT: 4.475868 s, deltaX: 0.179998 m, approachRate: 0.040215 m/s, LOS rate: 0.934262 deg/s, posRepo size: 4
2021-12-04T11:45:13.964Z,1638618313.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114513.23*5C

2021-12-04T11:45:13.965Z,1638618313.965 [Micromodem](INFO): Nmea in: $CAREV,114514,AUV,2.1.4000*2E

2021-12-04T11:45:14.356Z,1638618314.356 [Micromodem](INFO): Nmea in: $CAREV,114514,COPROC,0.20.0.39330*7F

2021-12-04T11:45:16.392Z,1638618316.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:17.169Z,1638618317.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:17.605Z,1638618317.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:18.007Z,1638618318.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.499996 m, bearing: 173.186550 deg, deltaT: 4.391612 s, deltaX: 0.179998 m, approachRate: 0.040987 m/s, LOS rate: 0.001770 deg/s, posRepo size: 4
2021-12-04T11:45:18.412Z,1638618318.412 [Micromodem](INFO): Nmea in: $SNTTA,,0.033459,,,114517.67*4E

2021-12-04T11:45:18.413Z,1638618318.413 [Micromodem](INFO): Nmea in: $CAREV,114518,AUV,2.1.4000*22

2021-12-04T11:45:18.796Z,1638618318.796 [Micromodem](INFO): Nmea in: $CAREV,114518,COPROC,0.20.0.39330*73

2021-12-04T11:45:20.831Z,1638618320.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:21.639Z,1638618321.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:22.007Z,1638618322.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:22.460Z,1638618322.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 173.697544 deg, deltaT: 4.464163 s, deltaX: 0.180006 m, approachRate: 0.040322 m/s, LOS rate: 0.114466 deg/s, posRepo size: 4
2021-12-04T11:45:22.840Z,1638618322.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114522.14*5A

2021-12-04T11:45:22.841Z,1638618322.841 [Micromodem](INFO): Nmea in: $CAREV,114523,AUV,2.1.4000*2A

2021-12-04T11:45:23.236Z,1638618323.236 [Micromodem](INFO): Nmea in: $CAREV,114523,COPROC,0.20.0.39330*7B

2021-12-04T11:45:25.268Z,1638618325.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:26.065Z,1638618326.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:26.459Z,1638618326.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:26.896Z,1638618326.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 174.993463 deg, deltaT: 4.440729 s, deltaX: 0.299999 m, approachRate: 0.067556 m/s, LOS rate: 0.291826 deg/s, posRepo size: 4
2021-12-04T11:45:27.296Z,1638618327.296 [Micromodem](INFO): Nmea in: $SNTTA,0.048505,,,,114526.57*4B

2021-12-04T11:45:27.297Z,1638618327.297 [Micromodem](INFO): Nmea in: $CAREV,114527,AUV,2.1.4000*2E

2021-12-04T11:45:27.712Z,1638618327.712 [Micromodem](INFO): Nmea in: $CAREV,114527,COPROC,0.20.0.39330*7F

2021-12-04T11:45:29.749Z,1638618329.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:30.508Z,1638618330.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:30.931Z,1638618330.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:31.332Z,1638618331.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 179.499257 deg, deltaT: 4.435347 s, deltaX: 0.239996 m, approachRate: 0.054110 m/s, LOS rate: 1.015883 deg/s, posRepo size: 4
2021-12-04T11:45:31.744Z,1638618331.744 [Micromodem](INFO): Nmea in: $SNTTA,0.036881,,,,114531.01*46

2021-12-04T11:45:31.748Z,1638618331.748 [Micromodem](INFO): Nmea in: $CAREV,114532,AUV,2.1.4000*2A

2021-12-04T11:45:32.136Z,1638618332.136 [Micromodem](INFO): Nmea in: $CAREV,114532,COPROC,0.20.0.39330*7B

2021-12-04T11:45:34.179Z,1638618334.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:34.956Z,1638618334.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:35.364Z,1638618335.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:35.907Z,1638618335.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 179.399549 deg, deltaT: 4.571693 s, deltaX: 0.240002 m, approachRate: 0.052497 m/s, LOS rate: -0.021810 deg/s, posRepo size: 4
2021-12-04T11:45:36.200Z,1638618336.200 [Micromodem](INFO): Nmea in: $SNTTA,0.079613,,,,114535.46*4F

2021-12-04T11:45:36.201Z,1638618336.201 [Micromodem](INFO): Nmea in: $CAREV,114536,AUV,2.1.4000*2E

2021-12-04T11:45:36.588Z,1638618336.588 [Micromodem](INFO): Nmea in: $CAREV,114536,COPROC,0.20.0.39330*7F

2021-12-04T11:45:38.638Z,1638618338.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:39.401Z,1638618339.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:39.809Z,1638618339.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:40.242Z,1638618340.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 180.992554 deg, deltaT: 4.338350 s, deltaX: 0.360003 m, approachRate: 0.082981 m/s, LOS rate: 0.367191 deg/s, posRepo size: 4
2021-12-04T11:45:40.646Z,1638618340.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114539.91*5D

2021-12-04T11:45:40.657Z,1638618340.657 [Micromodem](INFO): Nmea in: $CAREV,114540,AUV,2.1.4000*2F

2021-12-04T11:45:41.016Z,1638618341.016 [Micromodem](INFO): Nmea in: $CAREV,114540,COPROC,0.20.0.39330*7E

2021-12-04T11:45:43.041Z,1638618343.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:43.837Z,1638618343.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:44.247Z,1638618344.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:44.697Z,1638618344.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 181.979298 deg, deltaT: 4.452645 s, deltaX: 0.299999 m, approachRate: 0.067376 m/s, LOS rate: 0.221608 deg/s, posRepo size: 4
2021-12-04T11:45:45.068Z,1638618345.068 [Micromodem](INFO): Nmea in: $SNTTA,0.011895,,,,114544.34*42

2021-12-04T11:45:45.069Z,1638618345.069 [Micromodem](INFO): Nmea in: $CAREV,114545,AUV,2.1.4000*2A

2021-12-04T11:45:45.464Z,1638618345.464 [Micromodem](INFO): Nmea in: $CAREV,114545,COPROC,0.20.0.39330*7B

2021-12-04T11:45:47.492Z,1638618347.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:48.273Z,1638618348.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:48.707Z,1638618348.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:49.131Z,1638618349.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 185.562129 deg, deltaT: 4.412221 s, deltaX: 0.299999 m, approachRate: 0.067993 m/s, LOS rate: 0.812024 deg/s, posRepo size: 4
2021-12-04T11:45:49.530Z,1638618349.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114548.78*5C

2021-12-04T11:45:49.534Z,1638618349.534 [Micromodem](INFO): Nmea in: $CAREV,114549,AUV,2.1.4000*26

2021-12-04T11:45:49.908Z,1638618349.908 [Micromodem](INFO): Nmea in: $CAREV,114549,COPROC,0.20.0.39330*77

2021-12-04T11:45:51.604Z,1638618351.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:52.321Z,1638618352.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:52.727Z,1638618352.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:53.160Z,1638618353.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 184.908124 deg, deltaT: 4.053894 s, deltaX: 0.420000 m, approachRate: 0.103604 m/s, LOS rate: -0.161327 deg/s, posRepo size: 4
2021-12-04T11:45:53.587Z,1638618353.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114552.83*53

2021-12-04T11:45:53.590Z,1638618353.590 [Micromodem](INFO): Nmea in: $CAREV,114553,AUV,2.1.4000*2D

2021-12-04T11:45:53.944Z,1638618353.944 [Micromodem](INFO): Nmea in: $CAREV,114553,COPROC,0.20.0.39330*7C

2021-12-04T11:45:55.671Z,1638618355.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:45:56.367Z,1638618356.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:45:56.763Z,1638618356.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:45:57.185Z,1638618357.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 190.231751 deg, deltaT: 4.024989 s, deltaX: 0.359999 m, approachRate: 0.089441 m/s, LOS rate: 1.322644 deg/s, posRepo size: 4
2021-12-04T11:45:57.631Z,1638618357.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114556.87*53

2021-12-04T11:45:57.635Z,1638618357.635 [Micromodem](INFO): Nmea in: $CAREV,114557,AUV,2.1.4000*29

2021-12-04T11:45:57.988Z,1638618357.988 [Micromodem](INFO): Nmea in: $CAREV,114557,COPROC,0.20.0.39330*78

2021-12-04T11:45:59.713Z,1638618359.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:00.401Z,1638618360.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:00.815Z,1638618360.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:01.247Z,1638618361.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 192.769945 deg, deltaT: 4.058183 s, deltaX: 0.360003 m, approachRate: 0.088710 m/s, LOS rate: 0.625451 deg/s, posRepo size: 4
2021-12-04T11:46:01.664Z,1638618361.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114600.91*54

2021-12-04T11:46:01.670Z,1638618361.670 [Micromodem](INFO): Nmea in: $CAREV,114601,AUV,2.1.4000*29

2021-12-04T11:46:02.028Z,1638618362.028 [Micromodem](INFO): Nmea in: $CAREV,114601,COPROC,0.20.0.39330*78

2021-12-04T11:46:04.049Z,1638618364.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:04.845Z,1638618364.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:05.251Z,1638618365.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:05.720Z,1638618365.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 193.153597 deg, deltaT: 4.476608 s, deltaX: 0.359997 m, approachRate: 0.080417 m/s, LOS rate: 0.085701 deg/s, posRepo size: 4
2021-12-04T11:46:06.080Z,1638618366.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114605.35*5F

2021-12-04T11:46:06.081Z,1638618366.081 [Micromodem](INFO): Nmea in: $CAREV,114606,AUV,2.1.4000*2E

2021-12-04T11:46:06.476Z,1638618366.476 [Micromodem](INFO): Nmea in: $CAREV,114606,COPROC,0.20.0.39330*7F

2021-12-04T11:46:08.515Z,1638618368.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:09.293Z,1638618369.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:09.715Z,1638618369.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:10.150Z,1638618370.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 195.762060 deg, deltaT: 4.416287 s, deltaX: 0.480003 m, approachRate: 0.108689 m/s, LOS rate: 0.590646 deg/s, posRepo size: 4
2021-12-04T11:46:10.536Z,1638618370.536 [Micromodem](INFO): Nmea in: $SNTTA,0.013371,,,,114609.80*44

2021-12-04T11:46:10.537Z,1638618370.537 [Micromodem](INFO): Nmea in: $CAREV,114610,AUV,2.1.4000*29

2021-12-04T11:46:10.916Z,1638618370.916 [Micromodem](INFO): Nmea in: $CAREV,114610,COPROC,0.20.0.39330*78

2021-12-04T11:46:12.954Z,1638618372.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:13.734Z,1638618373.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:14.139Z,1638618374.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:14.556Z,1638618374.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 197.607946 deg, deltaT: 4.419199 s, deltaX: 0.479998 m, approachRate: 0.108616 m/s, LOS rate: 0.417697 deg/s, posRepo size: 4
2021-12-04T11:46:14.980Z,1638618374.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114614.24*5F

2021-12-04T11:46:14.981Z,1638618374.981 [Micromodem](INFO): Nmea in: $CAREV,114615,AUV,2.1.4000*2C

2021-12-04T11:46:15.360Z,1638618375.360 [Micromodem](INFO): Nmea in: $CAREV,114615,COPROC,0.20.0.39330*7D

2021-12-04T11:46:17.400Z,1638618377.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:18.181Z,1638618378.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:18.583Z,1638618378.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:19.024Z,1638618379.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 199.394450 deg, deltaT: 4.468892 s, deltaX: 0.359997 m, approachRate: 0.080556 m/s, LOS rate: 0.399764 deg/s, posRepo size: 4
2021-12-04T11:46:19.417Z,1638618379.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114618.69*5A

2021-12-04T11:46:19.418Z,1638618379.418 [Micromodem](INFO): Nmea in: $CAREV,114619,AUV,2.1.4000*20

2021-12-04T11:46:19.812Z,1638618379.812 [Micromodem](INFO): Nmea in: $CAREV,114619,COPROC,0.20.0.39330*71

2021-12-04T11:46:21.869Z,1638618381.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:22.624Z,1638618382.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:23.038Z,1638618383.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:23.460Z,1638618383.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 201.075469 deg, deltaT: 4.418889 s, deltaX: 0.720001 m, approachRate: 0.162937 m/s, LOS rate: 0.380417 deg/s, posRepo size: 4
2021-12-04T11:46:23.871Z,1638618383.871 [Micromodem](INFO): Nmea in: $SNTTA,0.032095,,,,114623.13*4C

2021-12-04T11:46:23.872Z,1638618383.872 [Micromodem](INFO): Nmea in: $CAREV,114624,AUV,2.1.4000*2E

2021-12-04T11:46:24.248Z,1638618384.248 [Micromodem](INFO): Nmea in: $CAREV,114624,COPROC,0.20.0.39330*7F

2021-12-04T11:46:26.285Z,1638618386.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:27.067Z,1638618387.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:27.475Z,1638618387.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:27.964Z,1638618387.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 202.770804 deg, deltaT: 4.520143 s, deltaX: 0.480003 m, approachRate: 0.106192 m/s, LOS rate: 0.375062 deg/s, posRepo size: 4
2021-12-04T11:46:28.312Z,1638618388.312 [Micromodem](INFO): Nmea in: $SNTTA,0.036861,,,,114627.57*4F

2021-12-04T11:46:28.313Z,1638618388.313 [Micromodem](INFO): Nmea in: $CAREV,114628,AUV,2.1.4000*22

2021-12-04T11:46:28.712Z,1638618388.712 [Micromodem](INFO): Nmea in: $CAREV,114628,COPROC,0.20.0.39330*73

2021-12-04T11:46:30.737Z,1638618390.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:31.517Z,1638618391.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:31.915Z,1638618391.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:32.343Z,1638618392.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 203.229465 deg, deltaT: 4.378812 s, deltaX: 0.420000 m, approachRate: 0.095916 m/s, LOS rate: 0.104745 deg/s, posRepo size: 4
2021-12-04T11:46:32.764Z,1638618392.764 [Micromodem](INFO): Nmea in: $SNTTA,0.077106,,,,114632.02*46

2021-12-04T11:46:32.766Z,1638618392.766 [Micromodem](INFO): Nmea in: $CAREV,114633,AUV,2.1.4000*28

2021-12-04T11:46:33.136Z,1638618393.136 [Micromodem](INFO): Nmea in: $CAREV,114633,COPROC,0.20.0.39330*79

2021-12-04T11:46:35.211Z,1638618395.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:35.957Z,1638618395.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:36.362Z,1638618396.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:36.802Z,1638618396.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 203.126520 deg, deltaT: 4.459748 s, deltaX: 0.299999 m, approachRate: 0.067268 m/s, LOS rate: -0.023083 deg/s, posRepo size: 4
2021-12-04T11:46:37.192Z,1638618397.192 [Micromodem](INFO): Nmea in: $SNTTA,0.090406,,,,114636.46*4E

2021-12-04T11:46:37.193Z,1638618397.193 [Micromodem](INFO): Nmea in: $CAREV,114637,AUV,2.1.4000*2C

2021-12-04T11:46:37.611Z,1638618397.611 [Micromodem](INFO): Nmea in: $CAREV,114637,COPROC,0.20.0.39330*7D

2021-12-04T11:46:39.704Z,1638618399.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:40.397Z,1638618400.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:40.803Z,1638618400.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:41.241Z,1638618401.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 203.624113 deg, deltaT: 4.439026 s, deltaX: 0.720001 m, approachRate: 0.162198 m/s, LOS rate: 0.112095 deg/s, posRepo size: 4
2021-12-04T11:46:41.668Z,1638618401.668 [Micromodem](INFO): Nmea in: $SNTTA,0.051435,,,,114640.90*49

2021-12-04T11:46:41.669Z,1638618401.669 [Micromodem](INFO): Nmea in: $CAREV,114641,AUV,2.1.4000*2D

2021-12-04T11:46:42.024Z,1638618402.024 [Micromodem](INFO): Nmea in: $CAREV,114641,COPROC,0.20.0.39330*7C

2021-12-04T11:46:44.045Z,1638618404.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:44.841Z,1638618404.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:45.247Z,1638618405.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:45.696Z,1638618405.696 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:46:45.713Z,1638618405.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 204.916467 deg, deltaT: 4.471504 s, deltaX: 0.599998 m, approachRate: 0.134183 m/s, LOS rate: 0.289020 deg/s, posRepo size: 4
2021-12-04T11:46:46.088Z,1638618406.088 [Micromodem](INFO): Nmea in: $SNTTA,0.018983,,,,114645.35*4E

2021-12-04T11:46:46.089Z,1638618406.089 [Micromodem](INFO): Nmea in: $CAREV,114646,AUV,2.1.4000*2A

2021-12-04T11:46:46.472Z,1638618406.472 [Micromodem](INFO): Nmea in: $CAREV,114646,COPROC,0.20.0.39330*7B

2021-12-04T11:46:48.488Z,1638618408.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:49.277Z,1638618409.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:49.699Z,1638618409.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:50.112Z,1638618410.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 206.109537 deg, deltaT: 4.399173 s, deltaX: 0.540001 m, approachRate: 0.122751 m/s, LOS rate: 0.271203 deg/s, posRepo size: 4
2021-12-04T11:46:50.520Z,1638618410.520 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114649.78*5E

2021-12-04T11:46:50.521Z,1638618410.521 [Micromodem](INFO): Nmea in: $CAREV,114650,AUV,2.1.4000*2D

2021-12-04T11:46:50.912Z,1638618410.912 [Micromodem](INFO): Nmea in: $CAREV,114650,COPROC,0.20.0.39330*7C

2021-12-04T11:46:52.939Z,1638618412.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:53.725Z,1638618413.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:54.192Z,1638618414.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:54.632Z,1638618414.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 207.034932 deg, deltaT: 4.507378 s, deltaX: 0.599998 m, approachRate: 0.133115 m/s, LOS rate: 0.205307 deg/s, posRepo size: 4
2021-12-04T11:46:54.000Z,1638618415.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114654.23*5C

2021-12-04T11:46:55.001Z,1638618415.001 [Micromodem](INFO): Nmea in: $CAREV,114655,AUV,2.1.4000*28

2021-12-04T11:46:55.404Z,1638618415.404 [Micromodem](INFO): Nmea in: $CAREV,114655,COPROC,0.20.0.39330*79

2021-12-04T11:46:57.432Z,1638618417.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:46:58.213Z,1638618418.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:46:58.635Z,1638618418.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:46:59.058Z,1638618419.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 208.729939 deg, deltaT: 4.438812 s, deltaX: 0.720001 m, approachRate: 0.162206 m/s, LOS rate: 0.381861 deg/s, posRepo size: 4
2021-12-04T11:46:59.468Z,1638618419.468 [Micromodem](INFO): Nmea in: $SNTTA,0.043677,,,,114658.72*4B

2021-12-04T11:46:59.469Z,1638618419.469 [Micromodem](INFO): Nmea in: $CAREV,114659,AUV,2.1.4000*24

2021-12-04T11:46:59.852Z,1638618419.852 [Micromodem](INFO): Nmea in: $CAREV,114659,COPROC,0.20.0.39330*75

2021-12-04T11:47:01.917Z,1638618421.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:02.699Z,1638618422.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:03.075Z,1638618423.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:03.504Z,1638618423.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 207.804257 deg, deltaT: 4.445828 s, deltaX: 0.360003 m, approachRate: 0.080975 m/s, LOS rate: -0.208214 deg/s, posRepo size: 4
2021-12-04T11:47:03.903Z,1638618423.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114703.21*5D

2021-12-04T11:47:03.904Z,1638618423.904 [Micromodem](INFO): Nmea in: $CAREV,114704,AUV,2.1.4000*2D

2021-12-04T11:47:04.292Z,1638618424.292 [Micromodem](INFO): Nmea in: $CAREV,114704,COPROC,0.20.0.39330*7C

2021-12-04T11:47:06.316Z,1638618426.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:07.101Z,1638618427.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:07.519Z,1638618427.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:07.993Z,1638618427.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 210.167626 deg, deltaT: 4.484046 s, deltaX: 0.659996 m, approachRate: 0.147188 m/s, LOS rate: 0.527062 deg/s, posRepo size: 4
2021-12-04T11:47:08.356Z,1638618428.356 [Micromodem](INFO): Nmea in: $SNTTA,0.049900,,,,114707.61*47

2021-12-04T11:47:08.357Z,1638618428.357 [Micromodem](INFO): Nmea in: $CAREV,114708,AUV,2.1.4000*21

2021-12-04T11:47:08.748Z,1638618428.748 [Micromodem](INFO): Nmea in: $CAREV,114708,COPROC,0.20.0.39330*70

2021-12-04T11:47:10.770Z,1638618430.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:11.581Z,1638618431.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:11.967Z,1638618431.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:12.393Z,1638618432.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 210.410480 deg, deltaT: 4.404972 s, deltaX: 0.479998 m, approachRate: 0.108967 m/s, LOS rate: 0.055132 deg/s, posRepo size: 4
2021-12-04T11:47:12.791Z,1638618432.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114712.09*57

2021-12-04T11:47:12.792Z,1638618432.792 [Micromodem](INFO): Nmea in: $CAREV,114713,AUV,2.1.4000*2B

2021-12-04T11:47:13.176Z,1638618433.176 [Micromodem](INFO): Nmea in: $CAREV,114713,COPROC,0.20.0.39330*7A

2021-12-04T11:47:15.234Z,1638618435.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:16.033Z,1638618436.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:16.443Z,1638618436.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:16.880Z,1638618436.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 211.484022 deg, deltaT: 4.487745 s, deltaX: 0.660004 m, approachRate: 0.147068 m/s, LOS rate: 0.239216 deg/s, posRepo size: 4
2021-12-04T11:47:17.280Z,1638618437.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114716.54*5B

2021-12-04T11:47:17.281Z,1638618437.281 [Micromodem](INFO): Nmea in: $CAREV,114717,AUV,2.1.4000*2F

2021-12-04T11:47:17.680Z,1638618437.680 [Micromodem](INFO): Nmea in: $CAREV,114717,COPROC,0.20.0.39330*7E

2021-12-04T11:47:19.751Z,1638618439.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:20.481Z,1638618440.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:20.887Z,1638618440.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:21.307Z,1638618441.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 209.160938 deg, deltaT: 4.426078 s, deltaX: 0.360003 m, approachRate: 0.081337 m/s, LOS rate: -0.524863 deg/s, posRepo size: 4
2021-12-04T11:47:21.720Z,1638618441.720 [Micromodem](INFO): Nmea in: $SNTTA,0.035632,,,,114720.99*40

2021-12-04T11:47:21.721Z,1638618441.721 [Micromodem](INFO): Nmea in: $CAREV,114722,AUV,2.1.4000*29

2021-12-04T11:47:22.111Z,1638618442.111 [Micromodem](INFO): Nmea in: $CAREV,114722,COPROC,0.20.0.39330*78

2021-12-04T11:47:24.150Z,1638618444.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:24.929Z,1638618444.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:25.327Z,1638618445.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:25.797Z,1638618445.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 212.481270 deg, deltaT: 4.490147 s, deltaX: 0.659996 m, approachRate: 0.146988 m/s, LOS rate: 0.739471 deg/s, posRepo size: 4
2021-12-04T11:47:26.172Z,1638618446.172 [Micromodem](INFO): Nmea in: $SNTTA,0.062354,,,,114725.44*42

2021-12-04T11:47:26.173Z,1638618446.173 [Micromodem](INFO): Nmea in: $CAREV,114726,AUV,2.1.4000*2D

2021-12-04T11:47:26.556Z,1638618446.556 [Micromodem](INFO): Nmea in: $CAREV,114726,COPROC,0.20.0.39330*7C

2021-12-04T11:47:28.581Z,1638618448.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:29.361Z,1638618449.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:29.788Z,1638618449.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:30.253Z,1638618450.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 212.851972 deg, deltaT: 4.452703 s, deltaX: 0.780003 m, approachRate: 0.175175 m/s, LOS rate: 0.083253 deg/s, posRepo size: 4
2021-12-04T11:47:30.613Z,1638618450.613 [Micromodem](INFO): Nmea in: $SNTTA,0.036936,,,,114729.87*4E

2021-12-04T11:47:30.615Z,1638618450.615 [Micromodem](INFO): Nmea in: $CAREV,114730,AUV,2.1.4000*2A

2021-12-04T11:47:30.996Z,1638618450.996 [Micromodem](INFO): Nmea in: $CAREV,114730,COPROC,0.20.0.39330*7B

2021-12-04T11:47:31.821Z,1638618451.821 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T11:47:33.043Z,1638618453.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:33.823Z,1638618453.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:34.227Z,1638618454.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:34.716Z,1638618454.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 211.787623 deg, deltaT: 4.462579 s, deltaX: 0.359997 m, approachRate: 0.080670 m/s, LOS rate: -0.238505 deg/s, posRepo size: 4
2021-12-04T11:47:35.048Z,1638618455.048 [Micromodem](INFO): Nmea in: $SNTTA,0.034364,,,,114734.33*42

2021-12-04T11:47:35.049Z,1638618455.049 [Micromodem](INFO): Nmea in: $CAREV,114735,AUV,2.1.4000*2F

2021-12-04T11:47:35.444Z,1638618455.444 [Micromodem](INFO): Nmea in: $CAREV,114735,COPROC,0.20.0.39330*7E

2021-12-04T11:47:37.460Z,1638618457.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:38.265Z,1638618458.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:38.692Z,1638618458.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:39.115Z,1638618459.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 213.953053 deg, deltaT: 4.402232 s, deltaX: 0.660004 m, approachRate: 0.149925 m/s, LOS rate: 0.491894 deg/s, posRepo size: 4
2021-12-04T11:47:39.500Z,1638618459.500 [Micromodem](INFO): Nmea in: $SNTTA,0.050892,,,,114738.77*4E

2021-12-04T11:47:39.501Z,1638618459.501 [Micromodem](INFO): Nmea in: $CAREV,114739,AUV,2.1.4000*23

2021-12-04T11:47:39.892Z,1638618459.892 [Micromodem](INFO): Nmea in: $CAREV,114739,COPROC,0.20.0.39330*72

2021-12-04T11:47:41.946Z,1638618461.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:42.701Z,1638618462.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:43.113Z,1638618463.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:43.620Z,1638618463.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 214.207928 deg, deltaT: 4.485081 s, deltaX: 0.840002 m, approachRate: 0.187288 m/s, LOS rate: 0.056827 deg/s, posRepo size: 4
2021-12-04T11:47:46.357Z,1638618466.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:47.137Z,1638618467.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:47.589Z,1638618467.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:47:47.982Z,1638618467.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 215.293423 deg, deltaT: 4.382322 s, deltaX: 0.599998 m, approachRate: 0.136913 m/s, LOS rate: 0.247699 deg/s, posRepo size: 4
2021-12-04T11:47:50.799Z,1638618470.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:51.639Z,1638618471.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:47:53.717Z,1638618473.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:54.427Z,1638618474.427 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:47:56.448Z,1638618476.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:47:59.284Z,1638618479.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:00.072Z,1638618480.072 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:48:02.101Z,1638618482.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:02.900Z,1638618482.900 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:04.935Z,1638618484.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:05.740Z,1638618485.740 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:48:07.802Z,1638618487.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:10.165Z,1638618490.165 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-12-04T11:48:10.165Z,1638618490.165 [Micromodem] Hardware Fault, FailCount= 1
2021-12-04T11:48:10.165Z,1638618490.165 [Micromodem](ERROR): Hardware Fault
2021-12-04T11:48:10.319Z,1638618490.319 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-12-04T11:48:10.576Z,1638618490.576 [Micromodem](INFO): Powering down
2021-12-04T11:48:10.706Z,1638618490.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:11.392Z,1638618491.392 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:48:11.488Z,1638618491.488 [CBIT](INFO): Clearing failed state for component Micromodem
2021-12-04T11:48:11.488Z,1638618491.488 [Micromodem] No Fault, FailCount= 1
2021-12-04T11:48:13.424Z,1638618493.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:14.213Z,1638618494.213 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:14.213Z,1638618494.213 [Micromodem](INFO): Powering up
2021-12-04T11:48:14.213Z,1638618494.213 [Micromodem](DEBUG): Initializing Micromodem.
2021-12-04T11:48:16.256Z,1638618496.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:17.856Z,1638618497.856 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:48:19.095Z,1638618499.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:19.490Z,1638618499.490 [Micromodem](INFO): Nmea in: $CAREV,114819,INIT,2.1.4000*76

2021-12-04T11:48:19.873Z,1638618499.873 [Micromodem](INFO): Nmea in: $CAREV,114819,SLOT1,2.1.4000*59

2021-12-04T11:48:20.317Z,1638618500.317 [Micromodem](INFO): Nmea in: $CAREV,114819,AUV,2.1.4000*2E

2021-12-04T11:48:20.709Z,1638618500.709 [Micromodem](INFO): Nmea in: $CAREV,114819,COPROC,0.20.0.39330*7F

2021-12-04T11:48:21.079Z,1638618501.079 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T11:48:19.635522Z,RTC,RTC*57

2021-12-04T11:48:21.080Z,1638618501.080 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-12-04T11:48:19.635522Z,RTC,RTC*57

2021-12-04T11:48:21.946Z,1638618501.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:24.748Z,1638618504.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:25.533Z,1638618505.533 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:25.931Z,1638618505.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:25.943Z,1638618505.943 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-12-04T11:48:26.333Z,1638618506.333 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-12-04T11:48:26.333Z,1638618506.333 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2021-12-04T11:48:26.759Z,1638618506.759 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2021-12-04T11:48:26.759Z,1638618506.759 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-12-04T11:48:27.137Z,1638618507.137 [Micromodem](INFO): Nmea in: $SNTTA,0.080609,,,,114826.04*4B

2021-12-04T11:48:27.137Z,1638618507.137 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.080609,,,,114826.04*4B

2021-12-04T11:48:27.582Z,1638618507.582 [Micromodem](INFO): Nmea in: $CAREV,114827,AUV,2.1.4000*23

2021-12-04T11:48:27.690Z,1638618507.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:27.963Z,1638618507.963 [Micromodem](INFO): Nmea in: $CAREV,114827,COPROC,0.20.0.39330*72

2021-12-04T11:48:28.357Z,1638618508.357 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-12-04T11:48:28.357Z,1638618508.357 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-12-04T11:48:28.757Z,1638618508.757 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-12-04T11:48:28.757Z,1638618508.757 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-12-04T11:48:29.161Z,1638618509.161 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-12-04T11:48:29.161Z,1638618509.161 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-12-04T11:48:29.590Z,1638618509.590 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-12-04T11:48:29.591Z,1638618509.591 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-12-04T11:48:29.969Z,1638618509.969 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-12-04T11:48:29.969Z,1638618509.969 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-12-04T11:48:30.377Z,1638618510.377 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-12-04T11:48:30.377Z,1638618510.377 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-12-04T11:48:30.401Z,1638618510.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:30.785Z,1638618510.785 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-12-04T11:48:30.786Z,1638618510.786 [Micromodem](INFO): Nmea out: $CCCLK,2021,12,04,11,48,31*4C

2021-12-04T11:48:31.180Z,1638618511.180 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:48:31.182Z,1638618511.182 [Micromodem](INFO): Nmea in: $CADQF,203,1*51

2021-12-04T11:48:31.182Z,1638618511.182 [Micromodem](ERROR): Response from modem unexpected: $CADQF,203,1*51

2021-12-04T11:48:31.633Z,1638618511.633 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,0*21

2021-12-04T11:48:31.633Z,1638618511.633 [Micromodem](ERROR): Response from modem unexpected: $CAMSG,BAD_CRC,0*21

2021-12-04T11:48:31.990Z,1638618511.990 [Micromodem](INFO): Nmea in: $CACST,6,1,20211204114829.988634,05,3779,29,0122,0150,246,00,00,00,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,203,0.00,-999,25120,4000*79

2021-12-04T11:48:32.393Z,1638618512.393 [Micromodem](INFO): Nmea in: $CAREV,114830,AUV,2.1.4000*25

2021-12-04T11:48:32.806Z,1638618512.806 [Micromodem](INFO): Nmea in: $CAREV,114830,COPROC,0.20.0.39330*74

2021-12-04T11:48:33.201Z,1638618513.201 [Micromodem](INFO): Nmea in: $CACLK,2021,12,4,11,48,31*7E

2021-12-04T11:48:33.203Z,1638618513.203 [Micromodem](INFO): Nmea in: $CATMS,0,2021-12-04T11:48:32Z*7D

2021-12-04T11:48:33.204Z,1638618513.204 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T11:48:32.026164Z,USER_CMD,RTC*1D

2021-12-04T11:48:33.252Z,1638618513.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:34.013Z,1638618514.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:34.415Z,1638618514.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:34.865Z,1638618514.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 220.240433 deg, deltaT: 46.883169 s, deltaX: 6.239994 m, approachRate: 0.133097 m/s, LOS rate: 0.105518 deg/s, posRepo size: 4
2021-12-04T11:48:35.260Z,1638618515.260 [Micromodem](INFO): Nmea in: $SNTTA,,0.055970,,,114834.52*42

2021-12-04T11:48:35.261Z,1638618515.261 [Micromodem](INFO): Nmea in: $CAREV,114835,AUV,2.1.4000*20

2021-12-04T11:48:35.668Z,1638618515.668 [Micromodem](INFO): Nmea in: $CAREV,114835,COPROC,0.20.0.39330*71

2021-12-04T11:48:37.706Z,1638618517.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:38.452Z,1638618518.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:38.871Z,1638618518.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:39.271Z,1638618519.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 220.371737 deg, deltaT: 4.406288 s, deltaX: 0.600002 m, approachRate: 0.136170 m/s, LOS rate: 0.029799 deg/s, posRepo size: 4
2021-12-04T11:48:39.707Z,1638618519.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114838.96*56

2021-12-04T11:48:39.708Z,1638618519.708 [Micromodem](INFO): Nmea in: $CAREV,114840,AUV,2.1.4000*22

2021-12-04T11:48:40.080Z,1638618520.080 [Micromodem](INFO): Nmea in: $CAREV,114840,COPROC,0.20.0.39330*73

2021-12-04T11:48:42.101Z,1638618522.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:42.897Z,1638618522.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:43.310Z,1638618523.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:43.765Z,1638618523.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 220.952125 deg, deltaT: 4.493900 s, deltaX: 0.660000 m, approachRate: 0.146866 m/s, LOS rate: 0.129150 deg/s, posRepo size: 4
2021-12-04T11:48:44.140Z,1638618524.140 [Micromodem](INFO): Nmea in: $SNTTA,0.054911,,,,114843.40*47

2021-12-04T11:48:44.141Z,1638618524.141 [Micromodem](INFO): Nmea in: $CAREV,114844,AUV,2.1.4000*26

2021-12-04T11:48:44.520Z,1638618524.520 [Micromodem](INFO): Nmea in: $CAREV,114844,COPROC,0.20.0.39330*77

2021-12-04T11:48:46.549Z,1638618526.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:47.341Z,1638618527.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:47.752Z,1638618527.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:48.196Z,1638618528.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 219.907871 deg, deltaT: 4.430192 s, deltaX: 0.599998 m, approachRate: 0.135434 m/s, LOS rate: -0.235713 deg/s, posRepo size: 4
2021-12-04T11:48:48.588Z,1638618528.588 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114847.89*50

2021-12-04T11:48:48.589Z,1638618528.589 [Micromodem](INFO): Nmea in: $CAREV,114848,AUV,2.1.4000*2A

2021-12-04T11:48:48.968Z,1638618528.968 [Micromodem](INFO): Nmea in: $CAREV,114848,COPROC,0.20.0.39330*7B

2021-12-04T11:48:51.005Z,1638618531.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:51.785Z,1638618531.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:52.195Z,1638618532.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:52.671Z,1638618532.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 221.386457 deg, deltaT: 4.476050 s, deltaX: 0.660004 m, approachRate: 0.147452 m/s, LOS rate: 0.330333 deg/s, posRepo size: 4
2021-12-04T11:48:53.036Z,1638618533.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114852.29*5E

2021-12-04T11:48:53.037Z,1638618533.037 [Micromodem](INFO): Nmea in: $CAREV,114853,AUV,2.1.4000*20

2021-12-04T11:48:53.416Z,1638618533.416 [Micromodem](INFO): Nmea in: $CAREV,114853,COPROC,0.20.0.39330*71

2021-12-04T11:48:55.436Z,1638618535.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:48:56.229Z,1638618536.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:48:56.656Z,1638618536.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:48:57.065Z,1638618537.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 222.390099 deg, deltaT: 4.394147 s, deltaX: 0.599998 m, approachRate: 0.136545 m/s, LOS rate: 0.228404 deg/s, posRepo size: 4
2021-12-04T11:48:57.472Z,1638618537.472 [Micromodem](INFO): Nmea in: $SNTTA,0.040296,,,,114856.74*45

2021-12-04T11:48:57.473Z,1638618537.473 [Micromodem](INFO): Nmea in: $CAREV,114857,AUV,2.1.4000*24

2021-12-04T11:48:57.860Z,1638618537.860 [Micromodem](INFO): Nmea in: $CAREV,114857,COPROC,0.20.0.39330*75

2021-12-04T11:48:59.926Z,1638618539.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:00.697Z,1638618540.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:01.079Z,1638618541.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:01.499Z,1638618541.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 221.102704 deg, deltaT: 4.433009 s, deltaX: 0.599998 m, approachRate: 0.135348 m/s, LOS rate: -0.290411 deg/s, posRepo size: 4
2021-12-04T11:49:01.912Z,1638618541.912 [Micromodem](INFO): Nmea in: $SNTTA,0.044788,,,,114901.21*48

2021-12-04T11:49:01.913Z,1638618541.913 [Micromodem](INFO): Nmea in: $CAREV,114902,AUV,2.1.4000*25

2021-12-04T11:49:02.296Z,1638618542.296 [Micromodem](INFO): Nmea in: $CAREV,114902,COPROC,0.20.0.39330*74

2021-12-04T11:49:04.324Z,1638618544.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:05.124Z,1638618545.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:05.531Z,1638618545.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:06.007Z,1638618546.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 222.821575 deg, deltaT: 4.500885 s, deltaX: 0.840000 m, approachRate: 0.186630 m/s, LOS rate: 0.381896 deg/s, posRepo size: 4
2021-12-04T11:49:06.356Z,1638618546.356 [Micromodem](INFO): Nmea in: $SNTTA,0.104034,,,,114905.63*4F

2021-12-04T11:49:06.357Z,1638618546.357 [Micromodem](INFO): Nmea in: $CAREV,114906,AUV,2.1.4000*21

2021-12-04T11:49:06.756Z,1638618546.756 [Micromodem](INFO): Nmea in: $CAREV,114906,COPROC,0.20.0.39330*70

2021-12-04T11:49:08.775Z,1638618548.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:09.589Z,1638618549.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:09.977Z,1638618549.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:10.388Z,1638618550.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.039997 m, bearing: 222.579432 deg, deltaT: 4.388346 s, deltaX: 0.480000 m, approachRate: 0.109381 m/s, LOS rate: -0.055179 deg/s, posRepo size: 4
2021-12-04T11:49:10.852Z,1638618550.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114910.10*53

2021-12-04T11:49:10.853Z,1638618550.853 [Micromodem](INFO): Nmea in: $CAREV,114911,AUV,2.1.4000*27

2021-12-04T11:49:11.191Z,1638618551.191 [Micromodem](INFO): Nmea in: $CAREV,114911,COPROC,0.20.0.39330*76

2021-12-04T11:49:13.236Z,1638618553.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:14.014Z,1638618554.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:14.411Z,1638618554.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:14.881Z,1638618554.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 223.884571 deg, deltaT: 4.488308 s, deltaX: 0.780003 m, approachRate: 0.173785 m/s, LOS rate: 0.290787 deg/s, posRepo size: 4
2021-12-04T11:49:15.260Z,1638618555.260 [Micromodem](INFO): Nmea in: $SNTTA,0.052478,,,,114914.52*43

2021-12-04T11:49:15.261Z,1638618555.261 [Micromodem](INFO): Nmea in: $CAREV,114915,AUV,2.1.4000*23

2021-12-04T11:49:15.660Z,1638618555.660 [Micromodem](INFO): Nmea in: $CAREV,114915,COPROC,0.20.0.39330*72

2021-12-04T11:49:17.704Z,1638618557.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:18.449Z,1638618558.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:18.855Z,1638618558.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:19.280Z,1638618559.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 223.753828 deg, deltaT: 4.403137 s, deltaX: 0.720001 m, approachRate: 0.163520 m/s, LOS rate: -0.029693 deg/s, posRepo size: 4
2021-12-04T11:49:19.712Z,1638618559.712 [Micromodem](INFO): Nmea in: $SNTTA,0.062045,,,,114918.96*4E

2021-12-04T11:49:19.714Z,1638618559.714 [Micromodem](INFO): Nmea in: $CAREV,114920,AUV,2.1.4000*25

2021-12-04T11:49:20.076Z,1638618560.076 [Micromodem](INFO): Nmea in: $CAREV,114920,COPROC,0.20.0.39330*74

2021-12-04T11:49:21.776Z,1638618561.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:22.488Z,1638618562.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:22.903Z,1638618562.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:23.335Z,1638618563.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 223.602621 deg, deltaT: 4.052016 s, deltaX: 0.240002 m, approachRate: 0.059230 m/s, LOS rate: -0.037316 deg/s, posRepo size: 4
2021-12-04T11:49:23.728Z,1638618563.728 [Micromodem](INFO): Nmea in: $SNTTA,0.045306,,,,114923.00*48

2021-12-04T11:49:23.729Z,1638618563.729 [Micromodem](INFO): Nmea in: $CAREV,114924,AUV,2.1.4000*21

2021-12-04T11:49:24.120Z,1638618564.120 [Micromodem](INFO): Nmea in: $CAREV,114924,COPROC,0.20.0.39330*70

2021-12-04T11:49:26.132Z,1638618566.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:26.933Z,1638618566.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:27.347Z,1638618567.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:27.804Z,1638618567.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 224.142671 deg, deltaT: 4.473167 s, deltaX: 0.839996 m, approachRate: 0.187786 m/s, LOS rate: 0.120731 deg/s, posRepo size: 4
2021-12-04T11:49:28.180Z,1638618568.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114927.44*56

2021-12-04T11:49:28.181Z,1638618568.181 [Micromodem](INFO): Nmea in: $CAREV,114928,AUV,2.1.4000*2D

2021-12-04T11:49:28.560Z,1638618568.560 [Micromodem](INFO): Nmea in: $CAREV,114928,COPROC,0.20.0.39330*7C

2021-12-04T11:49:30.588Z,1638618570.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:31.373Z,1638618571.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:31.792Z,1638618571.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:32.215Z,1638618572.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.280003 m, bearing: 223.572131 deg, deltaT: 4.410892 s, deltaX: 0.660004 m, approachRate: 0.149630 m/s, LOS rate: -0.129348 deg/s, posRepo size: 4
2021-12-04T11:49:32.628Z,1638618572.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114931.88*51

2021-12-04T11:49:32.631Z,1638618572.631 [Micromodem](INFO): Nmea in: $CAREV,114932,AUV,2.1.4000*26

2021-12-04T11:49:33.008Z,1638618573.008 [Micromodem](INFO): Nmea in: $CAREV,114932,COPROC,0.20.0.39330*77

2021-12-04T11:49:35.035Z,1638618575.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:35.821Z,1638618575.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:36.223Z,1638618576.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:36.695Z,1638618576.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 223.972285 deg, deltaT: 4.479390 s, deltaX: 0.539997 m, approachRate: 0.120551 m/s, LOS rate: 0.089332 deg/s, posRepo size: 4
2021-12-04T11:49:37.064Z,1638618577.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114936.33*56

2021-12-04T11:49:37.065Z,1638618577.065 [Micromodem](INFO): Nmea in: $CAREV,114937,AUV,2.1.4000*23

2021-12-04T11:49:37.440Z,1638618577.440 [Micromodem](INFO): Nmea in: $CAREV,114937,COPROC,0.20.0.39330*72

2021-12-04T11:49:39.468Z,1638618579.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:40.265Z,1638618580.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:40.691Z,1638618580.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:41.098Z,1638618581.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 224.958113 deg, deltaT: 4.403215 s, deltaX: 0.599998 m, approachRate: 0.136264 m/s, LOS rate: 0.223888 deg/s, posRepo size: 4
2021-12-04T11:49:41.508Z,1638618581.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114940.78*58

2021-12-04T11:49:41.509Z,1638618581.509 [Micromodem](INFO): Nmea in: $CAREV,114941,AUV,2.1.4000*22

2021-12-04T11:49:41.900Z,1638618581.900 [Micromodem](INFO): Nmea in: $CAREV,114941,COPROC,0.20.0.39330*73

2021-12-04T11:49:43.940Z,1638618583.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:44.709Z,1638618584.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:45.111Z,1638618585.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:45.590Z,1638618585.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 226.496518 deg, deltaT: 4.484131 s, deltaX: 0.779995 m, approachRate: 0.173946 m/s, LOS rate: 0.343078 deg/s, posRepo size: 4
2021-12-04T11:49:45.964Z,1638618585.964 [Micromodem](INFO): Nmea in: $SNTTA,0.048884,,,,114945.22*44

2021-12-04T11:49:45.965Z,1638618585.965 [Micromodem](INFO): Nmea in: $CAREV,114946,AUV,2.1.4000*25

2021-12-04T11:49:46.332Z,1638618586.332 [Micromodem](INFO): Nmea in: $CAREV,114946,COPROC,0.20.0.39330*74

2021-12-04T11:49:48.371Z,1638618588.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:49.166Z,1638618589.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:49.590Z,1638618589.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:49.983Z,1638618589.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 227.335019 deg, deltaT: 4.401075 s, deltaX: 0.960011 m, approachRate: 0.218131 m/s, LOS rate: 0.190522 deg/s, posRepo size: 4
2021-12-04T11:49:50.412Z,1638618590.412 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114949.67*5F

2021-12-04T11:49:50.414Z,1638618590.414 [Micromodem](INFO): Nmea in: $CAREV,114950,AUV,2.1.4000*22

2021-12-04T11:49:50.792Z,1638618590.792 [Micromodem](INFO): Nmea in: $CAREV,114950,COPROC,0.20.0.39330*73

2021-12-04T11:49:52.824Z,1638618592.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:53.631Z,1638618593.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:54.009Z,1638618594.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:54.423Z,1638618594.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.400005 m, bearing: 227.811534 deg, deltaT: 4.439292 s, deltaX: 0.240002 m, approachRate: 0.054063 m/s, LOS rate: 0.107340 deg/s, posRepo size: 4
2021-12-04T11:49:54.844Z,1638618594.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114954.14*57

2021-12-04T11:49:54.845Z,1638618594.845 [Micromodem](INFO): Nmea in: $CAREV,114955,AUV,2.1.4000*27

2021-12-04T11:49:55.237Z,1638618595.237 [Micromodem](INFO): Nmea in: $CAREV,114955,COPROC,0.20.0.39330*76

2021-12-04T11:49:57.252Z,1638618597.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:49:58.053Z,1638618598.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:49:58.447Z,1638618598.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:49:58.917Z,1638618598.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 227.447881 deg, deltaT: 4.491018 s, deltaX: 0.719994 m, approachRate: 0.160319 m/s, LOS rate: -0.080973 deg/s, posRepo size: 4
2021-12-04T11:49:59.284Z,1638618599.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114958.56*5D

2021-12-04T11:49:59.285Z,1638618599.285 [Micromodem](INFO): Nmea in: $CAREV,114959,AUV,2.1.4000*2B

2021-12-04T11:49:59.685Z,1638618599.685 [Micromodem](INFO): Nmea in: $CAREV,114959,COPROC,0.20.0.39330*7A

2021-12-04T11:50:01.751Z,1638618601.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:02.481Z,1638618602.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:02.891Z,1638618602.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:03.308Z,1638618603.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 228.250251 deg, deltaT: 4.394903 s, deltaX: 0.419998 m, approachRate: 0.095565 m/s, LOS rate: 0.182568 deg/s, posRepo size: 4
2021-12-04T11:50:03.736Z,1638618603.736 [Micromodem](INFO): Nmea in: $SNTTA,0.052991,,,,115002.99*41

2021-12-04T11:50:03.760Z,1638618603.760 [Micromodem](INFO): Nmea in: $CAREV,115004,AUV,2.1.4000*2B

2021-12-04T11:50:04.112Z,1638618604.112 [Micromodem](INFO): Nmea in: $CAREV,115004,COPROC,0.20.0.39330*7A

2021-12-04T11:50:06.132Z,1638618606.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:06.929Z,1638618606.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:07.339Z,1638618607.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:07.822Z,1638618607.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.139999 m, bearing: 227.209125 deg, deltaT: 4.507242 s, deltaX: 0.600002 m, approachRate: 0.133120 m/s, LOS rate: -0.230990 deg/s, posRepo size: 4
2021-12-04T11:50:08.172Z,1638618608.172 [Micromodem](INFO): Nmea in: $SNTTA,0.052556,,,,115007.44*43

2021-12-04T11:50:08.173Z,1638618608.173 [Micromodem](INFO): Nmea in: $CAREV,115008,AUV,2.1.4000*27

2021-12-04T11:50:08.560Z,1638618608.560 [Micromodem](INFO): Nmea in: $CAREV,115008,COPROC,0.20.0.39330*76

2021-12-04T11:50:10.576Z,1638618610.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:11.373Z,1638618611.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:11.789Z,1638618611.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:12.197Z,1638618612.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 227.995826 deg, deltaT: 4.381829 s, deltaX: 0.419998 m, approachRate: 0.095850 m/s, LOS rate: 0.179537 deg/s, posRepo size: 4
2021-12-04T11:50:12.635Z,1638618612.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115011.88*5B

2021-12-04T11:50:12.638Z,1638618612.638 [Micromodem](INFO): Nmea in: $CAREV,115012,AUV,2.1.4000*2C

2021-12-04T11:50:12.993Z,1638618612.993 [Micromodem](INFO): Nmea in: $CAREV,115012,COPROC,0.20.0.39330*7D

2021-12-04T11:50:15.039Z,1638618615.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:15.821Z,1638618615.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:16.223Z,1638618616.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:16.696Z,1638618616.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 227.230217 deg, deltaT: 4.498408 s, deltaX: 0.660004 m, approachRate: 0.146719 m/s, LOS rate: -0.170196 deg/s, posRepo size: 4
2021-12-04T11:50:17.052Z,1638618617.052 [Micromodem](INFO): Nmea in: $SNTTA,0.069798,,,,115016.33*4B

2021-12-04T11:50:17.053Z,1638618617.053 [Micromodem](INFO): Nmea in: $CAREV,115017,AUV,2.1.4000*29

2021-12-04T11:50:17.444Z,1638618617.444 [Micromodem](INFO): Nmea in: $CAREV,115017,COPROC,0.20.0.39330*78

2021-12-04T11:50:19.461Z,1638618619.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:20.261Z,1638618620.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:20.701Z,1638618620.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:21.083Z,1638618621.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 227.718657 deg, deltaT: 4.387679 s, deltaX: 0.480003 m, approachRate: 0.109398 m/s, LOS rate: 0.111321 deg/s, posRepo size: 4
2021-12-04T11:50:21.500Z,1638618621.500 [Micromodem](INFO): Nmea in: $SNTTA,0.035584,,,,115020.77*48

2021-12-04T11:50:21.502Z,1638618621.502 [Micromodem](INFO): Nmea in: $CAREV,115021,AUV,2.1.4000*2C

2021-12-04T11:50:21.908Z,1638618621.908 [Micromodem](INFO): Nmea in: $CAREV,115021,COPROC,0.20.0.39330*7D

2021-12-04T11:50:23.958Z,1638618623.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:24.721Z,1638618624.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:25.115Z,1638618625.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:25.609Z,1638618625.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 228.013339 deg, deltaT: 4.521394 s, deltaX: 0.659988 m, approachRate: 0.145970 m/s, LOS rate: 0.065175 deg/s, posRepo size: 4
2021-12-04T11:50:25.952Z,1638618625.952 [Micromodem](INFO): Nmea in: $SNTTA,0.050967,,,,115025.23*4E

2021-12-04T11:50:25.953Z,1638618625.953 [Micromodem](INFO): Nmea in: $CAREV,115026,AUV,2.1.4000*2B

2021-12-04T11:50:26.340Z,1638618626.340 [Micromodem](INFO): Nmea in: $CAREV,115026,COPROC,0.20.0.39330*7A

2021-12-04T11:50:28.365Z,1638618628.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:29.165Z,1638618629.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:29.593Z,1638618629.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:29.988Z,1638618629.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 228.564440 deg, deltaT: 4.383064 s, deltaX: 0.720009 m, approachRate: 0.164271 m/s, LOS rate: 0.125734 deg/s, posRepo size: 4
2021-12-04T11:50:30.428Z,1638618630.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115029.67*51

2021-12-04T11:50:30.429Z,1638618630.429 [Micromodem](INFO): Nmea in: $CAREV,115030,AUV,2.1.4000*2C

2021-12-04T11:50:30.780Z,1638618630.780 [Micromodem](INFO): Nmea in: $CAREV,1PROC,0.20.0.39330*7D

2021-12-04T11:50:30.780Z,1638618630.780 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,1PROC,0.20.0.39330*7D
 expected 6A
2021-12-04T11:50:32.815Z,1638618632.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:33.636Z,1638618633.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:34.007Z,1638618634.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:34.428Z,1638618634.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.799995 m, bearing: 228.830093 deg, deltaT: 4.439745 s, deltaX: 0.719994 m, approachRate: 0.162170 m/s, LOS rate: 0.059835 deg/s, posRepo size: 4
2021-12-04T11:50:34.834Z,1638618634.834 [Micromodem](INFO): Nmea in: $SNTTA,0.050269,,,,115034.15*4E

2021-12-04T11:50:34.837Z,1638618634.837 [Micromodem](INFO): Nmea in: $CAREV,115035,AUV,2.1.4000*29

2021-12-04T11:50:35.220Z,1638618635.220 [Micromodem](INFO): Nmea in: $CAREV,115035,COPROC,0.20.0.39330*78

2021-12-04T11:50:37.246Z,1638618637.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:38.051Z,1638618638.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:38.445Z,1638618638.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:38.909Z,1638618638.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 228.814001 deg, deltaT: 4.477310 s, deltaX: 0.540005 m, approachRate: 0.120609 m/s, LOS rate: -0.003594 deg/s, posRepo size: 4
2021-12-04T11:50:39.280Z,1638618639.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115038.56*53

2021-12-04T11:50:39.281Z,1638618639.281 [Micromodem](INFO): Nmea in: $CAREV,115039,AUV,2.1.4000*25

2021-12-04T11:50:39.696Z,1638618639.696 [Micromodem](INFO): Nmea in: $CAREV,115039,COPROC,0.20.0.39330*74

2021-12-04T11:50:41.740Z,1638618641.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:42.481Z,1638618642.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:42.902Z,1638618642.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:43.336Z,1638618643.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.879997 m, bearing: 229.479985 deg, deltaT: 4.426860 s, deltaX: 0.539997 m, approachRate: 0.121982 m/s, LOS rate: 0.150442 deg/s, posRepo size: 4
2021-12-04T11:50:43.731Z,1638618643.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115042.99*5D

2021-12-04T11:50:43.732Z,1638618643.732 [Micromodem](INFO): Nmea in: $CAREV,115044,AUV,2.1.4000*2F

2021-12-04T11:50:44.112Z,1638618644.112 [Micromodem](INFO): Nmea in: $CAREV,115044,COPROC,0.20.0.39330*7E

2021-12-04T11:50:46.146Z,1638618646.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:46.938Z,1638618646.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:47.344Z,1638618647.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:47.835Z,1638618647.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 229.590389 deg, deltaT: 4.499577 s, deltaX: 0.900005 m, approachRate: 0.200020 m/s, LOS rate: 0.024536 deg/s, posRepo size: 4
2021-12-04T11:50:48.176Z,1638618648.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115047.45*59

2021-12-04T11:50:48.177Z,1638618648.177 [Micromodem](INFO): Nmea in: $CAREV,115048,AUV,2.1.4000*23

2021-12-04T11:50:48.569Z,1638618648.569 [Micromodem](INFO): Nmea in: $CAREV,115048,COPROC,0.20.0.39330*72

2021-12-04T11:50:50.584Z,1638618650.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:51.478Z,1638618651.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:51.837Z,1638618651.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:52.259Z,1638618652.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 228.777500 deg, deltaT: 4.419200 s, deltaX: 0.900002 m, approachRate: 0.203657 m/s, LOS rate: -0.183945 deg/s, posRepo size: 4
2021-12-04T11:50:52.662Z,1638618652.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115051.99*5F

2021-12-04T11:50:52.664Z,1638618652.664 [Micromodem](INFO): Nmea in: $CAREV,115053,AUV,2.1.4000*29

2021-12-04T11:50:53.040Z,1638618653.040 [Micromodem](INFO): Nmea in: $CAREV,115053,COPROC,0.20.0.39330*78

2021-12-04T11:50:55.075Z,1638618655.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:50:55.857Z,1638618655.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:50:56.266Z,1638618656.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:50:56.745Z,1638618656.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 231.333835 deg, deltaT: 4.478756 s, deltaX: 0.119995 m, approachRate: 0.026792 m/s, LOS rate: 0.570769 deg/s, posRepo size: 4
2021-12-04T11:50:57.100Z,1638618657.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115056.37*5C

2021-12-04T11:50:57.101Z,1638618657.101 [Micromodem](INFO): Nmea in: $CAREV,115057,AUV,2.1.4000*2D

2021-12-04T11:50:57.483Z,1638618657.483 [Micromodem](INFO): Nmea in: $CAREV,115057,COPROC,0.20.0.39330*7C

2021-12-04T11:50:59.517Z,1638618659.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:00.300Z,1638618660.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:00.703Z,1638618660.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:01.127Z,1638618661.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 228.982734 deg, deltaT: 4.397389 s, deltaX: 0.840004 m, approachRate: 0.191023 m/s, LOS rate: -0.534659 deg/s, posRepo size: 4
2021-12-04T11:51:01.567Z,1638618661.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115100.81*53

2021-12-04T11:51:01.571Z,1638618661.571 [Micromodem](INFO): Nmea in: $CAREV,115101,AUV,2.1.4000*2F

2021-12-04T11:51:01.940Z,1638618661.940 [Micromodem](INFO): Nmea in: $CAREV,115101,COPROC,0.20.0.39330*7E

2021-12-04T11:51:03.984Z,1638618663.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:04.745Z,1638618664.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:05.147Z,1638618665.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:05.711Z,1638618665.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 230.565767 deg, deltaT: 4.583744 s, deltaX: 0.660000 m, approachRate: 0.143987 m/s, LOS rate: 0.345358 deg/s, posRepo size: 4
2021-12-04T11:51:05.980Z,1638618665.980 [Micromodem](INFO): Nmea in: $SNTTA,0.039993,,,,115105.25*4F

2021-12-04T11:51:05.981Z,1638618665.981 [Micromodem](INFO): Nmea in: $CAREV,115106,AUV,2.1.4000*28

2021-12-04T11:51:06.372Z,1638618666.372 [Micromodem](INFO): Nmea in: $CAREV,115106,COPROC,0.20.0.39330*79

2021-12-04T11:51:08.403Z,1638618668.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:09.193Z,1638618669.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:09.651Z,1638618669.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:10.022Z,1638618670.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 229.529381 deg, deltaT: 4.311771 s, deltaX: 0.599998 m, approachRate: 0.139154 m/s, LOS rate: -0.240362 deg/s, posRepo size: 4
2021-12-04T11:51:10.464Z,1638618670.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115109.70*54

2021-12-04T11:51:10.465Z,1638618670.465 [Micromodem](INFO): Nmea in: $CAREV,115110,AUV,2.1.4000*2F

2021-12-04T11:51:10.828Z,1638618670.828 [Micromodem](INFO): Nmea in: $CAREV,115110,COPROC,0.20.0.39330*7E

2021-12-04T11:51:12.851Z,1638618672.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:13.641Z,1638618673.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:14.047Z,1638618674.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:14.479Z,1638618674.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.920002 m, bearing: 231.303509 deg, deltaT: 4.452811 s, deltaX: 1.020000 m, approachRate: 0.229069 m/s, LOS rate: 0.398429 deg/s, posRepo size: 4
2021-12-04T11:51:14.880Z,1638618674.880 [Micromodem](INFO): Nmea in: $SNTTA,0.052253,,,,115114.15*46

2021-12-04T11:51:14.881Z,1638618674.881 [Micromodem](INFO): Nmea in: $CAREV,115115,AUV,2.1.4000*2A

2021-12-04T11:51:15.260Z,1638618675.260 [Micromodem](INFO): Nmea in: $CAREV,115115,COPROC,0.20.0.39330*7B

2021-12-04T11:51:17.288Z,1638618677.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:18.069Z,1638618678.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:18.480Z,1638618678.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:18.922Z,1638618678.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 230.889272 deg, deltaT: 4.446970 s, deltaX: -0.060001 m, approachRate: -0.013493 m/s, LOS rate: -0.093150 deg/s, posRepo size: 4
2021-12-04T11:51:19.308Z,1638618679.308 [Micromodem](INFO): Nmea in: $SNTTA,0.040991,,,,115118.58*45

2021-12-04T11:51:19.309Z,1638618679.309 [Micromodem](INFO): Nmea in: $CAREV,115119,AUV,2.1.4000*26

2021-12-04T11:51:19.708Z,1638618679.708 [Micromodem](INFO): Nmea in: $CAREV,115119,COPROC,0.20.0.39330*77

2021-12-04T11:51:21.753Z,1638618681.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:22.521Z,1638618682.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:22.923Z,1638618682.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:23.357Z,1638618683.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 228.658191 deg, deltaT: 4.434652 s, deltaX: 0.660000 m, approachRate: 0.148828 m/s, LOS rate: -0.503102 deg/s, posRepo size: 4
2021-12-04T11:51:23.768Z,1638618683.768 [Micromodem](INFO): Nmea in: $SNTTA,0.058683,,,,115123.03*46

2021-12-04T11:51:23.769Z,1638618683.769 [Micromodem](INFO): Nmea in: $CAREV,115124,AUV,2.1.4000*28

2021-12-04T11:51:24.148Z,1638618684.148 [Micromodem](INFO): Nmea in: $CAREV,115124,COPROC,0.20.0.39330*79

2021-12-04T11:51:26.169Z,1638618686.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:26.965Z,1638618686.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:27.379Z,1638618687.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:27.829Z,1638618687.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 232.754160 deg, deltaT: 4.472596 s, deltaX: 0.779999 m, approachRate: 0.174395 m/s, LOS rate: 0.915792 deg/s, posRepo size: 4
2021-12-04T11:51:28.207Z,1638618688.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115127.47*5C

2021-12-04T11:51:28.208Z,1638618688.208 [Micromodem](INFO): Nmea in: $CAREV,115128,AUV,2.1.4000*24

2021-12-04T11:51:28.584Z,1638618688.584 [Micromodem](INFO): Nmea in: $CAREV,115128,COPROC,0.20.0.39330*75

2021-12-04T11:51:30.639Z,1638618690.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:31.409Z,1638618691.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:31.820Z,1638618691.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:32.250Z,1638618692.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 231.495656 deg, deltaT: 4.420936 s, deltaX: 0.540005 m, approachRate: 0.122147 m/s, LOS rate: -0.284669 deg/s, posRepo size: 4
2021-12-04T11:51:32.655Z,1638618692.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115131.92*53

2021-12-04T11:51:32.656Z,1638618692.656 [Micromodem](INFO): Nmea in: $CAREV,115132,AUV,2.1.4000*2F

2021-12-04T11:51:33.036Z,1638618693.036 [Micromodem](INFO): Nmea in: $CAREV,115132,COPROC,0.20.0.39330*7E

2021-12-04T11:51:35.068Z,1638618695.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:35.857Z,1638618695.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:36.259Z,1638618696.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:36.731Z,1638618696.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 234.049956 deg, deltaT: 4.481348 s, deltaX: 0.540001 m, approachRate: 0.120500 m/s, LOS rate: 0.569985 deg/s, posRepo size: 4
2021-12-04T11:51:37.092Z,1638618697.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115136.37*5B

2021-12-04T11:51:37.093Z,1638618697.093 [Micromodem](INFO): Nmea in: $CAREV,115137,AUV,2.1.4000*2A

2021-12-04T11:51:37.494Z,1638618697.494 [Micromodem](INFO): Nmea in: $CAREV,115137,COPROC,0.20.0.39330*7B

2021-12-04T11:51:39.497Z,1638618699.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:40.297Z,1638618700.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:40.720Z,1638618700.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:41.139Z,1638618701.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 234.525829 deg, deltaT: 4.402097 s, deltaX: 0.720001 m, approachRate: 0.163559 m/s, LOS rate: 0.108101 deg/s, posRepo size: 4
2021-12-04T11:51:41.555Z,1638618701.555 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115140.81*57

2021-12-04T11:51:41.558Z,1638618701.558 [Micromodem](INFO): Nmea in: $CAREV,115141,AUV,2.1.4000*2B

2021-12-04T11:51:41.924Z,1638618701.924 [Micromodem](INFO): Nmea in: $CAREV,115141,COPROC,0.20.0.39330*7A

2021-12-04T11:51:44.008Z,1638618704.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:44.743Z,1638618704.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:45.147Z,1638618705.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:45.688Z,1638618705.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.639999 m, bearing: 229.491788 deg, deltaT: 4.554017 s, deltaX: 0.539993 m, approachRate: 0.118575 m/s, LOS rate: -1.105407 deg/s, posRepo size: 4
2021-12-04T11:51:45.988Z,1638618705.988 [Micromodem](INFO): Nmea in: $SNTTA,0.073807,,,,115145.25*49

2021-12-04T11:51:45.989Z,1638618705.989 [Micromodem](INFO): Nmea in: $CAREV,115146,AUV,2.1.4000*2C

2021-12-04T11:51:46.381Z,1638618706.381 [Micromodem](INFO): Nmea in: $CAREV,115146,COPROC,0.20.0.39330*7D

2021-12-04T11:51:48.391Z,1638618708.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:49.179Z,1638618709.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:49.659Z,1638618709.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:50.020Z,1638618710.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.360001 m, bearing: 230.937411 deg, deltaT: 4.332264 s, deltaX: 0.720001 m, approachRate: 0.166195 m/s, LOS rate: 0.333688 deg/s, posRepo size: 4
2021-12-04T11:51:50.449Z,1638618710.449 [Micromodem](INFO): Nmea in: $SNTTA,0.064042,,,,115149.69*42

2021-12-04T11:51:50.450Z,1638618710.450 [Micromodem](INFO): Nmea in: $CAREV,115150,AUV,2.1.4000*2B

2021-12-04T11:51:50.808Z,1638618710.808 [Micromodem](INFO): Nmea in: $CAREV,115150,COPROC,0.20.0.39330*7A

2021-12-04T11:51:52.843Z,1638618712.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:53.659Z,1638618713.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:54.035Z,1638618714.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:54.458Z,1638618714.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 228.484526 deg, deltaT: 4.437745 s, deltaX: 0.540001 m, approachRate: 0.121684 m/s, LOS rate: -0.552732 deg/s, posRepo size: 4
2021-12-04T11:51:54.857Z,1638618714.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115154.17*5D

2021-12-04T11:51:54.859Z,1638618714.859 [Micromodem](INFO): Nmea in: $CAREV,115155,AUV,2.1.4000*2E

2021-12-04T11:51:55.256Z,1638618715.256 [Micromodem](INFO): Nmea in: $CAREV,115155,COPROC,0.20.0.39330*7F

2021-12-04T11:51:57.280Z,1638618717.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:51:58.073Z,1638618718.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:51:58.479Z,1638618718.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:51:58.933Z,1638618718.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 226.701109 deg, deltaT: 4.471074 s, deltaX: 0.779999 m, approachRate: 0.174454 m/s, LOS rate: -0.398879 deg/s, posRepo size: 4
2021-12-04T11:51:59.308Z,1638618719.308 [Micromodem](INFO): Nmea in: $SNTTA,0.064191,,,,115158.58*4F

2021-12-04T11:51:59.309Z,1638618719.309 [Micromodem](INFO): Nmea in: $CAREV,115159,AUV,2.1.4000*22

2021-12-04T11:51:59.708Z,1638618719.708 [Micromodem](INFO): Nmea in: $CAREV,115159,COPROC,0.20.0.39330*73

2021-12-04T11:52:01.762Z,1638618721.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:02.524Z,1638618722.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:02.923Z,1638618722.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:03.343Z,1638618723.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.040001 m, bearing: 225.866064 deg, deltaT: 4.414194 s, deltaX: 0.360001 m, approachRate: 0.081555 m/s, LOS rate: -0.189173 deg/s, posRepo size: 4
2021-12-04T11:52:03.744Z,1638618723.744 [Micromodem](INFO): Nmea in: $SNTTA,0.059050,,,,115203.03*4E

2021-12-04T11:52:03.745Z,1638618723.745 [Micromodem](INFO): Nmea in: $CAREV,115204,AUV,2.1.4000*29

2021-12-04T11:52:04.140Z,1638618724.140 [Micromodem](INFO): Nmea in: $CAREV,115204,COPROC,0.20.0.39330*78

2021-12-04T11:52:05.847Z,1638618725.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:06.561Z,1638618726.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:06.963Z,1638618726.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:07.384Z,1638618727.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 225.638523 deg, deltaT: 4.040787 s, deltaX: 1.140007 m, approachRate: 0.282125 m/s, LOS rate: -0.056311 deg/s, posRepo size: 4
2021-12-04T11:52:07.796Z,1638618727.796 [Micromodem](INFO): Nmea in: $SNTTA,0.065443,,,,115207.07*47

2021-12-04T11:52:07.797Z,1638618727.797 [Micromodem](INFO): Nmea in: $CAREV,115208,AUV,2.1.4000*25

2021-12-04T11:52:08.180Z,1638618728.180 [Micromodem](INFO): Nmea in: $CAREV,115208,COPROC,0.20.0.39330*74

2021-12-04T11:52:10.204Z,1638618730.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:11.001Z,1638618731.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:11.407Z,1638618731.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:11.868Z,1638618731.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.659996 m, bearing: 223.550971 deg, deltaT: 4.484575 s, deltaX: 0.479988 m, approachRate: 0.107031 m/s, LOS rate: -0.465496 deg/s, posRepo size: 4
2021-12-04T11:52:12.240Z,1638618732.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115211.51*5D

2021-12-04T11:52:12.241Z,1638618732.241 [Micromodem](INFO): Nmea in: $CAREV,115212,AUV,2.1.4000*2E

2021-12-04T11:52:12.635Z,1638618732.635 [Micromodem](INFO): Nmea in: $CAREV,115212,COPROC,0.20.0.39330*7F

2021-12-04T11:52:14.687Z,1638618734.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:15.451Z,1638618735.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:15.851Z,1638618735.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:16.267Z,1638618736.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 224.739711 deg, deltaT: 4.398972 s, deltaX: 0.360008 m, approachRate: 0.081839 m/s, LOS rate: 0.270231 deg/s, posRepo size: 4
2021-12-04T11:52:16.703Z,1638618736.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115215.96*52

2021-12-04T11:52:16.704Z,1638618736.704 [Micromodem](INFO): Nmea in: $CAREV,115217,AUV,2.1.4000*2B

2021-12-04T11:52:17.080Z,1638618737.080 [Micromodem](INFO): Nmea in: $CAREV,115217,COPROC,0.20.0.39330*7A

2021-12-04T11:52:19.112Z,1638618739.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:19.889Z,1638618739.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:20.302Z,1638618740.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:20.742Z,1638618740.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.680008 m, bearing: 225.712931 deg, deltaT: 4.473920 s, deltaX: 0.660004 m, approachRate: 0.147522 m/s, LOS rate: 0.217532 deg/s, posRepo size: 4
2021-12-04T11:52:21.124Z,1638618741.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115220.40*5F

2021-12-04T11:52:21.125Z,1638618741.125 [Micromodem](INFO): Nmea in: $CAREV,115221,AUV,2.1.4000*2E

2021-12-04T11:52:21.527Z,1638618741.527 [Micromodem](INFO): Nmea in: $CAREV,115221,COPROC,0.20.0.39330*7F

2021-12-04T11:52:23.603Z,1638618743.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:24.338Z,1638618744.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:24.743Z,1638618744.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:25.184Z,1638618745.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 228.715346 deg, deltaT: 4.438349 s, deltaX: 0.599998 m, approachRate: 0.135185 m/s, LOS rate: 0.676471 deg/s, posRepo size: 4
2021-12-04T11:52:25.604Z,1638618745.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115224.85*52

2021-12-04T11:52:25.605Z,1638618745.605 [Micromodem](INFO): Nmea in: $CAREV,115225,AUV,2.1.4000*2A

2021-12-04T11:52:25.964Z,1638618745.964 [Micromodem](INFO): Nmea in: $CAREV,115225,COPROC,0.20.0.39330*7B

2021-12-04T11:52:27.681Z,1638618747.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:28.373Z,1638618748.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:28.783Z,1638618748.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:29.200Z,1638618749.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 231.316815 deg, deltaT: 4.020257 s, deltaX: 0.659988 m, approachRate: 0.164166 m/s, LOS rate: 0.647090 deg/s, posRepo size: 4
2021-12-04T11:52:29.654Z,1638618749.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115228.88*53

2021-12-04T11:52:29.655Z,1638618749.655 [Micromodem](INFO): Nmea in: $CAREV,115229,AUV,2.1.4000*26

2021-12-04T11:52:29.000Z,1638618750.000 [Micromodem](INFO): Nmea in: $CAREV,115229,COPROC,0.20.0.39330*77

2021-12-04T11:52:31.701Z,1638618751.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:32.409Z,1638618752.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:32.833Z,1638618752.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:33.259Z,1638618753.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 233.498049 deg, deltaT: 4.059595 s, deltaX: 0.540009 m, approachRate: 0.133020 m/s, LOS rate: 0.537304 deg/s, posRepo size: 4
2021-12-04T11:52:33.676Z,1638618753.676 [Micromodem](INFO): Nmea in: $SNTTA,0.071202,,,,115232.92*4B

2021-12-04T11:52:33.677Z,1638618753.677 [Micromodem](INFO): Nmea in: $CAREV,115233,AUV,2.1.4000*2D

2021-12-04T11:52:34.040Z,1638618754.040 [Micromodem](INFO): Nmea in: $CAREV,115233,COPROC,0.20.0.39330*7C

2021-12-04T11:52:36.077Z,1638618756.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:36.870Z,1638618756.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:36.946Z,1638618756.946 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T11:52:37.271Z,1638618757.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:37.763Z,1638618757.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.140007 m, bearing: 235.981779 deg, deltaT: 4.503790 s, deltaX: 0.660004 m, approachRate: 0.146544 m/s, LOS rate: 0.551476 deg/s, posRepo size: 4
2021-12-04T11:52:38.092Z,1638618758.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115237.38*56

2021-12-04T11:52:38.093Z,1638618758.093 [Micromodem](INFO): Nmea in: $CAREV,115238,AUV,2.1.4000*26

2021-12-04T11:52:38.476Z,1638618758.476 [Micromodem](INFO): Nmea in: $CAREV,115238,COPROC,0.20.0.39330*77

2021-12-04T11:52:40.518Z,1638618760.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:41.301Z,1638618761.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:41.703Z,1638618761.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:42.135Z,1638618762.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 238.866332 deg, deltaT: 4.371964 s, deltaX: 0.959999 m, approachRate: 0.219581 m/s, LOS rate: 0.659784 deg/s, posRepo size: 4
2021-12-04T11:52:42.536Z,1638618762.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115241.81*55

2021-12-04T11:52:42.537Z,1638618762.537 [Micromodem](INFO): Nmea in: $CAREV,115242,AUV,2.1.4000*2B

2021-12-04T11:52:42.935Z,1638618762.935 [Micromodem](INFO): Nmea in: $CAREV,115242,COPROC,0.20.0.39330*7A

2021-12-04T11:52:44.963Z,1638618764.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:45.737Z,1638618765.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:46.160Z,1638618766.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:46.583Z,1638618766.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 241.825744 deg, deltaT: 4.448072 s, deltaX: 0.480003 m, approachRate: 0.107913 m/s, LOS rate: 0.665325 deg/s, posRepo size: 4
2021-12-04T11:52:46.984Z,1638618766.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115246.25*5C

2021-12-04T11:52:46.985Z,1638618766.985 [Micromodem](INFO): Nmea in: $CAREV,115247,AUV,2.1.4000*2E

2021-12-04T11:52:47.368Z,1638618767.368 [Micromodem](INFO): Nmea in: $CAREV,115247,COPROC,0.20.0.39330*7F

2021-12-04T11:52:49.396Z,1638618769.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:50.185Z,1638618770.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:50.588Z,1638618770.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:51.037Z,1638618771.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 243.698527 deg, deltaT: 4.453457 s, deltaX: 0.299988 m, approachRate: 0.067361 m/s, LOS rate: 0.420523 deg/s, posRepo size: 4
2021-12-04T11:52:51.428Z,1638618771.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115250.70*5B

2021-12-04T11:52:51.429Z,1638618771.429 [Micromodem](INFO): Nmea in: $CAREV,115251,AUV,2.1.4000*29

2021-12-04T11:52:51.808Z,1638618771.808 [Micromodem](INFO): Nmea in: $CAREV,115251,COPROC,0.20.0.39330*78

2021-12-04T11:52:53.872Z,1638618773.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:54.640Z,1638618774.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:55.043Z,1638618775.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:55.505Z,1638618775.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 296.655989 deg, deltaT: 4.462851 s, deltaX: 0.420006 m, approachRate: 0.094112 m/s, LOS rate: 11.866285 deg/s, posRepo size: 4
2021-12-04T11:52:55.876Z,1638618775.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115255.15*5D

2021-12-04T11:52:55.877Z,1638618775.877 [Micromodem](INFO): Nmea in: $CAREV,115256,AUV,2.1.4000*2E

2021-12-04T11:52:56.264Z,1638618776.264 [Micromodem](INFO): Nmea in: $CAREV,115256,COPROC,0.20.0.39330*7F

2021-12-04T11:52:58.278Z,1638618778.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:52:59.077Z,1638618779.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:52:59.485Z,1638618779.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:52:59.937Z,1638618779.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.139999 m, bearing: 247.437126 deg, deltaT: 4.437441 s, deltaX: 0.839996 m, approachRate: 0.189297 m/s, LOS rate: -11.091722 deg/s, posRepo size: 4
2021-12-04T11:53:00.308Z,1638618780.308 [Micromodem](INFO): Nmea in: $SNTTA,0.063734,,,,115259.59*42

2021-12-04T11:53:00.309Z,1638618780.309 [Micromodem](INFO): Nmea in: $CAREV,115300,AUV,2.1.4000*2C

2021-12-04T11:53:00.708Z,1638618780.708 [Micromodem](INFO): Nmea in: $CAREV,115300,COPROC,0.20.0.39330*7D

2021-12-04T11:53:02.732Z,1638618782.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:03.523Z,1638618783.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:03.933Z,1638618783.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:04.341Z,1638618784.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 248.666123 deg, deltaT: 4.404557 s, deltaX: 0.660004 m, approachRate: 0.149846 m/s, LOS rate: 0.279028 deg/s, posRepo size: 4
2021-12-04T11:53:04.752Z,1638618784.752 [Micromodem](INFO): Nmea in: $SNTTA,0.072308,,,,115304.04*48

2021-12-04T11:53:04.753Z,1638618784.753 [Micromodem](INFO): Nmea in: $CAREV,115305,AUV,2.1.4000*29

2021-12-04T11:53:05.148Z,1638618785.148 [Micromodem](INFO): Nmea in: $CAREV,115305,COPROC,0.20.0.39330*78

2021-12-04T11:53:07.161Z,1638618787.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:07.966Z,1638618787.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:08.367Z,1638618788.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:08.816Z,1638618788.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.460007 m, bearing: 250.516312 deg, deltaT: 4.470940 s, deltaX: 0.660004 m, approachRate: 0.147621 m/s, LOS rate: 0.413826 deg/s, posRepo size: 4
2021-12-04T11:53:09.196Z,1638618789.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115308.48*5C

2021-12-04T11:53:09.197Z,1638618789.197 [Micromodem](INFO): Nmea in: $CAREV,115309,AUV,2.1.4000*25

2021-12-04T11:53:09.639Z,1638618789.639 [Micromodem](INFO): Nmea in: $CAREV,115309,COPROC,0.20.0.39330*74

2021-12-04T11:53:11.696Z,1638618791.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:12.401Z,1638618792.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:12.823Z,1638618792.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:13.242Z,1638618793.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 338.389701 deg, deltaT: 4.429180 s, deltaX: 0.539993 m, approachRate: 0.121917 m/s, LOS rate: 19.839652 deg/s, posRepo size: 4
2021-12-04T11:53:13.668Z,1638618793.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115312.91*53

2021-12-04T11:53:13.669Z,1638618793.669 [Micromodem](INFO): Nmea in: $CAREV,115313,AUV,2.1.4000*2E

2021-12-04T11:53:14.024Z,1638618794.024 [Micromodem](INFO): Nmea in: $CAREV,115313,COPROC,0.20.0.39330*7F

2021-12-04T11:53:16.052Z,1638618796.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:16.851Z,1638618796.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:17.251Z,1638618797.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:17.746Z,1638618797.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.660004 m, bearing: 340.856520 deg, deltaT: 4.503918 s, deltaX: 0.660004 m, approachRate: 0.146540 m/s, LOS rate: 0.547705 deg/s, posRepo size: 4
2021-12-04T11:53:18.084Z,1638618798.084 [Micromodem](INFO): Nmea in: $SNTTA,0.111171,,,,115317.36*43

2021-12-04T11:53:18.085Z,1638618798.085 [Micromodem](INFO): Nmea in: $CAREV,115318,AUV,2.1.4000*25

2021-12-04T11:53:18.480Z,1638618798.480 [Micromodem](INFO): Nmea in: $CAREV,115318,COPROC,0.20.0.39330*74

2021-12-04T11:53:20.529Z,1638618800.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:21.293Z,1638618801.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:21.709Z,1638618801.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:22.118Z,1638618802.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.260002 m, bearing: 291.035317 deg, deltaT: 4.372664 s, deltaX: 0.599998 m, approachRate: 0.137216 m/s, LOS rate: -11.393787 deg/s, posRepo size: 4
2021-12-04T11:53:22.537Z,1638618802.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115321.80*53

2021-12-04T11:53:22.538Z,1638618802.538 [Micromodem](INFO): Nmea in: $CAREV,115322,AUV,2.1.4000*2C

2021-12-04T11:53:22.920Z,1638618802.920 [Micromodem](INFO): Nmea in: $CAREV,115322,COPROC,0.20.0.39330*7D

2021-12-04T11:53:24.985Z,1638618804.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:25.755Z,1638618805.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:26.139Z,1638618806.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:26.559Z,1638618806.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.979996 m, bearing: 299.049970 deg, deltaT: 4.437286 s, deltaX: 0.719994 m, approachRate: 0.162260 m/s, LOS rate: 1.806206 deg/s, posRepo size: 4
2021-12-04T11:53:26.964Z,1638618806.964 [Micromodem](INFO): Nmea in: $SNTTA,0.073361,,,,115326.26*46

2021-12-04T11:53:26.965Z,1638618806.965 [Micromodem](INFO): Nmea in: $CAREV,115327,AUV,2.1.4000*29

2021-12-04T11:53:27.369Z,1638618807.369 [Micromodem](INFO): Nmea in: $CAREV,115327,COPROC,0.20.0.39330*78

2021-12-04T11:53:29.400Z,1638618809.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:30.181Z,1638618810.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:30.599Z,1638618810.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:31.034Z,1638618811.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 306.888350 deg, deltaT: 4.478305 s, deltaX: 0.540009 m, approachRate: 0.120583 m/s, LOS rate: 1.750301 deg/s, posRepo size: 4
2021-12-04T11:53:31.420Z,1638618811.420 [Micromodem](INFO): Nmea in: $SNTTA,0.061677,,,,115330.69*4B

2021-12-04T11:53:31.421Z,1638618811.421 [Micromodem](INFO): Nmea in: $CAREV,115331,AUV,2.1.4000*2E

2021-12-04T11:53:31.812Z,1638618811.812 [Micromodem](INFO): Nmea in: $CAREV,115331,COPROC,0.20.0.39330*7F

2021-12-04T11:53:33.863Z,1638618813.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:34.645Z,1638618814.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:35.034Z,1638618815.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:35.466Z,1638618815.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.880005 m, bearing: 310.261507 deg, deltaT: 4.431752 s, deltaX: 0.360001 m, approachRate: 0.081232 m/s, LOS rate: 0.761134 deg/s, posRepo size: 4
2021-12-04T11:53:35.845Z,1638618815.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115335.16*59

2021-12-04T11:53:35.847Z,1638618815.847 [Micromodem](INFO): Nmea in: $CAREV,115336,AUV,2.1.4000*29

2021-12-04T11:53:36.248Z,1638618816.248 [Micromodem](INFO): Nmea in: $CAREV,115336,COPROC,0.20.0.39330*78

2021-12-04T11:53:38.283Z,1638618818.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:39.061Z,1638618819.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:39.475Z,1638618819.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:39.935Z,1638618819.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.839996 m, bearing: 309.136520 deg, deltaT: 4.469358 s, deltaX: 0.959991 m, approachRate: 0.214794 m/s, LOS rate: -0.251711 deg/s, posRepo size: 4
2021-12-04T11:53:40.312Z,1638618820.312 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115339.57*50

2021-12-04T11:53:40.313Z,1638618820.313 [Micromodem](INFO): Nmea in: $CAREV,115340,AUV,2.1.4000*28

2021-12-04T11:53:40.708Z,1638618820.708 [Micromodem](INFO): Nmea in: $CAREV,115340,COPROC,0.20.0.39330*79

2021-12-04T11:53:42.733Z,1638618822.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:43.513Z,1638618823.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:43.920Z,1638618823.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:44.344Z,1638618824.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 295.225774 deg, deltaT: 4.408959 s, deltaX: 0.480003 m, approachRate: 0.108870 m/s, LOS rate: -3.155109 deg/s, posRepo size: 4
2021-12-04T11:53:44.752Z,1638618824.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115344.02*5A

2021-12-04T11:53:44.753Z,1638618824.753 [Micromodem](INFO): Nmea in: $CAREV,115345,AUV,2.1.4000*2D

2021-12-04T11:53:45.136Z,1638618825.136 [Micromodem](INFO): Nmea in: $CAREV,115345,COPROC,0.20.0.39330*7C

2021-12-04T11:53:47.161Z,1638618827.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:47.957Z,1638618827.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:48.370Z,1638618828.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:48.809Z,1638618828.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 288.521889 deg, deltaT: 4.461025 s, deltaX: 0.599998 m, approachRate: 0.134498 m/s, LOS rate: -1.502768 deg/s, posRepo size: 4
2021-12-04T11:53:49.204Z,1638618829.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115348.47*57

2021-12-04T11:53:49.205Z,1638618829.205 [Micromodem](INFO): Nmea in: $CAREV,115349,AUV,2.1.4000*21

2021-12-04T11:53:49.649Z,1638618829.649 [Micromodem](INFO): Nmea in: $CAREV,115349,COPROC,0.20.0.39330*70

2021-12-04T11:53:51.692Z,1638618831.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:52.401Z,1638618832.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:52.807Z,1638618832.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:53.243Z,1638618833.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.640007 m, bearing: 289.882873 deg, deltaT: 4.434427 s, deltaX: 0.720009 m, approachRate: 0.162368 m/s, LOS rate: 0.306913 deg/s, posRepo size: 4
2021-12-04T11:53:53.664Z,1638618833.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115352.91*57

2021-12-04T11:53:53.665Z,1638618833.665 [Micromodem](INFO): Nmea in: $CAREV,115353,AUV,2.1.4000*2A

2021-12-04T11:53:54.028Z,1638618834.028 [Micromodem](INFO): Nmea in: $CAREV,115353,COPROC,0.20.0.39330*7B

2021-12-04T11:53:55.783Z,1638618835.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:53:56.445Z,1638618836.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:53:56.855Z,1638618836.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:53:57.267Z,1638618837.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.360001 m, bearing: 298.670895 deg, deltaT: 4.027359 s, deltaX: 0.719994 m, approachRate: 0.178776 m/s, LOS rate: 2.182081 deg/s, posRepo size: 4
2021-12-04T11:53:57.700Z,1638618837.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115356.95*57

2021-12-04T11:53:57.701Z,1638618837.701 [Micromodem](INFO): Nmea in: $CAREV,115358,AUV,2.1.4000*21

2021-12-04T11:53:58.064Z,1638618838.064 [Micromodem](INFO): Nmea in: $CAREV,115358,COPROC,0.20.0.39330*70

2021-12-04T11:54:00.084Z,1638618840.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:00.885Z,1638618840.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:01.304Z,1638618841.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:01.785Z,1638618841.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.320007 m, bearing: 309.295008 deg, deltaT: 4.517991 s, deltaX: 0.960007 m, approachRate: 0.212485 m/s, LOS rate: 2.351513 deg/s, posRepo size: 4
2021-12-04T11:54:02.124Z,1638618842.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115401.40*5A

2021-12-04T11:54:02.125Z,1638618842.125 [Micromodem](INFO): Nmea in: $CAREV,115402,AUV,2.1.4000*29

2021-12-04T11:54:02.524Z,1638618842.524 [Micromodem](INFO): Nmea in: $CAREV,115402,COPROC,0.20.0.39330*78

2021-12-04T11:54:04.533Z,1638618844.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:05.329Z,1638618845.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:05.744Z,1638618845.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:05.760Z,1638618845.760 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:54:06.163Z,1638618846.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.740005 m, bearing: 303.162809 deg, deltaT: 4.378604 s, deltaX: 0.419998 m, approachRate: 0.095921 m/s, LOS rate: -1.400492 deg/s, posRepo size: 4
2021-12-04T11:54:06.576Z,1638618846.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115405.84*56

2021-12-04T11:54:06.577Z,1638618846.577 [Micromodem](INFO): Nmea in: $CAREV,115406,AUV,2.1.4000*2D

2021-12-04T11:54:06.952Z,1638618846.952 [Micromodem](INFO): Nmea in: $CAREV,115406,COPROC,0.20.0.39330*7C

2021-12-04T11:54:09.015Z,1638618849.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:09.779Z,1638618849.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:10.179Z,1638618850.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:10.658Z,1638618850.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.340004 m, bearing: 307.587324 deg, deltaT: 4.493803 s, deltaX: 0.599998 m, approachRate: 0.133517 m/s, LOS rate: 0.984581 deg/s, posRepo size: 4
2021-12-04T11:54:11.004Z,1638618851.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115410.29*55

2021-12-04T11:54:11.005Z,1638618851.005 [Micromodem](INFO): Nmea in: $CAREV,115411,AUV,2.1.4000*2B

2021-12-04T11:54:11.413Z,1638618851.413 [Micromodem](INFO): Nmea in: $CAREV,115411,COPROC,0.20.0.39330*7A

2021-12-04T11:54:13.420Z,1638618853.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:14.209Z,1638618854.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:14.652Z,1638618854.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:15.047Z,1638618855.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.940002 m, bearing: 308.223297 deg, deltaT: 4.390403 s, deltaX: 0.599998 m, approachRate: 0.136661 m/s, LOS rate: 0.144855 deg/s, posRepo size: 4
2021-12-04T11:54:15.453Z,1638618855.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115414.72*5F

2021-12-04T11:54:15.454Z,1638618855.454 [Micromodem](INFO): Nmea in: $CAREV,115415,AUV,2.1.4000*2F

2021-12-04T11:54:15.845Z,1638618855.845 [Micromodem](INFO): Nmea in: $CAREV,115415,COPROC,0.20.0.39330*7E

2021-12-04T11:54:15.858Z,1638618855.858 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T11:54:17.915Z,1638618857.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:18.690Z,1638618858.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:19.059Z,1638618859.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:19.496Z,1638618859.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.720001 m, bearing: 311.311772 deg, deltaT: 4.448116 s, deltaX: 0.779999 m, approachRate: 0.175355 m/s, LOS rate: 0.694333 deg/s, posRepo size: 4
2021-12-04T11:54:19.900Z,1638618859.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115419.20*55

2021-12-04T11:54:19.901Z,1638618859.901 [Micromodem](INFO): Nmea in: $CAREV,115420,AUV,2.1.4000*29

2021-12-04T11:54:20.288Z,1638618860.288 [Micromodem](INFO): Nmea in: $CAREV,115420,COPROC,0.20.0.39330*78

2021-12-04T11:54:22.329Z,1638618862.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:23.105Z,1638618863.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:23.505Z,1638618863.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:23.980Z,1638618863.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 314.938657 deg, deltaT: 4.480446 s, deltaX: 0.719994 m, approachRate: 0.160697 m/s, LOS rate: 0.809492 deg/s, posRepo size: 4
2021-12-04T11:54:24.344Z,1638618864.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115423.62*5A

2021-12-04T11:54:24.345Z,1638618864.345 [Micromodem](INFO): Nmea in: $CAREV,115424,AUV,2.1.4000*2D

2021-12-04T11:54:24.732Z,1638618864.732 [Micromodem](INFO): Nmea in: $CAREV,115424,COPROC,0.20.0.39330*7C

2021-12-04T11:54:26.764Z,1638618866.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:27.583Z,1638618867.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:27.947Z,1638618867.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:28.386Z,1638618868.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 311.888321 deg, deltaT: 4.409593 s, deltaX: 0.540009 m, approachRate: 0.122462 m/s, LOS rate: -0.691750 deg/s, posRepo size: 4
2021-12-04T11:54:28.773Z,1638618868.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115428.09*5C

2021-12-04T11:54:28.791Z,1638618868.791 [Micromodem](INFO): Nmea in: $CAREV,115429,AUV,2.1.4000*20

2021-12-04T11:54:29.176Z,1638618869.176 [Micromodem](INFO): Nmea in: $CAREV,115429,COPROC,0.20.0.39330*71

2021-12-04T11:54:31.194Z,1638618871.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:31.993Z,1638618871.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:32.398Z,1638618872.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:32.843Z,1638618872.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.640007 m, bearing: 307.329197 deg, deltaT: 4.457871 s, deltaX: 0.660004 m, approachRate: 0.148054 m/s, LOS rate: -1.022713 deg/s, posRepo size: 4
2021-12-04T11:54:33.228Z,1638618873.228 [Micromodem](INFO): Nmea in: $SNTTA,0.068508,,,,115432.50*46

2021-12-04T11:54:33.229Z,1638618873.229 [Micromodem](INFO): Nmea in: $CAREV,115433,AUV,2.1.4000*2B

2021-12-04T11:54:33.655Z,1638618873.655 [Micromodem](INFO): Nmea in: $CAREV,115433,COPROC,0.20.0.39330*7A

2021-12-04T11:54:35.670Z,1638618875.670 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T11:54:35.695Z,1638618875.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:36.453Z,1638618876.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:36.849Z,1638618876.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:37.271Z,1638618877.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.299995 m, bearing: 303.265372 deg, deltaT: 4.426744 s, deltaX: 0.659988 m, approachRate: 0.149091 m/s, LOS rate: -0.918017 deg/s, posRepo size: 4
2021-12-04T11:54:37.680Z,1638618877.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115436.96*55

2021-12-04T11:54:37.681Z,1638618877.681 [Micromodem](INFO): Nmea in: $CAREV,115438,AUV,2.1.4000*20

2021-12-04T11:54:38.064Z,1638618878.064 [Micromodem](INFO): Nmea in: $CAREV,115438,COPROC,0.20.0.39330*71

2021-12-04T11:54:40.096Z,1638618880.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:40.885Z,1638618880.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:41.291Z,1638618881.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:41.769Z,1638618881.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.020004 m, bearing: 301.235275 deg, deltaT: 4.482721 s, deltaX: 0.720009 m, approachRate: 0.160619 m/s, LOS rate: -0.452871 deg/s, posRepo size: 4
2021-12-04T11:54:42.123Z,1638618882.123 [Micromodem](INFO): Nmea in: $SNTTA,0.069606,,,,115441.40*4F

2021-12-04T11:54:42.124Z,1638618882.124 [Micromodem](INFO): Nmea in: $CAREV,115442,AUV,2.1.4000*2D

2021-12-04T11:54:42.508Z,1638618882.508 [Micromodem](INFO): Nmea in: $CAREV,115442,COPROC,0.20.0.39330*7C

2021-12-04T11:54:44.536Z,1638618884.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:45.321Z,1638618885.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:45.732Z,1638618885.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:46.163Z,1638618886.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 303.860718 deg, deltaT: 4.409672 s, deltaX: 0.359993 m, approachRate: 0.081637 m/s, LOS rate: 0.595383 deg/s, posRepo size: 4
2021-12-04T11:54:46.560Z,1638618886.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115445.83*55

2021-12-04T11:54:46.561Z,1638618886.561 [Micromodem](INFO): Nmea in: $CAREV,115446,AUV,2.1.4000*29

2021-12-04T11:54:46.948Z,1638618886.948 [Micromodem](INFO): Nmea in: $CAREV,115446,COPROC,0.20.0.39330*78

2021-12-04T11:54:48.974Z,1638618888.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:49.769Z,1638618889.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:50.179Z,1638618890.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:50.660Z,1638618890.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.920006 m, bearing: 301.830021 deg, deltaT: 4.487967 s, deltaX: 0.540009 m, approachRate: 0.120324 m/s, LOS rate: -0.452476 deg/s, posRepo size: 4
2021-12-04T11:54:51.015Z,1638618891.015 [Micromodem](INFO): Nmea in: $SNTTA,0.071002,,,,115450.28*4A

2021-12-04T11:54:51.016Z,1638618891.016 [Micromodem](INFO): Nmea in: $CAREV,115451,AUV,2.1.4000*2F

2021-12-04T11:54:51.396Z,1638618891.396 [Micromodem](INFO): Nmea in: $CAREV,115451,COPROC,0.20.0.39330*7E

2021-12-04T11:54:53.425Z,1638618893.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:54.213Z,1638618894.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:54.630Z,1638618894.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:55.047Z,1638618895.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 300.943708 deg, deltaT: 4.395599 s, deltaX: 0.839989 m, approachRate: 0.191098 m/s, LOS rate: -0.201636 deg/s, posRepo size: 4
2021-12-04T11:54:55.460Z,1638618895.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115454.72*5B

2021-12-04T11:54:55.461Z,1638618895.461 [Micromodem](INFO): Nmea in: $CAREV,115455,AUV,2.1.4000*2B

2021-12-04T11:54:55.836Z,1638618895.836 [Micromodem](INFO): Nmea in: $CAREV,115455,COPROC,0.20.0.39330*7A

2021-12-04T11:54:57.910Z,1638618897.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:54:58.685Z,1638618898.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:54:59.055Z,1638618899.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:54:59.512Z,1638618899.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 304.360442 deg, deltaT: 4.449396 s, deltaX: 0.600014 m, approachRate: 0.134853 m/s, LOS rate: 0.767910 deg/s, posRepo size: 4
2021-12-04T11:54:59.896Z,1638618899.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115459.20*51

2021-12-04T11:54:59.897Z,1638618899.897 [Micromodem](INFO): Nmea in: $CAREV,115500,AUV,2.1.4000*2A

2021-12-04T11:55:00.298Z,1638618900.298 [Micromodem](INFO): Nmea in: $CAREV,115500,COPROC,0.20.0.39330*7B

2021-12-04T11:55:02.304Z,1638618902.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:03.098Z,1638618903.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:03.510Z,1638618903.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:03.977Z,1638618903.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 303.829764 deg, deltaT: 4.465624 s, deltaX: 0.359993 m, approachRate: 0.080614 m/s, LOS rate: -0.118836 deg/s, posRepo size: 4
2021-12-04T11:55:04.341Z,1638618904.341 [Micromodem](INFO): Nmea in: $SNTTA,0.069977,,,,115503.61*42

2021-12-04T11:55:04.342Z,1638618904.342 [Micromodem](INFO): Nmea in: $CAREV,115504,AUV,2.1.4000*2E

2021-12-04T11:55:04.728Z,1638618904.728 [Micromodem](INFO): Nmea in: $CAREV,115504,COPROC,0.20.0.39330*7F

2021-12-04T11:55:06.780Z,1638618906.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:07.553Z,1638618907.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:07.951Z,1638618907.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:08.367Z,1638618908.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 304.047920 deg, deltaT: 4.405826 s, deltaX: 0.540001 m, approachRate: 0.122565 m/s, LOS rate: 0.049515 deg/s, posRepo size: 4
2021-12-04T11:55:08.784Z,1638618908.784 [Micromodem](INFO): Nmea in: $SNTTA,0.071671,,,,115508.07*49

2021-12-04T11:55:08.785Z,1638618908.785 [Micromodem](INFO): Nmea in: $CAREV,115509,AUV,2.1.4000*23

2021-12-04T11:55:09.168Z,1638618909.168 [Micromodem](INFO): Nmea in: $CAREV,115509,COPROC,0.20.0.39330*72

2021-12-04T11:55:10.863Z,1638618910.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:11.649Z,1638618911.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:11.991Z,1638618911.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:12.417Z,1638618912.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 310.087119 deg, deltaT: 4.050309 s, deltaX: 0.540001 m, approachRate: 0.133323 m/s, LOS rate: 1.491046 deg/s, posRepo size: 4
2021-12-04T11:55:12.814Z,1638618912.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115512.16*5A

2021-12-04T11:55:13.212Z,1638618913.212 [Micromodem](INFO): Nmea in: $CAREV,115513,AUV,2.1.4000*28

2021-12-04T11:55:13.213Z,1638618913.213 [Micromodem](INFO): Nmea in: $CAREV,115513,COPROC,0.20.0.39330*79

2021-12-04T11:55:15.236Z,1638618915.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:16.029Z,1638618916.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:16.435Z,1638618916.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:16.861Z,1638618916.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.520004 m, bearing: 313.377685 deg, deltaT: 4.443555 s, deltaX: 0.720001 m, approachRate: 0.162033 m/s, LOS rate: 0.740526 deg/s, posRepo size: 4
2021-12-04T11:55:17.264Z,1638618917.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115516.54*58

2021-12-04T11:55:17.265Z,1638618917.265 [Micromodem](INFO): Nmea in: $CAREV,115517,AUV,2.1.4000*2C

2021-12-04T11:55:17.672Z,1638618917.672 [Micromodem](INFO): Nmea in: $CAREV,115517,COPROC,0.20.0.39330*7D

2021-12-04T11:55:19.750Z,1638618919.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:20.473Z,1638618920.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:20.888Z,1638618920.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:21.325Z,1638618921.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.180000 m, bearing: 313.034045 deg, deltaT: 4.458124 s, deltaX: 0.659996 m, approachRate: 0.148043 m/s, LOS rate: -0.077082 deg/s, posRepo size: 4
2021-12-04T11:55:21.719Z,1638618921.719 [Micromodem](INFO): Nmea in: $SNTTA,0.104340,,,,115520.98*41

2021-12-04T11:55:21.720Z,1638618921.720 [Micromodem](INFO): Nmea in: $CAREV,115522,AUV,2.1.4000*2A

2021-12-04T11:55:22.100Z,1638618922.100 [Micromodem](INFO): Nmea in: $CAREV,115522,COPROC,0.20.0.39330*7B

2021-12-04T11:55:24.128Z,1638618924.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:24.913Z,1638618924.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:25.320Z,1638618925.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:25.804Z,1638618925.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.779999 m, bearing: 315.443599 deg, deltaT: 4.480814 s, deltaX: 0.599998 m, approachRate: 0.133904 m/s, LOS rate: 0.537749 deg/s, posRepo size: 4
2021-12-04T11:55:26.156Z,1638618926.156 [Micromodem](INFO): Nmea in: $SNTTA,0.099164,,,,115525.42*42

2021-12-04T11:55:26.157Z,1638618926.157 [Micromodem](INFO): Nmea in: $CAREV,115526,AUV,2.1.4000*2E

2021-12-04T11:55:26.540Z,1638618926.540 [Micromodem](INFO): Nmea in: $CAREV,115526,COPROC,0.20.0.39330*7F

2021-12-04T11:55:28.565Z,1638618928.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:29.361Z,1638618929.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:29.777Z,1638618929.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:30.207Z,1638618930.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 324.050129 deg, deltaT: 4.403170 s, deltaX: 0.540001 m, approachRate: 0.122639 m/s, LOS rate: 1.954621 deg/s, posRepo size: 4
2021-12-04T11:55:30.600Z,1638618930.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115529.87*5A

2021-12-04T11:55:30.601Z,1638618930.601 [Micromodem](INFO): Nmea in: $CAREV,115530,AUV,2.1.4000*29

2021-12-04T11:55:30.669Z,1638618930.669 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T11:55:30.992Z,1638618930.992 [Micromodem](INFO): Nmea in: $CAREV,115530,COPROC,0.20.0.39330*78

2021-12-04T11:55:33.028Z,1638618933.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:33.801Z,1638618933.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:34.219Z,1638618934.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:34.699Z,1638618934.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 328.212392 deg, deltaT: 4.487076 s, deltaX: 0.780006 m, approachRate: 0.173834 m/s, LOS rate: 0.927611 deg/s, posRepo size: 4
2021-12-04T11:55:35.051Z,1638618935.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115534.31*5B

2021-12-04T11:55:35.052Z,1638618935.052 [Micromodem](INFO): Nmea in: $CAREV,115535,AUV,2.1.4000*2C

2021-12-04T11:55:35.432Z,1638618935.432 [Micromodem](INFO): Nmea in: $CAREV,115535,COPROC,0.20.0.39330*7D

2021-12-04T11:55:37.465Z,1638618937.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:38.254Z,1638618938.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:38.679Z,1638618938.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:39.103Z,1638618939.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.639999 m, bearing: 321.687621 deg, deltaT: 4.408960 s, deltaX: 0.539993 m, approachRate: 0.122476 m/s, LOS rate: -1.479889 deg/s, posRepo size: 4
2021-12-04T11:55:39.495Z,1638618939.495 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115538.77*55

2021-12-04T11:55:39.498Z,1638618939.498 [Micromodem](INFO): Nmea in: $CAREV,115539,AUV,2.1.4000*20

2021-12-04T11:55:39.876Z,1638618939.876 [Micromodem](INFO): Nmea in: $CAREV,115539,COPROC,0.20.0.39330*71

2021-12-04T11:55:41.942Z,1638618941.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:42.697Z,1638618942.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:43.108Z,1638618943.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:43.586Z,1638618943.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.120003 m, bearing: 324.772708 deg, deltaT: 4.480445 s, deltaX: 0.480003 m, approachRate: 0.107133 m/s, LOS rate: 0.688567 deg/s, posRepo size: 4
2021-12-04T11:55:43.935Z,1638618943.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115543.21*5A

2021-12-04T11:55:43.936Z,1638618943.936 [Micromodem](INFO): Nmea in: $CAREV,115544,AUV,2.1.4000*2A

2021-12-04T11:55:44.330Z,1638618944.330 [Micromodem](INFO): Nmea in: $CAREV,115544,COPROC,0.20.0.39330*7B

2021-12-04T11:55:46.354Z,1638618946.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:47.163Z,1638618947.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:47.585Z,1638618947.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:47.998Z,1638618947.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 348.082368 deg, deltaT: 4.418240 s, deltaX: 1.139999 m, approachRate: 0.258021 m/s, LOS rate: 5.275779 deg/s, posRepo size: 4
2021-12-04T11:55:48.372Z,1638618948.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115547.68*53

2021-12-04T11:55:48.373Z,1638618948.373 [Micromodem](INFO): Nmea in: $CAREV,115548,AUV,2.1.4000*26

2021-12-04T11:55:48.760Z,1638618948.760 [Micromodem](INFO): Nmea in: $CAREV,115548,COPROC,0.20.0.39330*77

2021-12-04T11:55:50.810Z,1638618950.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:51.638Z,1638618951.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:51.990Z,1638618951.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:52.435Z,1638618952.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 330.047363 deg, deltaT: 4.437411 s, deltaX: 0.060005 m, approachRate: 0.013523 m/s, LOS rate: -4.064308 deg/s, posRepo size: 4
2021-12-04T11:55:53.209Z,1638618953.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115552.15*5D

2021-12-04T11:55:53.210Z,1638618953.210 [Micromodem](INFO): Nmea in: $CAREV,115553,AUV,2.1.4000*2C

2021-12-04T11:55:53.635Z,1638618953.635 [Micromodem](INFO): Nmea in: $CAREV,115553,COPROC,0.20.0.39330*7D

2021-12-04T11:55:55.236Z,1638618955.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:55:56.025Z,1638618956.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:55:56.431Z,1638618956.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:55:56.866Z,1638618956.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.980003 m, bearing: 342.106499 deg, deltaT: 4.430586 s, deltaX: 0.659996 m, approachRate: 0.148964 m/s, LOS rate: 2.721793 deg/s, posRepo size: 4
2021-12-04T11:55:57.263Z,1638618957.263 [Micromodem](INFO): Nmea in: $SNTTA,,0.084854,,,115556.54*47

2021-12-04T11:55:57.264Z,1638618957.264 [Micromodem](INFO): Nmea in: $CAREV,115557,AUV,2.1.4000*28

2021-12-04T11:55:57.664Z,1638618957.664 [Micromodem](INFO): Nmea in: $CAREV,115557,COPROC,0.20.0.39330*79

2021-12-04T11:55:59.770Z,1638618959.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:00.469Z,1638618960.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:00.872Z,1638618960.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:00.887Z,1638618960.887 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:56:01.299Z,1638618961.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.520004 m, bearing: 331.814551 deg, deltaT: 4.433687 s, deltaX: 0.540001 m, approachRate: 0.121795 m/s, LOS rate: -2.321307 deg/s, posRepo size: 4
2021-12-04T11:56:01.724Z,1638618961.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115600.98*5C

2021-12-04T11:56:01.725Z,1638618961.725 [Micromodem](INFO): Nmea in: $CAREV,115602,AUV,2.1.4000*2B

2021-12-04T11:56:02.088Z,1638618962.088 [Micromodem](INFO): Nmea in: $CAREV,115602,COPROC,0.20.0.39330*7A

2021-12-04T11:56:04.124Z,1638618964.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:04.917Z,1638618964.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:05.325Z,1638618965.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:05.727Z,1638618965.727 [Micromodem](INFO): Nmea in: $SNTTA,0.123499,0.086898,,,115605.43*5C

2021-12-04T11:56:05.728Z,1638618965.728 [Micromodem](INFO): Nmea in: $CAREV,115605,AUV,2.1.4000*2C

2021-12-04T11:56:05.779Z,1638618965.779 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:56:05.816Z,1638618965.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 335.972033 deg, deltaT: 4.512173 s, deltaX: 0.779999 m, approachRate: 0.172865 m/s, LOS rate: 0.921392 deg/s, posRepo size: 4
2021-12-04T11:56:06.140Z,1638618966.140 [Micromodem](INFO): Nmea in: $CAREV,115605,COPROC,0.20.0.39330*7D

2021-12-04T11:56:08.565Z,1638618968.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:09.357Z,1638618969.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:09.763Z,1638618969.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:10.587Z,1638618970.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115609.87*5B

2021-12-04T11:56:10.588Z,1638618970.588 [Micromodem](INFO): Nmea in: $CAREV,115610,AUV,2.1.4000*28

2021-12-04T11:56:10.973Z,1638618970.973 [Micromodem](INFO): Nmea in: $CAREV,115610,COPROC,0.20.0.39330*79

2021-12-04T11:56:10.978Z,1638618970.978 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T11:56:11.384Z,1638618971.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:12.985Z,1638618972.985 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T11:56:14.232Z,1638618974.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:15.009Z,1638618975.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:15.423Z,1638618975.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:15.867Z,1638618975.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.440002 m, bearing: 336.698219 deg, deltaT: 10.055733 s, deltaX: 1.139999 m, approachRate: 0.113368 m/s, LOS rate: 0.072216 deg/s, posRepo size: 4
2021-12-04T11:56:16.256Z,1638618976.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115615.52*5E

2021-12-04T11:56:16.257Z,1638618976.257 [Micromodem](INFO): Nmea in: $CAREV,115616,AUV,2.1.4000*2E

2021-12-04T11:56:16.660Z,1638618976.660 [Micromodem](INFO): Nmea in: $CAREV,115616,COPROC,0.20.0.39330*7F

2021-12-04T11:56:18.695Z,1638618978.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:19.465Z,1638618979.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:19.859Z,1638618979.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:20.291Z,1638618980.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 334.330001 deg, deltaT: 4.424145 s, deltaX: 0.479996 m, approachRate: 0.108495 m/s, LOS rate: -0.535294 deg/s, posRepo size: 4
2021-12-04T11:56:20.736Z,1638618980.736 [Micromodem](INFO): Nmea in: $SNTTA,0.075026,,,,115619.98*4C

2021-12-04T11:56:20.737Z,1638618980.737 [Micromodem](INFO): Nmea in: $CAREV,115621,AUV,2.1.4000*2A

2021-12-04T11:56:20.758Z,1638618980.758 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T11:56:20.758Z,1638618980.758 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T11:56:20.758Z,1638618980.758 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T11:56:20.883Z,1638618980.883 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T11:56:21.092Z,1638618981.092 [Micromodem](INFO): Nmea in: $CAREV,115621,COPROC,0.20.0.39330*7B

2021-12-04T11:56:21.163Z,1638618981.163 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T11:56:21.979Z,1638618981.979 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T11:56:21.979Z,1638618981.979 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T11:56:23.124Z,1638618983.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:23.905Z,1638618983.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:24.319Z,1638618984.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:24.755Z,1638618984.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.580002 m, bearing: 335.719890 deg, deltaT: 4.463129 s, deltaX: 0.660004 m, approachRate: 0.147879 m/s, LOS rate: 0.311416 deg/s, posRepo size: 4
2021-12-04T11:56:25.147Z,1638618985.147 [Micromodem](INFO): Nmea in: $SNTTA,,0.108624,,,115624.42*4A

2021-12-04T11:56:25.148Z,1638618985.148 [Micromodem](INFO): Nmea in: $CAREV,115625,AUV,2.1.4000*2E

2021-12-04T11:56:25.537Z,1638618985.537 [Micromodem](INFO): Nmea in: $CAREV,115625,COPROC,0.20.0.39330*7F

2021-12-04T11:56:27.595Z,1638618987.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:28.341Z,1638618988.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:28.755Z,1638618988.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:29.186Z,1638618989.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 332.617044 deg, deltaT: 4.431087 s, deltaX: 0.480003 m, approachRate: 0.108326 m/s, LOS rate: -0.700245 deg/s, posRepo size: 4
2021-12-04T11:56:29.616Z,1638618989.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115628.86*59

2021-12-04T11:56:29.617Z,1638618989.617 [Micromodem](INFO): Nmea in: $CAREV,115629,AUV,2.1.4000*22

2021-12-04T11:56:29.972Z,1638618989.972 [Micromodem](INFO): Nmea in: $CAREV,115629,COPROC,0.20.0.39330*73

2021-12-04T11:56:31.992Z,1638618991.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:32.789Z,1638618992.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:33.196Z,1638618993.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:33.681Z,1638618993.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.720009 m, bearing: 335.255000 deg, deltaT: 4.494967 s, deltaX: 0.660004 m, approachRate: 0.146832 m/s, LOS rate: 0.586869 deg/s, posRepo size: 4
2021-12-04T11:56:34.033Z,1638618994.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115633.30*5E

2021-12-04T11:56:34.034Z,1638618994.034 [Micromodem](INFO): Nmea in: $CAREV,115634,AUV,2.1.4000*2E

2021-12-04T11:56:34.408Z,1638618994.408 [Micromodem](INFO): Nmea in: $CAREV,115634,COPROC,0.20.0.39330*7F

2021-12-04T11:56:36.471Z,1638618996.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:37.245Z,1638618997.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:37.648Z,1638618997.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:38.079Z,1638618998.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 324.123676 deg, deltaT: 4.397905 s, deltaX: 0.299988 m, approachRate: 0.068212 m/s, LOS rate: -2.531051 deg/s, posRepo size: 4
2021-12-04T11:56:38.476Z,1638618998.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115637.76*58

2021-12-04T11:56:38.477Z,1638618998.477 [Micromodem](INFO): Nmea in: $CAREV,115638,AUV,2.1.4000*22

2021-12-04T11:56:38.876Z,1638618998.876 [Micromodem](INFO): Nmea in: $CAREV,115638,COPROC,0.20.0.39330*73

2021-12-04T11:56:40.888Z,1638619000.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:41.667Z,1638619001.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:42.089Z,1638619002.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:42.528Z,1638619002.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.799995 m, bearing: 335.439934 deg, deltaT: 4.449920 s, deltaX: 0.779999 m, approachRate: 0.175284 m/s, LOS rate: 2.543025 deg/s, posRepo size: 4
2021-12-04T11:56:42.919Z,1638619002.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115642.18*52

2021-12-04T11:56:42.920Z,1638619002.920 [Micromodem](INFO): Nmea in: $CAREV,115643,AUV,2.1.4000*2E

2021-12-04T11:56:43.308Z,1638619003.308 [Micromodem](INFO): Nmea in: $CAREV,115643,COPROC,0.20.0.39330*7F

2021-12-04T11:56:45.347Z,1638619005.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:46.121Z,1638619006.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:46.527Z,1638619006.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:46.953Z,1638619006.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 334.751041 deg, deltaT: 4.422996 s, deltaX: 0.420006 m, approachRate: 0.094960 m/s, LOS rate: -0.155753 deg/s, posRepo size: 4
2021-12-04T11:56:47.360Z,1638619007.360 [Micromodem](INFO): Nmea in: $SNTTA,0.086157,,,,115646.63*49

2021-12-04T11:56:47.361Z,1638619007.361 [Micromodem](INFO): Nmea in: $CAREV,115647,AUV,2.1.4000*2A

2021-12-04T11:56:47.748Z,1638619007.748 [Micromodem](INFO): Nmea in: $CAREV,115647,COPROC,0.20.0.39330*7B

2021-12-04T11:56:49.811Z,1638619009.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:50.561Z,1638619010.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:50.971Z,1638619010.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:51.430Z,1638619011.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.000008 m, bearing: 338.380549 deg, deltaT: 4.477936 s, deltaX: 0.780006 m, approachRate: 0.174189 m/s, LOS rate: 0.810531 deg/s, posRepo size: 4
2021-12-04T11:56:51.789Z,1638619011.789 [Micromodem](INFO): Nmea in: $SNTTA,0.095375,0.392296,,,115651.07*56

2021-12-04T11:56:51.790Z,1638619011.790 [Micromodem](INFO): Nmea in: $CAREV,115651,AUV,2.1.4000*2D

2021-12-04T11:56:52.192Z,1638619012.192 [Micromodem](INFO): Nmea in: $CAREV,115651,COPROC,0.20.0.39330*7C

2021-12-04T11:56:54.218Z,1638619014.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:55.021Z,1638619015.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:55.436Z,1638619015.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:56:55.878Z,1638619015.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.479996 m, bearing: 334.135368 deg, deltaT: 4.448156 s, deltaX: 0.479988 m, approachRate: 0.107907 m/s, LOS rate: -0.954369 deg/s, posRepo size: 4
2021-12-04T11:56:56.252Z,1638619016.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115655.53*5B

2021-12-04T11:56:56.253Z,1638619016.253 [Micromodem](INFO): Nmea in: $CAREV,115656,AUV,2.1.4000*2A

2021-12-04T11:56:56.640Z,1638619016.640 [Micromodem](INFO): Nmea in: $CAREV,115656,COPROC,0.20.0.39330*7B

2021-12-04T11:56:58.674Z,1638619018.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:56:59.454Z,1638619019.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:56:59.856Z,1638619019.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:00.299Z,1638619020.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.139999 m, bearing: 336.873591 deg, deltaT: 4.417762 s, deltaX: 0.660004 m, approachRate: 0.149398 m/s, LOS rate: 0.619821 deg/s, posRepo size: 4
2021-12-04T11:57:00.712Z,1638619020.712 [Micromodem](INFO): Nmea in: $SNTTA,0.078168,,,,115659.97*41

2021-12-04T11:57:00.713Z,1638619020.713 [Micromodem](INFO): Nmea in: $CAREV,115701,AUV,2.1.4000*29

2021-12-04T11:57:01.080Z,1638619021.080 [Micromodem](INFO): Nmea in: $CAREV,115701,COPROC,0.20.0.39330*78

2021-12-04T11:57:03.112Z,1638619023.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:03.897Z,1638619023.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:04.304Z,1638619024.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:04.740Z,1638619024.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 329.504090 deg, deltaT: 4.444808 s, deltaX: 0.779999 m, approachRate: 0.175485 m/s, LOS rate: -1.658002 deg/s, posRepo size: 4
2021-12-04T11:57:05.144Z,1638619025.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115704.41*5D

2021-12-04T11:57:05.145Z,1638619025.145 [Micromodem](INFO): Nmea in: $CAREV,115705,AUV,2.1.4000*2D

2021-12-04T11:57:05.535Z,1638619025.535 [Micromodem](INFO): Nmea in: $CAREV,115705,COPROC,0.20.0.39330*7C

2021-12-04T11:57:07.594Z,1638619027.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:08.337Z,1638619028.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:08.740Z,1638619028.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:09.170Z,1638619029.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.519997 m, bearing: 330.602302 deg, deltaT: 4.429463 s, deltaX: 0.599998 m, approachRate: 0.135456 m/s, LOS rate: 0.247934 deg/s, posRepo size: 4
2021-12-04T11:57:09.604Z,1638619029.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115708.85*59

2021-12-04T11:57:09.605Z,1638619029.605 [Micromodem](INFO): Nmea in: $CAREV,115709,AUV,2.1.4000*21

2021-12-04T11:57:09.964Z,1638619029.964 [Micromodem](INFO): Nmea in: $CAREV,115709,COPROC,0.20.0.39330*70

2021-12-04T11:57:11.988Z,1638619031.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:12.789Z,1638619032.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:13.191Z,1638619033.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:13.700Z,1638619033.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.119995 m, bearing: 327.475961 deg, deltaT: 4.526390 s, deltaX: 0.599998 m, approachRate: 0.132556 m/s, LOS rate: -0.690692 deg/s, posRepo size: 4
2021-12-04T11:57:14.028Z,1638619034.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115713.30*5D

2021-12-04T11:57:14.029Z,1638619034.029 [Micromodem](INFO): Nmea in: $CAREV,115714,AUV,2.1.4000*2D

2021-12-04T11:57:14.424Z,1638619034.424 [Micromodem](INFO): Nmea in: $CAREV,115714,COPROC,0.20.0.39330*7C

2021-12-04T11:57:16.466Z,1638619036.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:17.229Z,1638619037.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:17.643Z,1638619037.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:18.094Z,1638619038.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.540001 m, bearing: 333.555293 deg, deltaT: 4.387551 s, deltaX: 0.420006 m, approachRate: 0.095727 m/s, LOS rate: 1.385587 deg/s, posRepo size: 4
2021-12-04T11:57:18.464Z,1638619038.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115717.74*59

2021-12-04T11:57:18.465Z,1638619038.465 [Micromodem](INFO): Nmea in: $CAREV,115718,AUV,2.1.4000*21

2021-12-04T11:57:18.852Z,1638619038.852 [Micromodem](INFO): Nmea in: $CAREV,115718,COPROC,0.20.0.39330*70

2021-12-04T11:57:20.877Z,1638619040.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:21.669Z,1638619041.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:22.071Z,1638619042.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:22.528Z,1638619042.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.260002 m, bearing: 336.352256 deg, deltaT: 4.444296 s, deltaX: 0.720001 m, approachRate: 0.162006 m/s, LOS rate: 0.629338 deg/s, posRepo size: 4
2021-12-04T11:57:22.917Z,1638619042.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115722.18*55

2021-12-04T11:57:22.919Z,1638619042.919 [Micromodem](INFO): Nmea in: $CAREV,115723,AUV,2.1.4000*29

2021-12-04T11:57:23.296Z,1638619043.296 [Micromodem](INFO): Nmea in: $CAREV,115723,COPROC,0.20.0.39330*78

2021-12-04T11:57:25.328Z,1638619045.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:26.130Z,1638619046.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:26.527Z,1638619046.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:26.963Z,1638619046.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.860001 m, bearing: 337.280424 deg, deltaT: 4.429610 s, deltaX: 0.599998 m, approachRate: 0.135452 m/s, LOS rate: 0.209537 deg/s, posRepo size: 4
2021-12-04T11:57:27.353Z,1638619047.353 [Micromodem](INFO): Nmea in: $SNTTA,0.083490,,,,115726.64*42

2021-12-04T11:57:27.354Z,1638619047.354 [Micromodem](INFO): Nmea in: $CAREV,115727,AUV,2.1.4000*2D

2021-12-04T11:57:27.748Z,1638619047.748 [Micromodem](INFO): Nmea in: $CAREV,115727,COPROC,0.20.0.39330*7C

2021-12-04T11:57:29.818Z,1638619049.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:30.558Z,1638619050.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:30.980Z,1638619050.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:31.430Z,1638619051.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.399994 m, bearing: 346.086669 deg, deltaT: 4.468432 s, deltaX: 0.539993 m, approachRate: 0.120846 m/s, LOS rate: 1.970768 deg/s, posRepo size: 4
2021-12-04T11:57:31.808Z,1638619051.808 [Micromodem](INFO): Nmea in: $SNTTA,0.089045,,,,115731.07*47

2021-12-04T11:57:31.809Z,1638619051.809 [Micromodem](INFO): Nmea in: $CAREV,115732,AUV,2.1.4000*29

2021-12-04T11:57:32.188Z,1638619052.188 [Micromodem](INFO): Nmea in: $CAREV,115732,COPROC,0.20.0.39330*78

2021-12-04T11:57:34.224Z,1638619054.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:35.002Z,1638619055.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:35.435Z,1638619055.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:35.892Z,1638619055.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.879997 m, bearing: 340.467418 deg, deltaT: 4.466023 s, deltaX: 0.480003 m, approachRate: 0.107479 m/s, LOS rate: -1.258223 deg/s, posRepo size: 4
2021-12-04T11:57:36.240Z,1638619056.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115735.51*5E

2021-12-04T11:57:36.241Z,1638619056.241 [Micromodem](INFO): Nmea in: $CAREV,115736,AUV,2.1.4000*2D

2021-12-04T11:57:36.628Z,1638619056.628 [Micromodem](INFO): Nmea in: $CAREV,115736,COPROC,0.20.0.39330*7C

2021-12-04T11:57:38.665Z,1638619058.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:39.453Z,1638619059.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:39.861Z,1638619059.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:40.296Z,1638619060.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.600006 m, bearing: 343.485159 deg, deltaT: 4.403907 s, deltaX: 0.720009 m, approachRate: 0.163493 m/s, LOS rate: 0.685242 deg/s, posRepo size: 4
2021-12-04T11:57:40.766Z,1638619060.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115739.97*58

2021-12-04T11:57:40.780Z,1638619060.780 [Micromodem](INFO): Nmea in: $CAREV,115741,AUV,2.1.4000*2D

2021-12-04T11:57:41.072Z,1638619061.072 [Micromodem](INFO): Nmea in: $CAREV,115741,COPROC,0.20.0.39330*7C

2021-12-04T11:57:43.105Z,1638619063.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:43.885Z,1638619063.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:44.299Z,1638619064.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:44.741Z,1638619064.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.259995 m, bearing: 342.804271 deg, deltaT: 4.444951 s, deltaX: 0.659988 m, approachRate: 0.148480 m/s, LOS rate: -0.153182 deg/s, posRepo size: 4
2021-12-04T11:57:45.140Z,1638619065.140 [Micromodem](INFO): Nmea in: $SNTTA,0.095000,,,,115744.40*4A

2021-12-04T11:57:45.141Z,1638619065.141 [Micromodem](INFO): Nmea in: $CAREV,115745,AUV,2.1.4000*29

2021-12-04T11:57:45.519Z,1638619065.519 [Micromodem](INFO): Nmea in: $CAREV,115745,COPROC,0.20.0.39330*78

2021-12-04T11:57:47.597Z,1638619067.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:48.333Z,1638619068.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:48.751Z,1638619068.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:49.187Z,1638619069.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.680000 m, bearing: 350.009356 deg, deltaT: 4.442273 s, deltaX: 0.420006 m, approachRate: 0.094547 m/s, LOS rate: 1.621936 deg/s, posRepo size: 4
2021-12-04T11:57:49.600Z,1638619069.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115748.85*5D

2021-12-04T11:57:49.601Z,1638619069.601 [Micromodem](INFO): Nmea in: $CAREV,115749,AUV,2.1.4000*25

2021-12-04T11:57:49.964Z,1638619069.964 [Micromodem](INFO): Nmea in: $CAREV,115749,COPROC,0.20.0.39330*74

2021-12-04T11:57:51.992Z,1638619071.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:52.781Z,1638619072.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:53.187Z,1638619073.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:53.675Z,1638619073.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.279999 m, bearing: 349.938131 deg, deltaT: 4.492049 s, deltaX: 0.599998 m, approachRate: 0.133569 m/s, LOS rate: -0.015856 deg/s, posRepo size: 4
2021-12-04T11:57:54.016Z,1638619074.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115753.29*51

2021-12-04T11:57:54.017Z,1638619074.017 [Micromodem](INFO): Nmea in: $CAREV,115754,AUV,2.1.4000*29

2021-12-04T11:57:54.412Z,1638619074.412 [Micromodem](INFO): Nmea in: $CAREV,115754,COPROC,0.20.0.39330*78

2021-12-04T11:57:56.479Z,1638619076.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:57:57.225Z,1638619077.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:57:57.633Z,1638619077.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:57:58.073Z,1638619078.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.880005 m, bearing: 336.237755 deg, deltaT: 4.398142 s, deltaX: 0.600006 m, approachRate: 0.136423 m/s, LOS rate: -3.115037 deg/s, posRepo size: 4
2021-12-04T11:57:58.471Z,1638619078.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115757.74*5D

2021-12-04T11:57:58.472Z,1638619078.472 [Micromodem](INFO): Nmea in: $CAREV,115758,AUV,2.1.4000*25

2021-12-04T11:57:58.852Z,1638619078.852 [Micromodem](INFO): Nmea in: $CAREV,115758,COPROC,0.20.0.39330*74

2021-12-04T11:58:00.883Z,1638619080.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:01.669Z,1638619081.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:02.074Z,1638619082.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:02.519Z,1638619082.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.480003 m, bearing: 344.485782 deg, deltaT: 4.445865 s, deltaX: 0.599998 m, approachRate: 0.134957 m/s, LOS rate: 1.855213 deg/s, posRepo size: 4
2021-12-04T11:58:02.916Z,1638619082.916 [Micromodem](INFO): Nmea in: $SNTTA,0.090487,,,,115802.18*44

2021-12-04T11:58:02.917Z,1638619082.917 [Micromodem](INFO): Nmea in: $CAREV,115803,AUV,2.1.4000*24

2021-12-04T11:58:03.292Z,1638619083.292 [Micromodem](INFO): Nmea in: $CAREV,115803,COPROC,0.20.0.39330*75

2021-12-04T11:58:05.326Z,1638619085.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:06.105Z,1638619086.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:06.516Z,1638619086.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:06.943Z,1638619086.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.199997 m, bearing: 50.482485 deg, deltaT: 4.424221 s, deltaX: 0.719994 m, approachRate: 0.162739 m/s, LOS rate: 14.917133 deg/s, posRepo size: 4
2021-12-04T11:58:07.348Z,1638619087.348 [Micromodem](INFO): Nmea in: $SNTTA,0.087181,,,,115806.62*48

2021-12-04T11:58:07.349Z,1638619087.349 [Micromodem](INFO): Nmea in: $CAREV,115807,AUV,2.1.4000*20

2021-12-04T11:58:07.748Z,1638619087.748 [Micromodem](INFO): Nmea in: $CAREV,115807,COPROC,0.20.0.39330*71

2021-12-04T11:58:09.798Z,1638619089.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:10.557Z,1638619090.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:10.967Z,1638619090.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:11.429Z,1638619091.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.220001 m, bearing: 29.521461 deg, deltaT: 4.481203 s, deltaX: 1.020004 m, approachRate: 0.227618 m/s, LOS rate: -4.677544 deg/s, posRepo size: 4
2021-12-04T11:58:11.801Z,1638619091.801 [Micromodem](INFO): Nmea in: $SNTTA,0.112797,,,,115811.07*41

2021-12-04T11:58:11.802Z,1638619091.802 [Micromodem](INFO): Nmea in: $CAREV,115812,AUV,2.1.4000*24

2021-12-04T11:58:12.184Z,1638619092.184 [Micromodem](INFO): Nmea in: $CAREV,115812,COPROC,0.20.0.39330*75

2021-12-04T11:58:14.211Z,1638619094.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:15.001Z,1638619095.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:15.427Z,1638619095.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:15.856Z,1638619095.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.520004 m, bearing: 44.623228 deg, deltaT: 4.431553 s, deltaX: 0.300003 m, approachRate: 0.067697 m/s, LOS rate: 3.407782 deg/s, posRepo size: 4
2021-12-04T11:58:16.244Z,1638619096.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115815.52*50

2021-12-04T11:58:16.245Z,1638619096.245 [Micromodem](INFO): Nmea in: $CAREV,115816,AUV,2.1.4000*20

2021-12-04T11:58:16.628Z,1638619096.628 [Micromodem](INFO): Nmea in: $CAREV,115816,COPROC,0.20.0.39330*71

2021-12-04T11:58:18.662Z,1638619098.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:19.446Z,1638619099.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:19.864Z,1638619099.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:20.294Z,1638619100.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.880005 m, bearing: 47.978746 deg, deltaT: 4.418553 s, deltaX: 0.360001 m, approachRate: 0.081475 m/s, LOS rate: 0.759416 deg/s, posRepo size: 4
2021-12-04T11:58:20.680Z,1638619100.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115819.96*54

2021-12-04T11:58:20.681Z,1638619100.681 [Micromodem](INFO): Nmea in: $CAREV,115821,AUV,2.1.4000*24

2021-12-04T11:58:21.072Z,1638619101.072 [Micromodem](INFO): Nmea in: $CAREV,115821,COPROC,0.20.0.39330*75

2021-12-04T11:58:23.109Z,1638619103.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:23.894Z,1638619103.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:24.297Z,1638619104.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:24.743Z,1638619104.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.360008 m, bearing: 51.730507 deg, deltaT: 4.467297 s, deltaX: 0.480003 m, approachRate: 0.107448 m/s, LOS rate: 0.839828 deg/s, posRepo size: 4
2021-12-04T11:58:25.128Z,1638619105.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115824.41*50

2021-12-04T11:58:25.129Z,1638619105.129 [Micromodem](INFO): Nmea in: $CAREV,115825,AUV,2.1.4000*20

2021-12-04T11:58:25.519Z,1638619105.519 [Micromodem](INFO): Nmea in: $CAREV,115825,COPROC,0.20.0.39330*71

2021-12-04T11:58:27.596Z,1638619107.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:28.333Z,1638619108.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:28.752Z,1638619108.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:29.181Z,1638619109.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.960007 m, bearing: 52.058165 deg, deltaT: 4.438800 s, deltaX: 0.599998 m, approachRate: 0.135171 m/s, LOS rate: 0.073817 deg/s, posRepo size: 4
2021-12-04T11:58:29.596Z,1638619109.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115828.85*54

2021-12-04T11:58:29.598Z,1638619109.598 [Micromodem](INFO): Nmea in: $CAREV,115829,AUV,2.1.4000*2C

2021-12-04T11:58:29.956Z,1638619109.956 [Micromodem](INFO): Nmea in: $CAREV,115829,COPROC,0.20.0.39330*7D

2021-12-04T11:58:31.676Z,1638619111.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:32.379Z,1638619112.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:32.783Z,1638619112.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:33.205Z,1638619113.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.439995 m, bearing: 51.446228 deg, deltaT: 4.023951 s, deltaX: 0.479988 m, approachRate: 0.119283 m/s, LOS rate: -0.152074 deg/s, posRepo size: 4
2021-12-04T11:58:33.628Z,1638619113.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115832.89*53

2021-12-04T11:58:33.630Z,1638619113.630 [Micromodem](INFO): Nmea in: $CAREV,115833,AUV,2.1.4000*27

2021-12-04T11:58:33.000Z,1638619114.000 [Micromodem](INFO): Nmea in: $CAREV,115833,COPROC,0.20.0.39330*76

2021-12-04T11:58:36.020Z,1638619116.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:36.821Z,1638619116.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:37.223Z,1638619117.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:37.698Z,1638619117.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.800003 m, bearing: 54.273964 deg, deltaT: 4.491156 s, deltaX: 0.360008 m, approachRate: 0.080159 m/s, LOS rate: 0.629623 deg/s, posRepo size: 4
2021-12-04T11:58:38.060Z,1638619118.060 [Micromodem](INFO): Nmea in: $SNTTA,0.083539,,,,115837.34*4A

2021-12-04T11:58:38.061Z,1638619118.061 [Micromodem](INFO): Nmea in: $CAREV,115838,AUV,2.1.4000*2C

2021-12-04T11:58:38.512Z,1638619118.512 [Micromodem](INFO): Nmea in: $CAREV,115838,COPROC,0.20.0.39330*7D

2021-12-04T11:58:40.470Z,1638619120.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:41.261Z,1638619121.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:41.670Z,1638619121.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:42.101Z,1638619122.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.400002 m, bearing: 54.330917 deg, deltaT: 4.405404 s, deltaX: 0.599998 m, approachRate: 0.136196 m/s, LOS rate: 0.012928 deg/s, posRepo size: 4
2021-12-04T11:58:42.508Z,1638619122.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115841.77*56

2021-12-04T11:58:42.509Z,1638619122.509 [Micromodem](INFO): Nmea in: $CAREV,115842,AUV,2.1.4000*21

2021-12-04T11:58:42.892Z,1638619122.892 [Micromodem](INFO): Nmea in: $CAREV,115842,COPROC,0.20.0.39330*70

2021-12-04T11:58:44.916Z,1638619124.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:45.705Z,1638619125.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:46.107Z,1638619126.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:46.544Z,1638619126.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.360001 m, bearing: 49.987549 deg, deltaT: 4.442377 s, deltaX: 0.959999 m, approachRate: 0.216100 m/s, LOS rate: -0.977713 deg/s, posRepo size: 4
2021-12-04T11:58:46.952Z,1638619126.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115846.22*51

2021-12-04T11:58:46.953Z,1638619126.953 [Micromodem](INFO): Nmea in: $CAREV,115847,AUV,2.1.4000*24

2021-12-04T11:58:47.336Z,1638619127.336 [Micromodem](INFO): Nmea in: $CAREV,115847,COPROC,0.20.0.39330*75

2021-12-04T11:58:49.357Z,1638619129.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:50.149Z,1638619130.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:50.563Z,1638619130.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:50.997Z,1638619130.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.720001 m, bearing: 36.659934 deg, deltaT: 4.453202 s, deltaX: 0.360001 m, approachRate: 0.080841 m/s, LOS rate: -2.992816 deg/s, posRepo size: 4
2021-12-04T11:58:51.398Z,1638619131.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115850.66*56

2021-12-04T11:58:51.400Z,1638619131.400 [Micromodem](INFO): Nmea in: $CAREV,115851,AUV,2.1.4000*23

2021-12-04T11:58:51.780Z,1638619131.780 [Micromodem](INFO): Nmea in: $CAREV,115851,COPROC,0.20.0.39330*72

2021-12-04T11:58:53.823Z,1638619133.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:54.597Z,1638619134.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:55.003Z,1638619135.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:55.456Z,1638619135.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.260002 m, bearing: 49.306179 deg, deltaT: 4.459625 s, deltaX: 0.540001 m, approachRate: 0.121087 m/s, LOS rate: 2.835720 deg/s, posRepo size: 4
2021-12-04T11:58:55.852Z,1638619135.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115855.11*53

2021-12-04T11:58:55.853Z,1638619135.853 [Micromodem](INFO): Nmea in: $CAREV,115856,AUV,2.1.4000*24

2021-12-04T11:58:56.216Z,1638619136.216 [Micromodem](INFO): Nmea in: $CAREV,115856,COPROC,0.20.0.39330*75

2021-12-04T11:58:58.253Z,1638619138.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:58:59.037Z,1638619139.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:58:59.443Z,1638619139.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:58:59.890Z,1638619139.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.979996 m, bearing: 60.173707 deg, deltaT: 4.433189 s, deltaX: 0.719994 m, approachRate: 0.162410 m/s, LOS rate: 2.451402 deg/s, posRepo size: 4
2021-12-04T11:59:00.280Z,1638619140.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115859.55*5F

2021-12-04T11:59:00.281Z,1638619140.281 [Micromodem](INFO): Nmea in: $CAREV,115900,AUV,2.1.4000*26

2021-12-04T11:59:00.656Z,1638619140.656 [Micromodem](INFO): Nmea in: $CAREV,115900,COPROC,0.20.0.39330*77

2021-12-04T11:59:02.691Z,1638619142.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:03.481Z,1638619143.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:03.879Z,1638619143.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:04.308Z,1638619144.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.459999 m, bearing: 56.854529 deg, deltaT: 4.418450 s, deltaX: 0.480003 m, approachRate: 0.108636 m/s, LOS rate: -0.751209 deg/s, posRepo size: 4
2021-12-04T11:59:04.716Z,1638619144.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115904.00*56

2021-12-04T11:59:04.717Z,1638619144.717 [Micromodem](INFO): Nmea in: $CAREV,115905,AUV,2.1.4000*23

2021-12-04T11:59:05.116Z,1638619145.116 [Micromodem](INFO): Nmea in: $CAREV,115905,COPROC,0.20.0.39330*72

2021-12-04T11:59:07.128Z,1638619147.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:07.933Z,1638619147.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:08.331Z,1638619148.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:08.781Z,1638619148.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.820000 m, bearing: 64.576235 deg, deltaT: 4.473463 s, deltaX: 0.360001 m, approachRate: 0.080475 m/s, LOS rate: 1.726114 deg/s, posRepo size: 4
2021-12-04T11:59:09.152Z,1638619149.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115908.45*5B

2021-12-04T11:59:09.153Z,1638619149.153 [Micromodem](INFO): Nmea in: $CAREV,115909,AUV,2.1.4000*2F

2021-12-04T11:59:09.593Z,1638619149.593 [Micromodem](INFO): Nmea in: $CAREV,115909,COPROC,0.20.0.39330*7E

2021-12-04T11:59:11.655Z,1638619151.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:12.379Z,1638619152.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:12.792Z,1638619152.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:13.219Z,1638619153.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.419998 m, bearing: 77.680643 deg, deltaT: 4.436854 s, deltaX: 0.599998 m, approachRate: 0.135231 m/s, LOS rate: 2.953536 deg/s, posRepo size: 4
2021-12-04T11:59:13.632Z,1638619153.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115912.89*50

2021-12-04T11:59:13.633Z,1638619153.633 [Micromodem](INFO): Nmea in: $CAREV,115913,AUV,2.1.4000*24

2021-12-04T11:59:14.004Z,1638619154.004 [Micromodem](INFO): Nmea in: $CAREV,115913,COPROC,0.20.0.39330*75

2021-12-04T11:59:16.039Z,1638619156.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:16.824Z,1638619156.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:17.229Z,1638619157.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:17.724Z,1638619157.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.260002 m, bearing: 51.986653 deg, deltaT: 4.501763 s, deltaX: 0.840004 m, approachRate: 0.186594 m/s, LOS rate: -5.707540 deg/s, posRepo size: 4
2021-12-04T11:59:18.060Z,1638619158.060 [Micromodem](INFO): Nmea in: $SNTTA,0.086629,,,,115917.34*4E

2021-12-04T11:59:18.061Z,1638619158.061 [Micromodem](INFO): Nmea in: $CAREV,115918,AUV,2.1.4000*2F

2021-12-04T11:59:18.461Z,1638619158.461 [Micromodem](INFO): Nmea in: $CAREV,115918,COPROC,0.20.0.39330*7E

2021-12-04T11:59:20.477Z,1638619160.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:21.249Z,1638619161.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:21.675Z,1638619161.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:22.099Z,1638619162.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 63.140284 deg, deltaT: 4.378931 s, deltaX: 0.599998 m, approachRate: 0.137019 m/s, LOS rate: 2.547113 deg/s, posRepo size: 4
2021-12-04T11:59:22.502Z,1638619162.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115921.76*50

2021-12-04T11:59:22.504Z,1638619162.504 [Micromodem](INFO): Nmea in: $CAREV,115922,AUV,2.1.4000*26

2021-12-04T11:59:22.876Z,1638619162.876 [Micromodem](INFO): Nmea in: $CAREV,115922,COPROC,0.20.0.39330*77

2021-12-04T11:59:24.916Z,1638619164.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:25.701Z,1638619165.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:26.107Z,1638619166.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:26.570Z,1638619166.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.279999 m, bearing: 53.412643 deg, deltaT: 4.459408 s, deltaX: 0.419998 m, approachRate: 0.094182 m/s, LOS rate: -2.181375 deg/s, posRepo size: 4
2021-12-04T11:59:26.936Z,1638619166.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115926.21*55

2021-12-04T11:59:26.937Z,1638619166.937 [Micromodem](INFO): Nmea in: $CAREV,115927,AUV,2.1.4000*23

2021-12-04T11:59:27.332Z,1638619167.332 [Micromodem](INFO): Nmea in: $CAREV,115927,COPROC,0.20.0.39330*72

2021-12-04T11:59:29.384Z,1638619169.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:30.145Z,1638619170.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:30.551Z,1638619170.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:30.999Z,1638619170.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.820007 m, bearing: 31.832950 deg, deltaT: 4.440073 s, deltaX: 0.540009 m, approachRate: 0.121622 m/s, LOS rate: -4.860211 deg/s, posRepo size: 4
2021-12-04T11:59:31.400Z,1638619171.400 [Micromodem](INFO): Nmea in: $SNTTA,0.092998,,,,115930.66*4C

2021-12-04T11:59:31.401Z,1638619171.401 [Micromodem](INFO): Nmea in: $CAREV,115931,AUV,2.1.4000*24

2021-12-04T11:59:31.776Z,1638619171.776 [Micromodem](INFO): Nmea in: $CAREV,115931,COPROC,0.20.0.39330*75

2021-12-04T11:59:33.819Z,1638619173.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:34.590Z,1638619174.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:34.998Z,1638619174.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:35.445Z,1638619175.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 41.598106 deg, deltaT: 4.446684 s, deltaX: 0.779999 m, approachRate: 0.175411 m/s, LOS rate: 2.196054 deg/s, posRepo size: 4
2021-12-04T11:59:35.864Z,1638619175.864 [Micromodem](INFO): Nmea in: $SNTTA,0.088282,,,,115935.11*42

2021-12-04T11:59:35.865Z,1638619175.865 [Micromodem](INFO): Nmea in: $CAREV,115936,AUV,2.1.4000*23

2021-12-04T11:59:36.212Z,1638619176.212 [Micromodem](INFO): Nmea in: $CAREV,115936,COPROC,0.20.0.39330*72

2021-12-04T11:59:38.248Z,1638619178.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:39.036Z,1638619179.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:39.455Z,1638619179.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:39.890Z,1638619179.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.559998 m, bearing: 59.099639 deg, deltaT: 4.444934 s, deltaX: 0.959991 m, approachRate: 0.215974 m/s, LOS rate: 3.937411 deg/s, posRepo size: 4
2021-12-04T11:59:40.272Z,1638619180.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115939.55*58

2021-12-04T11:59:40.273Z,1638619180.273 [Micromodem](INFO): Nmea in: $CAREV,115940,AUV,2.1.4000*22

2021-12-04T11:59:40.661Z,1638619180.661 [Micromodem](INFO): Nmea in: $CAREV,115940,COPROC,0.20.0.39330*73

2021-12-04T11:59:42.699Z,1638619182.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:43.477Z,1638619183.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:43.891Z,1638619183.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:44.308Z,1638619184.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.040009 m, bearing: 64.339433 deg, deltaT: 4.417549 s, deltaX: 0.480011 m, approachRate: 0.108660 m/s, LOS rate: 1.186131 deg/s, posRepo size: 4
2021-12-04T11:59:44.720Z,1638619184.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115943.99*55

2021-12-04T11:59:44.721Z,1638619184.721 [Micromodem](INFO): Nmea in: $CAREV,115945,AUV,2.1.4000*27

2021-12-04T11:59:45.104Z,1638619185.104 [Micromodem](INFO): Nmea in: $CAREV,115945,COPROC,0.20.0.39330*76

2021-12-04T11:59:47.137Z,1638619187.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:47.921Z,1638619187.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:48.335Z,1638619188.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:49.149Z,1638619189.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115948.44*5E

2021-12-04T11:59:49.150Z,1638619189.150 [Micromodem](INFO): Nmea in: $CAREV,115949,AUV,2.1.4000*2B

2021-12-04T11:59:49.556Z,1638619189.556 [Micromodem](INFO): Nmea in: $CAREV,115949,COPROC,0.20.0.39330*7A

2021-12-04T11:59:50.002Z,1638619190.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 866.400024 m, bearing: 72.267882 deg, deltaT: 5.678225 s, deltaX: 735.359985 m, approachRate: 129.505249 m/s, posRepo size: 4
2021-12-04T11:59:52.781Z,1638619192.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:53.605Z,1638619193.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:53.975Z,1638619193.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:54.443Z,1638619194.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.000000 m, bearing: 52.279825 deg, deltaT: 10.135253 s, deltaX: 0.959991 m, approachRate: 0.094718 m/s, LOS rate: -1.189867 deg/s, posRepo size: 4
2021-12-04T11:59:54.812Z,1638619194.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115954.12*50

2021-12-04T11:59:54.813Z,1638619194.813 [Micromodem](INFO): Nmea in: $CAREV,115955,AUV,2.1.4000*26

2021-12-04T11:59:55.205Z,1638619195.205 [Micromodem](INFO): Nmea in: $CAREV,115955,COPROC,0.20.0.39330*77

2021-12-04T11:59:57.224Z,1638619197.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T11:59:58.021Z,1638619198.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T11:59:58.443Z,1638619198.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T11:59:58.870Z,1638619198.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.960007 m, bearing: 70.122622 deg, deltaT: 4.426372 s, deltaX: 0.960007 m, approachRate: 0.216883 m/s, LOS rate: 4.031021 deg/s, posRepo size: 4
2021-12-04T11:59:59.268Z,1638619199.268 [Micromodem](INFO): Nmea in: $SNTTA,0.095578,,,,115958.53*41

2021-12-04T11:59:59.269Z,1638619199.269 [Micromodem](INFO): Nmea in: $CAREV,115959,AUV,2.1.4000*2A

2021-12-04T11:59:59.652Z,1638619199.652 [Micromodem](INFO): Nmea in: $CAREV,115959,COPROC,0.20.0.39330*7B

2021-12-04T12:00:01.709Z,1638619201.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:02.466Z,1638619202.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:02.874Z,1638619202.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:03.306Z,1638619203.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.080002 m, bearing: 62.529794 deg, deltaT: 4.436546 s, deltaX: 0.119995 m, approachRate: 0.027047 m/s, LOS rate: -1.711428 deg/s, posRepo size: 4
2021-12-04T12:00:03.704Z,1638619203.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120002.98*5E

2021-12-04T12:00:03.705Z,1638619203.705 [Micromodem](INFO): Nmea in: $CAREV,120004,AUV,2.1.4000*2D

2021-12-04T12:00:04.100Z,1638619204.100 [Micromodem](INFO): Nmea in: $CAREV,120004,COPROC,0.20.0.39330*7C

2021-12-04T12:00:06.112Z,1638619206.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:06.909Z,1638619206.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:07.330Z,1638619207.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:07.777Z,1638619207.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.800003 m, bearing: 65.227562 deg, deltaT: 4.471391 s, deltaX: 0.720001 m, approachRate: 0.161024 m/s, LOS rate: 0.603340 deg/s, posRepo size: 4
2021-12-04T12:00:08.157Z,1638619208.157 [Micromodem](INFO): Nmea in: $SNTTA,0.096531,,,,120007.42*4A

2021-12-04T12:00:08.158Z,1638619208.158 [Micromodem](INFO): Nmea in: $CAREV,120008,AUV,2.1.4000*21

2021-12-04T12:00:08.540Z,1638619208.540 [Micromodem](INFO): Nmea in: $CAREV,120008,COPROC,0.20.0.39330*70

2021-12-04T12:00:10.588Z,1638619210.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:11.363Z,1638619211.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:11.756Z,1638619211.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:12.213Z,1638619212.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.279999 m, bearing: 58.053056 deg, deltaT: 4.430466 s, deltaX: 0.479996 m, approachRate: 0.108340 m/s, LOS rate: -1.619357 deg/s, posRepo size: 4
2021-12-04T12:00:15.000Z,1638619215.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:15.797Z,1638619215.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:16.200Z,1638619216.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:16.651Z,1638619216.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.880005 m, bearing: 63.646298 deg, deltaT: 4.442531 s, deltaX: 0.600006 m, approachRate: 0.135060 m/s, LOS rate: 1.259021 deg/s, posRepo size: 4
2021-12-04T12:00:17.048Z,1638619217.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120016.32*5B

2021-12-04T12:00:17.049Z,1638619217.049 [Micromodem](INFO): Nmea in: $CAREV,120017,AUV,2.1.4000*2F

2021-12-04T12:00:17.444Z,1638619217.444 [Micromodem](INFO): Nmea in: $CAREV,120017,COPROC,0.20.0.39330*7E

2021-12-04T12:00:19.471Z,1638619219.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:20.241Z,1638619220.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:20.656Z,1638619220.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:21.089Z,1638619221.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.300003 m, bearing: 67.695262 deg, deltaT: 4.434991 s, deltaX: 0.419998 m, approachRate: 0.094701 m/s, LOS rate: 0.912959 deg/s, posRepo size: 4
2021-12-04T12:00:21.476Z,1638619221.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120020.76*5E

2021-12-04T12:00:21.477Z,1638619221.477 [Micromodem](INFO): Nmea in: $CAREV,120021,AUV,2.1.4000*2A

2021-12-04T12:00:21.872Z,1638619221.872 [Micromodem](INFO): Nmea in: $CAREV,120021,COPROC,0.20.0.39330*7B

2021-12-04T12:00:23.915Z,1638619223.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:24.684Z,1638619224.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:25.097Z,1638619225.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:25.593Z,1638619225.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.779999 m, bearing: 66.857375 deg, deltaT: 4.507825 s, deltaX: 0.479996 m, approachRate: 0.106481 m/s, LOS rate: -0.185874 deg/s, posRepo size: 4
2021-12-04T12:00:25.935Z,1638619225.935 [Micromodem](INFO): Nmea in: $SNTTA,,0.125862,,,120025.20*4C

2021-12-04T12:00:25.936Z,1638619225.936 [Micromodem](INFO): Nmea in: $CAREV,120026,AUV,2.1.4000*2D

2021-12-04T12:00:26.316Z,1638619226.316 [Micromodem](INFO): Nmea in: $CAREV,120026,COPROC,0.20.0.39330*7C

2021-12-04T12:00:28.342Z,1638619228.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:29.129Z,1638619229.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:29.572Z,1638619229.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:29.983Z,1638619229.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 65.741267 deg, deltaT: 4.386360 s, deltaX: 0.600006 m, approachRate: 0.136789 m/s, LOS rate: -0.254450 deg/s, posRepo size: 4
2021-12-04T12:00:30.384Z,1638619230.384 [Micromodem](INFO): Nmea in: $SNTTA,0.096515,,,,120029.64*44

2021-12-04T12:00:30.391Z,1638619230.391 [Micromodem](INFO): Nmea in: $CAREV,120030,AUV,2.1.4000*2A

2021-12-04T12:00:30.752Z,1638619230.752 [Micromodem](INFO): Nmea in: $CAREV,120030,COPROC,0.20.0.39330*7B

2021-12-04T12:00:32.777Z,1638619232.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:33.601Z,1638619233.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:33.979Z,1638619233.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:34.419Z,1638619234.419 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:00:34.441Z,1638619234.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.040009 m, bearing: 70.177380 deg, deltaT: 4.461941 s, deltaX: 0.660004 m, approachRate: 0.147919 m/s, LOS rate: 0.994211 deg/s, posRepo size: 4
2021-12-04T12:00:34.808Z,1638619234.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120034.11*5A

2021-12-04T12:00:34.809Z,1638619234.809 [Micromodem](INFO): Nmea in: $CAREV,120035,AUV,2.1.4000*2F

2021-12-04T12:00:35.208Z,1638619235.208 [Micromodem](INFO): Nmea in: $CAREV,120035,COPROC,0.20.0.39330*7E

2021-12-04T12:00:37.220Z,1638619237.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:38.021Z,1638619238.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:38.439Z,1638619238.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:38.872Z,1638619238.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.700012 m, bearing: 79.022591 deg, deltaT: 4.430551 s, deltaX: 0.660004 m, approachRate: 0.148966 m/s, LOS rate: 1.996413 deg/s, posRepo size: 4
2021-12-04T12:00:39.252Z,1638619239.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120038.54*57

2021-12-04T12:00:39.253Z,1638619239.253 [Micromodem](INFO): Nmea in: $CAREV,120039,AUV,2.1.4000*23

2021-12-04T12:00:39.644Z,1638619239.644 [Micromodem](INFO): Nmea in: $CAREV,120039,COPROC,0.20.0.39330*72

2021-12-04T12:00:41.703Z,1638619241.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:42.465Z,1638619242.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:42.867Z,1638619242.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:43.300Z,1638619243.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.240005 m, bearing: 85.806362 deg, deltaT: 4.427583 s, deltaX: 0.539993 m, approachRate: 0.121961 m/s, LOS rate: 1.532161 deg/s, posRepo size: 4
2021-12-04T12:00:43.704Z,1638619243.704 [Micromodem](INFO): Nmea in: $SNTTA,0.094131,0.475431,,,120042.98*54

2021-12-04T12:00:43.705Z,1638619243.705 [Micromodem](INFO): Nmea in: $CAREV,120044,AUV,2.1.4000*29

2021-12-04T12:00:44.088Z,1638619244.088 [Micromodem](INFO): Nmea in: $CAREV,120044,COPROC,0.20.0.39330*78

2021-12-04T12:00:46.115Z,1638619246.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:46.905Z,1638619246.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:47.311Z,1638619247.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:47.791Z,1638619247.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.960007 m, bearing: 83.569229 deg, deltaT: 4.487810 s, deltaX: 0.720001 m, approachRate: 0.160435 m/s, LOS rate: -0.498491 deg/s, posRepo size: 4
2021-12-04T12:00:48.148Z,1638619248.148 [Micromodem](INFO): Nmea in: $SNTTA,,0.092008,,,120047.42*45

2021-12-04T12:00:48.149Z,1638619248.149 [Micromodem](INFO): Nmea in: $CAREV,120048,AUV,2.1.4000*25

2021-12-04T12:00:48.532Z,1638619248.532 [Micromodem](INFO): Nmea in: $CAREV,120048,COPROC,0.20.0.39330*74

2021-12-04T12:00:50.562Z,1638619250.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:51.349Z,1638619251.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:51.763Z,1638619251.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:52.180Z,1638619252.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.379990 m, bearing: 90.737554 deg, deltaT: 4.392396 s, deltaX: 0.419983 m, approachRate: 0.095616 m/s, LOS rate: 1.631985 deg/s, posRepo size: 4
2021-12-04T12:00:52.588Z,1638619252.588 [Micromodem](INFO): Nmea in: $SNTTA,0.092523,,,,120051.86*46

2021-12-04T12:00:52.589Z,1638619252.589 [Micromodem](INFO): Nmea in: $CAREV,120052,AUV,2.1.4000*2E

2021-12-04T12:00:52.976Z,1638619252.976 [Micromodem](INFO): Nmea in: $CAREV,120052,COPROC,0.20.0.39330*7F

2021-12-04T12:00:54.996Z,1638619254.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:00:55.793Z,1638619255.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:00:56.220Z,1638619256.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:00:56.645Z,1638619256.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.039993 m, bearing: 94.828625 deg, deltaT: 4.464915 s, deltaX: 0.660004 m, approachRate: 0.147820 m/s, LOS rate: 0.916271 deg/s, posRepo size: 4
2021-12-04T12:00:59.483Z,1638619259.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:00.250Z,1638619260.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:00.662Z,1638619260.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:00.675Z,1638619260.675 [Micromodem](INFO): Nmea in: ,0.20.0.39330*78

2021-12-04T12:01:00.676Z,1638619260.676 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,0.20.0.39330*78
 expected 0
2021-12-04T12:01:01.104Z,1638619261.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.639999 m, bearing: 96.906280 deg, deltaT: 4.439053 s, deltaX: 0.600006 m, approachRate: 0.135165 m/s, LOS rate: 0.468040 deg/s, posRepo size: 4
2021-12-04T12:01:03.900Z,1638619263.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:04.681Z,1638619264.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:05.100Z,1638619265.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:05.599Z,1638619265.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.239990 m, bearing: 97.593144 deg, deltaT: 4.506882 s, deltaX: 0.599991 m, approachRate: 0.133128 m/s, LOS rate: 0.152403 deg/s, posRepo size: 4
2021-12-04T12:01:05.952Z,1638619265.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120105.19*51

2021-12-04T12:01:05.954Z,1638619265.954 [Micromodem](INFO): Nmea in: $CAREV,120106,AUV,2.1.4000*2E

2021-12-04T12:01:06.300Z,1638619266.300 [Micromodem](INFO): Nmea in: $CAREV,120106,COPROC,0.20.0.39330*7F

2021-12-04T12:01:08.336Z,1638619268.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:09.125Z,1638619269.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:09.570Z,1638619269.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:09.618Z,1638619269.618 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:01:09.988Z,1638619269.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.479996 m, bearing: 94.921352 deg, deltaT: 4.385431 s, deltaX: 0.240005 m, approachRate: 0.054728 m/s, LOS rate: -0.609243 deg/s, posRepo size: 4
2021-12-04T12:01:10.387Z,1638619270.387 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120109.64*57

2021-12-04T12:01:10.395Z,1638619270.395 [Micromodem](INFO): Nmea in: $CAREV,120110,AUV,2.1.4000*29

2021-12-04T12:01:10.828Z,1638619270.828 [Micromodem](INFO): Nmea in: $CAREV,120110,COPROC,0.20.0.39330*78

2021-12-04T12:01:12.783Z,1638619272.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:13.603Z,1638619273.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:13.975Z,1638619273.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:14.453Z,1638619274.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.080002 m, bearing: 94.181636 deg, deltaT: 4.473216 s, deltaX: 0.600006 m, approachRate: 0.134133 m/s, LOS rate: -0.165366 deg/s, posRepo size: 4
2021-12-04T12:01:14.806Z,1638619274.806 [Micromodem](INFO): Nmea in: $SNTTA,,0.100016,,,120114.12*42

2021-12-04T12:01:14.808Z,1638619274.808 [Micromodem](INFO): Nmea in: $CAREV,120115,AUV,2.1.4000*2C

2021-12-04T12:01:15.196Z,1638619275.196 [Micromodem](INFO): Nmea in: $CAREV,120115,COPROC,0.20.0.39330*7D

2021-12-04T12:01:17.212Z,1638619277.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:18.009Z,1638619278.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:18.447Z,1638619278.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:19.241Z,1638619279.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120118.53*53

2021-12-04T12:01:19.242Z,1638619279.242 [Micromodem](INFO): Nmea in: $CAREV,120119,AUV,2.1.4000*20

2021-12-04T12:01:19.622Z,1638619279.622 [Micromodem](INFO): Nmea in: $CAREV,120119,COPROC,0.20.0.39330*71

2021-12-04T12:01:20.052Z,1638619280.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:21.652Z,1638619281.652 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:01:22.872Z,1638619282.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:23.677Z,1638619283.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:23.786Z,1638619283.786 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:01:24.075Z,1638619284.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:24.901Z,1638619284.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120124.19*52

2021-12-04T12:01:24.902Z,1638619284.902 [Micromodem](INFO): Nmea in: $CAREV,120125,AUV,2.1.4000*2F

2021-12-04T12:01:25.292Z,1638619285.292 [Micromodem](INFO): Nmea in: $CAREV,120125,COPROC,0.20.0.39330*7E

2021-12-04T12:01:25.737Z,1638619285.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:27.304Z,1638619287.304 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:01:28.546Z,1638619288.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:29.325Z,1638619289.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:29.727Z,1638619289.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:30.560Z,1638619290.560 [Micromodem](INFO): Nmea in: $SNTTA,0.112614,,,,120129.84*44

2021-12-04T12:01:30.561Z,1638619290.561 [Micromodem](INFO): Nmea in: $CAREV,120130,AUV,2.1.4000*2B

2021-12-04T12:01:30.958Z,1638619290.958 [Micromodem](INFO): Nmea in: $CAREV,120130,COPROC,0.20.0.39330*7A

2021-12-04T12:01:31.400Z,1638619291.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:32.964Z,1638619292.964 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:01:34.190Z,1638619294.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:34.981Z,1638619294.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:35.406Z,1638619295.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:36.209Z,1638619296.209 [Micromodem](INFO): Nmea in: $SNTTA,0.098220,,,,120135.50*40

2021-12-04T12:01:36.211Z,1638619296.211 [Micromodem](INFO): Nmea in: $CAREV,120136,AUV,2.1.4000*2D

2021-12-04T12:01:36.597Z,1638619296.597 [Micromodem](INFO): Nmea in: $CAREV,120136,COPROC,0.20.0.39330*7C

2021-12-04T12:01:37.020Z,1638619297.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:38.619Z,1638619298.619 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:01:39.863Z,1638619299.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:40.637Z,1638619300.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:41.042Z,1638619301.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:41.493Z,1638619301.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 133.681924 deg, deltaT: 27.039218 s, deltaX: 3.480011 m, approachRate: 0.128702 m/s, LOS rate: 1.460852 deg/s, posRepo size: 4
2021-12-04T12:01:41.872Z,1638619301.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120141.15*5D

2021-12-04T12:01:41.873Z,1638619301.873 [Micromodem](INFO): Nmea in: $CAREV,120142,AUV,2.1.4000*2E

2021-12-04T12:01:42.260Z,1638619302.260 [Micromodem](INFO): Nmea in: $CAREV,120142,COPROC,0.20.0.39330*7F

2021-12-04T12:01:44.285Z,1638619304.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:45.085Z,1638619305.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:45.494Z,1638619305.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:45.990Z,1638619305.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.979996 m, bearing: 32.601661 deg, deltaT: 4.501507 s, deltaX: 0.419983 m, approachRate: 0.093298 m/s, LOS rate: -22.454761 deg/s, posRepo size: 4
2021-12-04T12:01:46.319Z,1638619306.319 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120145.60*5B

2021-12-04T12:01:46.320Z,1638619306.320 [Micromodem](INFO): Nmea in: $CAREV,120146,AUV,2.1.4000*2A

2021-12-04T12:01:46.712Z,1638619306.712 [Micromodem](INFO): Nmea in: $CAREV,120146,COPROC,0.20.0.39330*7B

2021-12-04T12:01:48.743Z,1638619308.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:49.539Z,1638619309.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:49.933Z,1638619309.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:50.408Z,1638619310.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.639999 m, bearing: 140.807478 deg, deltaT: 4.414486 s, deltaX: 0.660004 m, approachRate: 0.149509 m/s, LOS rate: 24.511532 deg/s, posRepo size: 4
2021-12-04T12:01:50.768Z,1638619310.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120150.06*5F

2021-12-04T12:01:50.769Z,1638619310.769 [Micromodem](INFO): Nmea in: $CAREV,120151,AUV,2.1.4000*2C

2021-12-04T12:01:51.144Z,1638619311.144 [Micromodem](INFO): Nmea in: $CAREV,120151,COPROC,0.20.0.39330*7D

2021-12-04T12:01:53.185Z,1638619313.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:53.986Z,1638619313.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:54.403Z,1638619314.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:54.817Z,1638619314.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.880005 m, bearing: 145.319624 deg, deltaT: 4.399431 s, deltaX: 0.240005 m, approachRate: 0.054554 m/s, LOS rate: 1.025620 deg/s, posRepo size: 4
2021-12-04T12:01:55.204Z,1638619315.204 [Micromodem](INFO): Nmea in: $SNTTA,0.099905,,,,120154.50*4A

2021-12-04T12:01:55.205Z,1638619315.205 [Micromodem](INFO): Nmea in: $CAREV,120155,AUV,2.1.4000*28

2021-12-04T12:01:55.629Z,1638619315.629 [Micromodem](INFO): Nmea in: $CAREV,120155,COPROC,0.20.0.39330*79

2021-12-04T12:01:57.664Z,1638619317.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:01:58.433Z,1638619318.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:01:58.829Z,1638619318.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:01:59.267Z,1638619319.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.600006 m, bearing: 146.207125 deg, deltaT: 4.462459 s, deltaX: 0.720001 m, approachRate: 0.161346 m/s, LOS rate: 0.198882 deg/s, posRepo size: 4
2021-12-04T12:01:59.649Z,1638619319.649 [Micromodem](INFO): Nmea in: $SNTTA,0.097954,,,,120158.95*45

2021-12-04T12:01:59.650Z,1638619319.650 [Micromodem](INFO): Nmea in: $CAREV,120200,AUV,2.1.4000*2B

2021-12-04T12:02:00.040Z,1638619320.040 [Micromodem](INFO): Nmea in: $CAREV,120200,COPROC,0.20.0.39330*7A

2021-12-04T12:02:02.068Z,1638619322.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:02.865Z,1638619322.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:03.271Z,1638619323.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:03.770Z,1638619323.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.080002 m, bearing: 147.231694 deg, deltaT: 4.501048 s, deltaX: 0.479996 m, approachRate: 0.106641 m/s, LOS rate: 0.227629 deg/s, posRepo size: 4
2021-12-04T12:02:04.104Z,1638619324.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120203.38*57

2021-12-04T12:02:04.105Z,1638619324.105 [Micromodem](INFO): Nmea in: $CAREV,120204,AUV,2.1.4000*2F

2021-12-04T12:02:04.484Z,1638619324.484 [Micromodem](INFO): Nmea in: $CAREV,120204,COPROC,0.20.0.39330*7E

2021-12-04T12:02:06.525Z,1638619326.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:07.300Z,1638619327.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:07.703Z,1638619327.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:08.147Z,1638619328.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.620010 m, bearing: 52.801341 deg, deltaT: 4.367978 s, deltaX: 0.540009 m, approachRate: 0.123629 m/s, LOS rate: -21.618780 deg/s, posRepo size: 4
2021-12-04T12:02:08.548Z,1638619328.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120207.82*52

2021-12-04T12:02:08.549Z,1638619328.549 [Micromodem](INFO): Nmea in: $CAREV,120208,AUV,2.1.4000*23

2021-12-04T12:02:08.936Z,1638619328.936 [Micromodem](INFO): Nmea in: $CAREV,120208,COPROC,0.20.0.39330*72

2021-12-04T12:02:10.980Z,1638619330.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:11.742Z,1638619331.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:12.154Z,1638619332.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:12.598Z,1638619332.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.099991 m, bearing: 47.707492 deg, deltaT: 4.462317 s, deltaX: 0.479980 m, approachRate: 0.107563 m/s, LOS rate: -1.141526 deg/s, posRepo size: 4
2021-12-04T12:02:12.985Z,1638619332.985 [Micromodem](INFO): Nmea in: $SNTTA,0.101792,,,,120212.26*4A

2021-12-04T12:02:12.986Z,1638619332.986 [Micromodem](INFO): Nmea in: $CAREV,120213,AUV,2.1.4000*29

2021-12-04T12:02:13.387Z,1638619333.387 [Micromodem](INFO): Nmea in: $CAREV,120213,COPROC,0.20.0.39330*78

2021-12-04T12:02:15.433Z,1638619335.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:16.189Z,1638619336.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:16.597Z,1638619336.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:17.033Z,1638619337.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.699997 m, bearing: 46.151035 deg, deltaT: 4.435007 s, deltaX: 0.600006 m, approachRate: 0.135289 m/s, LOS rate: -0.350948 deg/s, posRepo size: 4
2021-12-04T12:02:17.444Z,1638619337.444 [Micromodem](INFO): Nmea in: $SNTTA,0.099357,,,,120216.71*41

2021-12-04T12:02:17.445Z,1638619337.445 [Micromodem](INFO): Nmea in: $CAREV,120217,AUV,2.1.4000*2D

2021-12-04T12:02:17.816Z,1638619337.816 [Micromodem](INFO): Nmea in: $CAREV,120217,COPROC,0.20.0.39330*7C

2021-12-04T12:02:19.868Z,1638619339.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:20.633Z,1638619340.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:21.046Z,1638619341.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:21.492Z,1638619341.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.360001 m, bearing: 151.013679 deg, deltaT: 4.454903 s, deltaX: 0.660004 m, approachRate: 0.148152 m/s, LOS rate: 23.538705 deg/s, posRepo size: 4
2021-12-04T12:02:21.875Z,1638619341.875 [Micromodem](INFO): Nmea in: $SNTTA,0.117858,,,,120221.15*44

2021-12-04T12:02:21.876Z,1638619341.876 [Micromodem](INFO): Nmea in: $CAREV,120222,AUV,2.1.4000*2B

2021-12-04T12:02:22.260Z,1638619342.260 [Micromodem](INFO): Nmea in: $CAREV,120222,COPROC,0.20.0.39330*7A

2021-12-04T12:02:24.284Z,1638619344.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:25.077Z,1638619345.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:25.489Z,1638619345.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:25.965Z,1638619345.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.899994 m, bearing: 79.996480 deg, deltaT: 4.477943 s, deltaX: 0.539993 m, approachRate: 0.120590 m/s, LOS rate: -15.859336 deg/s, posRepo size: 4
2021-12-04T12:02:26.320Z,1638619346.320 [Micromodem](INFO): Nmea in: $SNTTA,0.111304,,,,120225.59*4C

2021-12-04T12:02:26.321Z,1638619346.321 [Micromodem](INFO): Nmea in: $CAREV,120226,AUV,2.1.4000*2F

2021-12-04T12:02:26.700Z,1638619346.700 [Micromodem](INFO): Nmea in: $CAREV,120226,COPROC,0.20.0.39330*7E

2021-12-04T12:02:28.743Z,1638619348.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:29.552Z,1638619349.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:29.927Z,1638619349.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:30.795Z,1638619350.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.320007 m, bearing: 142.646438 deg, deltaT: 4.828842 s, deltaX: 0.420013 m, approachRate: 0.086980 m/s, LOS rate: 12.974116 deg/s, posRepo size: 4
2021-12-04T12:02:31.144Z,1638619351.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120230.09*55

2021-12-04T12:02:31.145Z,1638619351.145 [Micromodem](INFO): Nmea in: $CAREV,120231,AUV,2.1.4000*29

2021-12-04T12:02:31.572Z,1638619351.572 [Micromodem](INFO): Nmea in: $CAREV,120231,COPROC,0.20.0.39330*78

2021-12-04T12:02:31.595Z,1638619351.595 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-12-04T12:02:33.642Z,1638619353.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:34.379Z,1638619354.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:34.775Z,1638619354.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:35.207Z,1638619355.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.980011 m, bearing: 80.424733 deg, deltaT: 4.412182 s, deltaX: 0.660004 m, approachRate: 0.149587 m/s, LOS rate: -14.102252 deg/s, posRepo size: 4
2021-12-04T12:02:35.624Z,1638619355.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120234.89*59

2021-12-04T12:02:35.625Z,1638619355.625 [Micromodem](INFO): Nmea in: $CAREV,120235,AUV,2.1.4000*2D

2021-12-04T12:02:36.004Z,1638619356.004 [Micromodem](INFO): Nmea in: $CAREV,120235,COPROC,0.20.0.39330*7C

2021-12-04T12:02:38.028Z,1638619358.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:38.827Z,1638619358.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:39.227Z,1638619359.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:39.692Z,1638619359.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.580002 m, bearing: 145.285200 deg, deltaT: 4.485268 s, deltaX: 0.599991 m, approachRate: 0.133769 m/s, LOS rate: 14.460779 deg/s, posRepo size: 4
2021-12-04T12:02:40.048Z,1638619360.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120239.35*53

2021-12-04T12:02:40.049Z,1638619360.049 [Micromodem](INFO): Nmea in: $CAREV,120240,AUV,2.1.4000*2F

2021-12-04T12:02:40.464Z,1638619360.464 [Micromodem](INFO): Nmea in: $CAREV,120240,COPROC,0.20.0.39330*7E

2021-12-04T12:02:42.470Z,1638619362.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:43.261Z,1638619363.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:43.684Z,1638619363.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:44.091Z,1638619364.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.300018 m, bearing: 141.980522 deg, deltaT: 4.399264 s, deltaX: 0.720016 m, approachRate: 0.163667 m/s, LOS rate: -0.751189 deg/s, posRepo size: 4
2021-12-04T12:02:44.504Z,1638619364.504 [Micromodem](INFO): Nmea in: $SNTTA,0.034585,,,,120243.78*46

2021-12-04T12:02:44.505Z,1638619364.505 [Micromodem](INFO): Nmea in: $CAREV,120244,AUV,2.1.4000*2B

2021-12-04T12:02:44.896Z,1638619364.896 [Micromodem](INFO): Nmea in: $CAREV,120244,COPROC,0.20.0.39330*7A

2021-12-04T12:02:46.934Z,1638619366.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:47.710Z,1638619367.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:48.107Z,1638619368.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:48.565Z,1638619368.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.779999 m, bearing: 137.093494 deg, deltaT: 4.470196 s, deltaX: 0.479980 m, approachRate: 0.107373 m/s, LOS rate: -1.093247 deg/s, posRepo size: 4
2021-12-04T12:02:48.944Z,1638619368.944 [Micromodem](INFO): Nmea in: $SNTTA,0.104485,,,,120248.23*40

2021-12-04T12:02:48.945Z,1638619368.945 [Micromodem](INFO): Nmea in: $CAREV,120249,AUV,2.1.4000*26

2021-12-04T12:02:49.352Z,1638619369.352 [Micromodem](INFO): Nmea in: $CAREV,120249,COPROC,0.20.0.39330*77

2021-12-04T12:02:51.373Z,1638619371.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:52.145Z,1638619372.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:52.561Z,1638619372.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:52.994Z,1638619372.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.020004 m, bearing: 132.379953 deg, deltaT: 4.428692 s, deltaX: 0.240005 m, approachRate: 0.054193 m/s, LOS rate: -1.064319 deg/s, posRepo size: 4
2021-12-04T12:02:53.398Z,1638619373.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120252.66*58

2021-12-04T12:02:53.399Z,1638619373.399 [Micromodem](INFO): Nmea in: $CAREV,120253,AUV,2.1.4000*2D

2021-12-04T12:02:53.769Z,1638619373.769 [Micromodem](INFO): Nmea in: $CAREV,120253,COPROC,0.20.0.39330*7C

2021-12-04T12:02:55.824Z,1638619375.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:02:56.589Z,1638619376.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:02:57.000Z,1638619377.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:02:57.501Z,1638619377.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.619995 m, bearing: 127.938937 deg, deltaT: 4.508295 s, deltaX: 0.599991 m, approachRate: 0.133086 m/s, LOS rate: -0.985077 deg/s, posRepo size: 4
2021-12-04T12:02:57.832Z,1638619377.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120257.11*5D

2021-12-04T12:02:57.833Z,1638619377.833 [Micromodem](INFO): Nmea in: $CAREV,120258,AUV,2.1.4000*26

2021-12-04T12:02:58.216Z,1638619378.216 [Micromodem](INFO): Nmea in: $CAREV,120258,COPROC,0.20.0.39330*77

2021-12-04T12:03:00.244Z,1638619380.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:01.033Z,1638619381.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:01.451Z,1638619381.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:01.907Z,1638619381.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.340012 m, bearing: 123.306156 deg, deltaT: 4.392151 s, deltaX: 0.720016 m, approachRate: 0.163933 m/s, LOS rate: -1.054786 deg/s, posRepo size: 4
2021-12-04T12:03:02.276Z,1638619382.276 [Micromodem](INFO): Nmea in: $SNTTA,0.105347,,,,120301.55*45

2021-12-04T12:03:02.277Z,1638619382.277 [Micromodem](INFO): Nmea in: $CAREV,120302,AUV,2.1.4000*28

2021-12-04T12:03:02.656Z,1638619382.656 [Micromodem](INFO): Nmea in: $CAREV,120302,COPROC,0.20.0.39330*79

2021-12-04T12:03:04.691Z,1638619384.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:05.477Z,1638619385.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:05.932Z,1638619385.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:06.411Z,1638619386.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.700012 m, bearing: 121.049967 deg, deltaT: 4.504102 s, deltaX: 0.360001 m, approachRate: 0.079927 m/s, LOS rate: -0.500919 deg/s, posRepo size: 4
2021-12-04T12:03:06.748Z,1638619386.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120305.99*5B

2021-12-04T12:03:06.749Z,1638619386.749 [Micromodem](INFO): Nmea in: $CAREV,120307,AUV,2.1.4000*2D

2021-12-04T12:03:07.144Z,1638619387.144 [Micromodem](INFO): Nmea in: $CAREV,120307,COPROC,0.20.0.39330*7C

2021-12-04T12:03:09.174Z,1638619389.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:09.957Z,1638619389.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:10.435Z,1638619390.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:10.805Z,1638619390.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.180008 m, bearing: 122.151622 deg, deltaT: 4.410167 s, deltaX: 0.479996 m, approachRate: 0.108838 m/s, LOS rate: 0.249799 deg/s, posRepo size: 4
2021-12-04T12:03:11.205Z,1638619391.205 [Micromodem](INFO): Nmea in: $SNTTA,0.109753,,,,120310.47*4B

2021-12-04T12:03:11.206Z,1638619391.206 [Micromodem](INFO): Nmea in: $CAREV,120311,AUV,2.1.4000*2A

2021-12-04T12:03:11.620Z,1638619391.620 [Micromodem](INFO): Nmea in: $CAREV,120311,COPROC,0.20.0.39330*7B

2021-12-04T12:03:13.665Z,1638619393.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:14.440Z,1638619394.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:14.823Z,1638619394.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:15.245Z,1638619395.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.180008 m, bearing: 123.033632 deg, deltaT: 4.439838 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.198658 deg/s, posRepo size: 4
2021-12-04T12:03:15.642Z,1638619395.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120314.96*54

2021-12-04T12:03:15.643Z,1638619395.643 [Micromodem](INFO): Nmea in: $CAREV,120316,AUV,2.1.4000*2D

2021-12-04T12:03:16.051Z,1638619396.051 [Micromodem](INFO): Nmea in: $CAREV,120316,COPROC,0.20.0.39330*7C

2021-12-04T12:03:18.049Z,1638619398.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:18.849Z,1638619398.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:19.260Z,1638619399.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:19.717Z,1638619399.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.260010 m, bearing: 124.160258 deg, deltaT: 4.472619 s, deltaX: 1.080002 m, approachRate: 0.241470 m/s, LOS rate: 0.251894 deg/s, posRepo size: 4
2021-12-04T12:03:20.091Z,1638619400.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120319.37*52

2021-12-04T12:03:20.092Z,1638619400.092 [Micromodem](INFO): Nmea in: $CAREV,120320,AUV,2.1.4000*28

2021-12-04T12:03:20.476Z,1638619400.476 [Micromodem](INFO): Nmea in: $CAREV,120320,COPROC,0.20.0.39330*79

2021-12-04T12:03:22.516Z,1638619402.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:23.301Z,1638619403.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:23.709Z,1638619403.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:24.151Z,1638619404.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.740005 m, bearing: 121.880436 deg, deltaT: 4.429823 s, deltaX: 0.479996 m, approachRate: 0.108356 m/s, LOS rate: -0.514653 deg/s, posRepo size: 4
2021-12-04T12:03:24.524Z,1638619404.524 [Micromodem](INFO): Nmea in: $SNTTA,0.107165,,,,120323.82*4F

2021-12-04T12:03:24.525Z,1638619404.525 [Micromodem](INFO): Nmea in: $CAREV,120324,AUV,2.1.4000*2C

2021-12-04T12:03:24.924Z,1638619404.924 [Micromodem](INFO): Nmea in: $CAREV,120324,COPROC,0.20.0.39330*7D

2021-12-04T12:03:26.954Z,1638619406.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:27.733Z,1638619407.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:28.143Z,1638619408.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:28.608Z,1638619408.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.400009 m, bearing: 124.293228 deg, deltaT: 4.457512 s, deltaX: 0.660004 m, approachRate: 0.148065 m/s, LOS rate: 0.541287 deg/s, posRepo size: 4
2021-12-04T12:03:28.972Z,1638619408.972 [Micromodem](INFO): Nmea in: $SNTTA,0.129426,,,,120328.25*47

2021-12-04T12:03:28.973Z,1638619408.973 [Micromodem](INFO): Nmea in: $CAREV,120329,AUV,2.1.4000*21

2021-12-04T12:03:29.388Z,1638619409.388 [Micromodem](INFO): Nmea in: $CAREV,120329,COPROC,0.20.0.39330*70

2021-12-04T12:03:31.421Z,1638619411.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:32.185Z,1638619412.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:32.595Z,1638619412.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:33.035Z,1638619413.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.000000 m, bearing: 127.420703 deg, deltaT: 4.426100 s, deltaX: 0.599991 m, approachRate: 0.135557 m/s, LOS rate: 0.706598 deg/s, posRepo size: 4
2021-12-04T12:03:33.444Z,1638619413.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120332.70*58

2021-12-04T12:03:33.445Z,1638619413.445 [Micromodem](INFO): Nmea in: $CAREV,120333,AUV,2.1.4000*2A

2021-12-04T12:03:33.816Z,1638619413.816 [Micromodem](INFO): Nmea in: $CAREV,120333,COPROC,0.20.0.39330*7B

2021-12-04T12:03:35.900Z,1638619415.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:36.633Z,1638619416.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:37.031Z,1638619417.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:37.496Z,1638619417.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.660004 m, bearing: 126.748927 deg, deltaT: 4.465735 s, deltaX: 0.660004 m, approachRate: 0.147793 m/s, LOS rate: -0.150429 deg/s, posRepo size: 4
2021-12-04T12:03:37.880Z,1638619417.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120337.15*5E

2021-12-04T12:03:37.881Z,1638619417.881 [Micromodem](INFO): Nmea in: $CAREV,120338,AUV,2.1.4000*21

2021-12-04T12:03:38.260Z,1638619418.260 [Micromodem](INFO): Nmea in: $CAREV,120338,COPROC,0.20.0.39330*70

2021-12-04T12:03:40.289Z,1638619420.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:41.081Z,1638619421.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:41.481Z,1638619421.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:41.947Z,1638619421.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.080017 m, bearing: 126.339389 deg, deltaT: 4.428302 s, deltaX: 0.420013 m, approachRate: 0.094848 m/s, LOS rate: -0.092482 deg/s, posRepo size: 4
2021-12-04T12:03:42.320Z,1638619422.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120341.60*5D

2021-12-04T12:03:42.321Z,1638619422.321 [Micromodem](INFO): Nmea in: $CAREV,120342,AUV,2.1.4000*2C

2021-12-04T12:03:42.700Z,1638619422.700 [Micromodem](INFO): Nmea in: $CAREV,120342,COPROC,0.20.0.39330*7D

2021-12-04T12:03:44.757Z,1638619424.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:45.552Z,1638619425.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:45.947Z,1638619425.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:46.749Z,1638619426.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120346.07*5B

2021-12-04T12:03:46.755Z,1638619426.755 [Micromodem](INFO): Nmea in: $CAREV,120347,AUV,2.1.4000*29

2021-12-04T12:03:46.810Z,1638619426.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.739990 m, bearing: 126.136478 deg, deltaT: 4.885657 s, deltaX: 0.659973 m, approachRate: 0.135084 m/s, LOS rate: -0.041532 deg/s, posRepo size: 4
2021-12-04T12:03:47.159Z,1638619427.159 [Micromodem](INFO): Nmea in: $CAREV,120347,COPROC,0.20.0.39330*78

2021-12-04T12:03:49.675Z,1638619429.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:50.403Z,1638619430.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:50.779Z,1638619430.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:51.210Z,1638619431.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.739990 m, bearing: 133.400589 deg, deltaT: 4.397583 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.651842 deg/s, posRepo size: 4
2021-12-04T12:03:51.636Z,1638619431.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120350.92*50

2021-12-04T12:03:51.637Z,1638619431.637 [Micromodem](INFO): Nmea in: $CAREV,120351,AUV,2.1.4000*2E

2021-12-04T12:03:51.000Z,1638619432.000 [Micromodem](INFO): Nmea in: $CAREV,120351,COPROC,0.20.0.39330*7F

2021-12-04T12:03:53.704Z,1638619433.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:54.433Z,1638619434.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:54.819Z,1638619434.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:55.265Z,1638619435.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.739990 m, bearing: 134.344015 deg, deltaT: 4.040883 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.233470 deg/s, posRepo size: 4
2021-12-04T12:03:55.648Z,1638619435.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120354.95*53

2021-12-04T12:03:55.649Z,1638619435.649 [Micromodem](INFO): Nmea in: $CAREV,120356,AUV,2.1.4000*29

2021-12-04T12:03:56.164Z,1638619436.164 [Micromodem](INFO): Nmea in: $CAREV,120356,COPROC,0.20.0.39330*78

2021-12-04T12:03:57.824Z,1638619437.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:03:58.568Z,1638619438.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:03:58.975Z,1638619438.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:03:59.438Z,1638619439.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.059998 m, bearing: 138.636475 deg, deltaT: 4.189480 s, deltaX: 1.320007 m, approachRate: 0.315077 m/s, LOS rate: 1.024581 deg/s, posRepo size: 4
2021-12-04T12:03:59.808Z,1638619439.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120359.08*5A

2021-12-04T12:03:59.809Z,1638619439.809 [Micromodem](INFO): Nmea in: $CAREV,120400,AUV,2.1.4000*2D

2021-12-04T12:04:00.189Z,1638619440.189 [Micromodem](INFO): Nmea in: $CAREV,120400,COPROC,0.20.0.39330*7C

2021-12-04T12:04:02.212Z,1638619442.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:03.005Z,1638619443.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:03.439Z,1638619443.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:03.868Z,1638619443.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.020004 m, bearing: 142.183665 deg, deltaT: 4.430052 s, deltaX: 0.960007 m, approachRate: 0.216703 m/s, LOS rate: 0.800711 deg/s, posRepo size: 4
2021-12-04T12:04:04.251Z,1638619444.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120403.52*5D

2021-12-04T12:04:04.253Z,1638619444.253 [Micromodem](INFO): Nmea in: $CAREV,120404,AUV,2.1.4000*29

2021-12-04T12:04:04.632Z,1638619444.632 [Micromodem](INFO): Nmea in: $CAREV,120404,COPROC,0.20.0.39330*78

2021-12-04T12:04:06.672Z,1638619446.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:07.445Z,1638619447.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:07.855Z,1638619447.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:08.286Z,1638619448.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.199997 m, bearing: 144.395964 deg, deltaT: 4.416601 s, deltaX: 0.179993 m, approachRate: 0.040754 m/s, LOS rate: 0.500905 deg/s, posRepo size: 4
2021-12-04T12:04:08.696Z,1638619448.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120407.96*51

2021-12-04T12:04:08.697Z,1638619448.697 [Micromodem](INFO): Nmea in: $CAREV,120409,AUV,2.1.4000*24

2021-12-04T12:04:09.068Z,1638619449.068 [Micromodem](INFO): Nmea in: $CAREV,120409,COPROC,0.20.0.39330*75

2021-12-04T12:04:10.895Z,1638619450.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:11.504Z,1638619451.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:11.895Z,1638619451.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:12.344Z,1638619452.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.199997 m, bearing: 146.981641 deg, deltaT: 4.059129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.637003 deg/s, posRepo size: 4
2021-12-04T12:04:12.724Z,1638619452.724 [Micromodem](INFO): Nmea in: $SNTTA,0.121282,,,,120412.02*4C

2021-12-04T12:04:12.725Z,1638619452.725 [Micromodem](INFO): Nmea in: $CAREV,120413,AUV,2.1.4000*2F

2021-12-04T12:04:13.112Z,1638619453.112 [Micromodem](INFO): Nmea in: $CAREV,120413,COPROC,0.20.0.39330*7E

2021-12-04T12:04:15.144Z,1638619455.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:15.933Z,1638619455.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:16.342Z,1638619456.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:16.789Z,1638619456.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.160004 m, bearing: 95.712281 deg, deltaT: 4.428453 s, deltaX: 0.960007 m, approachRate: 0.216782 m/s, LOS rate: -11.577262 deg/s, posRepo size: 4
2021-12-04T12:04:17.172Z,1638619457.172 [Micromodem](INFO): Nmea in: $SNTTA,0.111591,,,,120416.45*4D

2021-12-04T12:04:17.173Z,1638619457.173 [Micromodem](INFO): Nmea in: $CAREV,120417,AUV,2.1.4000*2B

2021-12-04T12:04:17.600Z,1638619457.600 [Micromodem](INFO): Nmea in: $CAREV,120417,COPROC,0.20.0.39330*7A

2021-12-04T12:04:19.658Z,1638619459.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:20.394Z,1638619460.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:20.783Z,1638619460.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:21.205Z,1638619461.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.160004 m, bearing: 95.933770 deg, deltaT: 4.432019 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.049975 deg/s, posRepo size: 4
2021-12-04T12:04:21.636Z,1638619461.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120420.91*53

2021-12-04T12:04:21.637Z,1638619461.637 [Micromodem](INFO): Nmea in: $CAREV,120421,AUV,2.1.4000*2E

2021-12-04T12:04:21.000Z,1638619462.000 [Micromodem](INFO): Nmea in: $CAREV,120421,COPROC,0.20.0.39330*7F

2021-12-04T12:04:24.024Z,1638619464.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:24.821Z,1638619464.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:25.227Z,1638619465.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:25.687Z,1638619465.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.160004 m, bearing: 101.360274 deg, deltaT: 4.482556 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.210582 deg/s, posRepo size: 4
2021-12-04T12:04:26.092Z,1638619466.092 [Micromodem](INFO): Nmea in: $SNTTA,0.112417,,,,120425.34*47

2021-12-04T12:04:26.093Z,1638619466.093 [Micromodem](INFO): Nmea in: $CAREV,120426,AUV,2.1.4000*29

2021-12-04T12:04:26.456Z,1638619466.456 [Micromodem](INFO): Nmea in: $CAREV,120426,COPROC,0.20.0.39330*78

2021-12-04T12:04:28.488Z,1638619468.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:29.265Z,1638619469.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:29.667Z,1638619469.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:30.116Z,1638619470.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.160004 m, bearing: 146.545656 deg, deltaT: 4.425286 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 10.210726 deg/s, posRepo size: 4
2021-12-04T12:04:30.512Z,1638619470.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120429.78*5D

2021-12-04T12:04:30.513Z,1638619470.513 [Micromodem](INFO): Nmea in: $CAREV,120430,AUV,2.1.4000*2E

2021-12-04T12:04:30.892Z,1638619470.892 [Micromodem](INFO): Nmea in: $CAREV,120430,COPROC,0.20.0.39330*7F

2021-12-04T12:04:32.909Z,1638619472.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:33.709Z,1638619473.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:34.115Z,1638619474.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:34.577Z,1638619474.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.319992 m, bearing: 150.267823 deg, deltaT: 4.464315 s, deltaX: 2.159988 m, approachRate: 0.483834 m/s, LOS rate: 0.833760 deg/s, posRepo size: 4
2021-12-04T12:04:34.948Z,1638619474.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120434.23*5F

2021-12-04T12:04:34.949Z,1638619474.949 [Micromodem](INFO): Nmea in: $CAREV,120435,AUV,2.1.4000*2B

2021-12-04T12:04:35.347Z,1638619475.347 [Micromodem](INFO): Nmea in: $CAREV,120435,COPROC,0.20.0.39330*7A

2021-12-04T12:04:37.394Z,1638619477.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:38.153Z,1638619478.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:38.564Z,1638619478.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:39.001Z,1638619479.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.319992 m, bearing: 144.813862 deg, deltaT: 4.407482 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -1.237432 deg/s, posRepo size: 4
2021-12-04T12:04:39.408Z,1638619479.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120438.67*53

2021-12-04T12:04:39.409Z,1638619479.409 [Micromodem](INFO): Nmea in: $CAREV,120439,AUV,2.1.4000*27

2021-12-04T12:04:39.776Z,1638619479.776 [Micromodem](INFO): Nmea in: $CAREV,120439,COPROC,0.20.0.39330*76

2021-12-04T12:04:41.832Z,1638619481.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:42.601Z,1638619482.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:43.003Z,1638619483.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:43.473Z,1638619483.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.400009 m, bearing: 145.480325 deg, deltaT: 4.489119 s, deltaX: 1.080017 m, approachRate: 0.240586 m/s, LOS rate: 0.148462 deg/s, posRepo size: 4
2021-12-04T12:04:43.840Z,1638619483.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120443.12*5D

2021-12-04T12:04:43.841Z,1638619483.841 [Micromodem](INFO): Nmea in: $CAREV,120444,AUV,2.1.4000*2D

2021-12-04T12:04:44.228Z,1638619484.228 [Micromodem](INFO): Nmea in: $CAREV,120444,COPROC,0.20.0.39330*7C

2021-12-04T12:04:46.265Z,1638619486.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:47.041Z,1638619487.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:47.449Z,1638619487.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:47.909Z,1638619487.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.119995 m, bearing: 140.610536 deg, deltaT: 4.435350 s, deltaX: 0.719986 m, approachRate: 0.162329 m/s, LOS rate: -1.097949 deg/s, posRepo size: 4
2021-12-04T12:04:48.298Z,1638619488.298 [Micromodem](INFO): Nmea in: $SNTTA,0.114006,,,,120447.56*45

2021-12-04T12:04:48.299Z,1638619488.299 [Micromodem](INFO): Nmea in: $CAREV,120448,AUV,2.1.4000*21

2021-12-04T12:04:48.676Z,1638619488.676 [Micromodem](INFO): Nmea in: $CAREV,120448,COPROC,0.20.0.39330*70

2021-12-04T12:04:50.919Z,1638619490.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:51.530Z,1638619491.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:51.923Z,1638619491.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:52.736Z,1638619492.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120452.06*58

2021-12-04T12:04:52.742Z,1638619492.742 [Micromodem](INFO): Nmea in: $CAREV,120453,AUV,2.1.4000*2B

2021-12-04T12:04:52.805Z,1638619492.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.720016 m, bearing: 138.533667 deg, deltaT: 4.892481 s, deltaX: 0.600021 m, approachRate: 0.122642 m/s, LOS rate: -0.424502 deg/s, posRepo size: 4
2021-12-04T12:04:53.149Z,1638619493.149 [Micromodem](INFO): Nmea in: $CAREV,120453,COPROC,0.20.0.39330*7A

2021-12-04T12:04:55.662Z,1638619495.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:04:56.396Z,1638619496.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:04:56.767Z,1638619496.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:04:57.614Z,1638619497.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120456.91*52

2021-12-04T12:04:57.615Z,1638619497.615 [Micromodem](INFO): Nmea in: $CAREV,120457,AUV,2.1.4000*2F

2021-12-04T12:04:57.711Z,1638619497.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.319992 m, bearing: 141.506521 deg, deltaT: 4.901580 s, deltaX: 0.599976 m, approachRate: 0.122405 m/s, LOS rate: 0.606509 deg/s, posRepo size: 4
2021-12-04T12:04:57.992Z,1638619497.992 [Micromodem](INFO): Nmea in: $CAREV,120457,COPROC,0.20.0.39330*7E

2021-12-04T12:05:00.482Z,1638619500.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:01.209Z,1638619501.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:01.629Z,1638619501.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:02.071Z,1638619502.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 130.931544 deg, deltaT: 4.359740 s, deltaX: 0.960007 m, approachRate: 0.220198 m/s, LOS rate: -2.425598 deg/s, posRepo size: 4
2021-12-04T12:05:02.460Z,1638619502.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120501.73*5D

2021-12-04T12:05:02.461Z,1638619502.461 [Micromodem](INFO): Nmea in: $CAREV,120502,AUV,2.1.4000*2E

2021-12-04T12:05:02.836Z,1638619502.836 [Micromodem](INFO): Nmea in: $CAREV,120502,COPROC,0.20.0.39330*7F

2021-12-04T12:05:04.868Z,1638619504.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:05.653Z,1638619505.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:06.073Z,1638619506.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:06.523Z,1638619506.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 132.656890 deg, deltaT: 4.456896 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.387118 deg/s, posRepo size: 4
2021-12-04T12:05:06.896Z,1638619506.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120506.17*58

2021-12-04T12:05:06.897Z,1638619506.897 [Micromodem](INFO): Nmea in: $CAREV,120507,AUV,2.1.4000*2B

2021-12-04T12:05:07.284Z,1638619507.284 [Micromodem](INFO): Nmea in: $CAREV,120507,COPROC,0.20.0.39330*7A

2021-12-04T12:05:09.305Z,1638619509.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:10.109Z,1638619510.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:10.510Z,1638619510.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:10.949Z,1638619510.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 131.375929 deg, deltaT: 4.428311 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.289266 deg/s, posRepo size: 4
2021-12-04T12:05:11.344Z,1638619511.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120510.63*5C

2021-12-04T12:05:11.345Z,1638619511.345 [Micromodem](INFO): Nmea in: $CAREV,120511,AUV,2.1.4000*2C

2021-12-04T12:05:11.736Z,1638619511.736 [Micromodem](INFO): Nmea in: $CAREV,120511,COPROC,0.20.0.39330*7D

2021-12-04T12:05:13.806Z,1638619513.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:14.545Z,1638619514.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:14.955Z,1638619514.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:15.421Z,1638619515.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 128.108749 deg, deltaT: 4.469603 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.730978 deg/s, posRepo size: 4
2021-12-04T12:05:15.800Z,1638619515.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120515.06*5A

2021-12-04T12:05:15.801Z,1638619515.801 [Micromodem](INFO): Nmea in: $CAREV,120516,AUV,2.1.4000*2B

2021-12-04T12:05:16.172Z,1638619516.172 [Micromodem](INFO): Nmea in: $CAREV,120516,COPROC,0.20.0.39330*7A

2021-12-04T12:05:18.202Z,1638619518.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:18.989Z,1638619518.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:19.408Z,1638619519.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:19.868Z,1638619519.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 128.638895 deg, deltaT: 4.438814 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.119434 deg/s, posRepo size: 4
2021-12-04T12:05:20.236Z,1638619520.236 [Micromodem](INFO): Nmea in: $SNTTA,0.117159,,,,120519.51*40

2021-12-04T12:05:20.237Z,1638619520.237 [Micromodem](INFO): Nmea in: $CAREV,120520,AUV,2.1.4000*2E

2021-12-04T12:05:20.620Z,1638619520.620 [Micromodem](INFO): Nmea in: $CAREV,120520,COPROC,0.20.0.39330*7F

2021-12-04T12:05:22.654Z,1638619522.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:23.437Z,1638619523.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:23.844Z,1638619523.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:24.281Z,1638619524.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 123.632312 deg, deltaT: 4.423653 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -1.131776 deg/s, posRepo size: 4
2021-12-04T12:05:24.685Z,1638619524.685 [Micromodem](INFO): Nmea in: $SNTTA,0.117795,,,,120523.95*47

2021-12-04T12:05:24.686Z,1638619524.686 [Micromodem](INFO): Nmea in: $CAREV,120525,AUV,2.1.4000*2B

2021-12-04T12:05:25.064Z,1638619525.064 [Micromodem](INFO): Nmea in: $CAREV,120525,COPROC,0.20.0.39330*7A

2021-12-04T12:05:27.080Z,1638619527.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:27.880Z,1638619527.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:28.283Z,1638619528.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:28.744Z,1638619528.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.279999 m, bearing: 126.676937 deg, deltaT: 4.460523 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.682571 deg/s, posRepo size: 4
2021-12-04T12:05:29.120Z,1638619529.120 [Micromodem](INFO): Nmea in: $SNTTA,0.117471,,,,120528.40*4D

2021-12-04T12:05:29.121Z,1638619529.121 [Micromodem](INFO): Nmea in: $CAREV,120529,AUV,2.1.4000*27

2021-12-04T12:05:29.507Z,1638619529.507 [Micromodem](INFO): Nmea in: $CAREV,120529,COPROC,0.20.0.39330*76

2021-12-04T12:05:31.589Z,1638619531.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:32.317Z,1638619532.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:32.723Z,1638619532.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:33.177Z,1638619533.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.120010 m, bearing: 130.208882 deg, deltaT: 4.416095 s, deltaX: 3.840012 m, approachRate: 0.869549 m/s, LOS rate: 0.799789 deg/s, posRepo size: 4
2021-12-04T12:05:33.580Z,1638619533.580 [Micromodem](INFO): Nmea in: $SNTTA,0.136635,,,,120532.83*48

2021-12-04T12:05:33.581Z,1638619533.581 [Micromodem](INFO): Nmea in: $CAREV,120533,AUV,2.1.4000*2C

2021-12-04T12:05:33.956Z,1638619533.956 [Micromodem](INFO): Nmea in: $CAREV,120533,COPROC,0.20.0.39330*7D

2021-12-04T12:05:35.684Z,1638619535.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:36.392Z,1638619536.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:36.775Z,1638619536.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:37.614Z,1638619537.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120536.91*55

2021-12-04T12:05:37.616Z,1638619537.616 [Micromodem](INFO): Nmea in: $CAREV,120537,AUV,2.1.4000*28

2021-12-04T12:05:37.706Z,1638619537.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.360001 m, bearing: 131.684408 deg, deltaT: 4.541934 s, deltaX: 0.239990 m, approachRate: 0.052839 m/s, LOS rate: 0.324867 deg/s, posRepo size: 4
2021-12-04T12:05:38.000Z,1638619538.000 [Micromodem](INFO): Nmea in: $CAREV,120537,COPROC,0.20.0.39330*79

2021-12-04T12:05:40.467Z,1638619540.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:41.223Z,1638619541.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:41.623Z,1638619541.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:42.062Z,1638619542.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.360001 m, bearing: 133.912771 deg, deltaT: 4.362940 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.510748 deg/s, posRepo size: 4
2021-12-04T12:05:42.464Z,1638619542.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120541.74*5E

2021-12-04T12:05:42.465Z,1638619542.465 [Micromodem](INFO): Nmea in: $CAREV,120542,AUV,2.1.4000*2A

2021-12-04T12:05:42.852Z,1638619542.852 [Micromodem](INFO): Nmea in: $CAREV,120542,COPROC,0.20.0.39330*7B

2021-12-04T12:05:44.868Z,1638619544.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:45.661Z,1638619545.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:46.076Z,1638619546.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:46.524Z,1638619546.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.360001 m, bearing: 135.223238 deg, deltaT: 4.458953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.293896 deg/s, posRepo size: 4
2021-12-04T12:05:46.909Z,1638619546.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120546.18*53

2021-12-04T12:05:46.911Z,1638619546.911 [Micromodem](INFO): Nmea in: $CAREV,120547,AUV,2.1.4000*2F

2021-12-04T12:05:47.288Z,1638619547.288 [Micromodem](INFO): Nmea in: $CAREV,120547,COPROC,0.20.0.39330*7E

2021-12-04T12:05:49.330Z,1638619549.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:50.109Z,1638619550.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:50.514Z,1638619550.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:50.968Z,1638619550.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.360001 m, bearing: 135.575717 deg, deltaT: 4.445879 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.079282 deg/s, posRepo size: 4
2021-12-04T12:05:51.354Z,1638619551.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120550.63*58

2021-12-04T12:05:51.358Z,1638619551.358 [Micromodem](INFO): Nmea in: $CAREV,120551,AUV,2.1.4000*28

2021-12-04T12:05:51.736Z,1638619551.736 [Micromodem](INFO): Nmea in: $CAREV,120551,COPROC,0.20.0.39330*79

2021-12-04T12:05:53.793Z,1638619553.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:54.549Z,1638619554.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:54.959Z,1638619554.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:55.429Z,1638619555.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.759995 m, bearing: 135.347602 deg, deltaT: 4.463608 s, deltaX: 2.399994 m, approachRate: 0.537680 m/s, LOS rate: -0.051105 deg/s, posRepo size: 4
2021-12-04T12:05:55.797Z,1638619555.797 [Micromodem](INFO): Nmea in: $SNTTA,0.130761,,,,120555.07*43

2021-12-04T12:05:55.799Z,1638619555.799 [Micromodem](INFO): Nmea in: $CAREV,120556,AUV,2.1.4000*2F

2021-12-04T12:05:56.188Z,1638619556.188 [Micromodem](INFO): Nmea in: $CAREV,120556,COPROC,0.20.0.39330*7E

2021-12-04T12:05:58.206Z,1638619558.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:05:58.997Z,1638619558.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:05:59.431Z,1638619559.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:05:59.873Z,1638619559.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.759995 m, bearing: 134.584752 deg, deltaT: 4.431113 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.172158 deg/s, posRepo size: 4
2021-12-04T12:06:00.240Z,1638619560.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120559.52*53

2021-12-04T12:06:00.241Z,1638619560.241 [Micromodem](INFO): Nmea in: $CAREV,120600,AUV,2.1.4000*2F

2021-12-04T12:06:00.620Z,1638619560.620 [Micromodem](INFO): Nmea in: $CAREV,120600,COPROC,0.20.0.39330*7E

2021-12-04T12:06:02.652Z,1638619562.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:03.441Z,1638619563.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:03.842Z,1638619563.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:04.288Z,1638619564.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.759995 m, bearing: 134.103907 deg, deltaT: 4.425209 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.108660 deg/s, posRepo size: 4
2021-12-04T12:06:04.684Z,1638619564.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120603.96*57

2021-12-04T12:06:04.685Z,1638619564.685 [Micromodem](INFO): Nmea in: $CAREV,120605,AUV,2.1.4000*2A

2021-12-04T12:06:05.064Z,1638619565.064 [Micromodem](INFO): Nmea in: $CAREV,120605,COPROC,0.20.0.39330*7B

2021-12-04T12:06:07.084Z,1638619567.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:07.889Z,1638619567.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:08.287Z,1638619568.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:09.106Z,1638619569.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120608.41*56

2021-12-04T12:06:09.107Z,1638619569.107 [Micromodem](INFO): Nmea in: $CAREV,120609,AUV,2.1.4000*26

2021-12-04T12:06:09.125Z,1638619569.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 131.315701 deg, deltaT: 4.838771 s, deltaX: 1.559998 m, approachRate: 0.322395 m/s, LOS rate: -0.576222 deg/s, posRepo size: 4
2021-12-04T12:06:09.125Z,1638619569.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 178.32 m. Resuming terminal guidance.
2021-12-04T12:06:09.125Z,1638619569.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T12:06:09.515Z,1638619569.515 [Micromodem](INFO): Nmea in: $CAREV,120609,COPROC,0.20.0.39330*77

2021-12-04T12:06:09.590Z,1638619569.590 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T12:06:09.590Z,1638619569.590 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:06:09.590Z,1638619569.590 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T12:06:09.591Z,1638619569.591 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T12:06:09.591Z,1638619569.591 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T12:06:09.591Z,1638619569.591 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T12:06:09.591Z,1638619569.591 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T12:06:11.673Z,1638619571.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:12.420Z,1638619572.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:12.803Z,1638619572.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:13.635Z,1638619573.635 [Micromodem](INFO): Nmea in: $SNTTA,0.121576,,,,120612.94*4D

2021-12-04T12:06:13.636Z,1638619573.636 [Micromodem](INFO): Nmea in: $CAREV,120613,AUV,2.1.4000*2D

2021-12-04T12:06:13.723Z,1638619573.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.040009 m, bearing: 135.098109 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T12:06:13.724Z,1638619573.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 135.098109deg and heading rate command to 0 deg/s.
2021-12-04T12:06:14.028Z,1638619574.028 [Micromodem](INFO): Nmea in: $CAREV,120613,COPROC,0.20.0.39330*7C

2021-12-04T12:06:16.471Z,1638619576.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:17.237Z,1638619577.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:17.653Z,1638619577.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:18.099Z,1638619578.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.040009 m, bearing: 136.622402 deg, deltaT: 4.370307 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.348784 deg/s, posRepo size: 2
2021-12-04T12:06:18.101Z,1638619578.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.040009 m,
      bearing: 136.622402 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.348784 deg/s,
      cmd update: 1.046352 deg/s,
      cmd heading: 135.098109 deg,
      new cmd heading: 135.098109 deg.

2021-12-04T12:06:18.508Z,1638619578.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120617.76*5C

2021-12-04T12:06:18.509Z,1638619578.509 [Micromodem](INFO): Nmea in: $CAREV,120618,AUV,2.1.4000*26

2021-12-04T12:06:18.864Z,1638619578.864 [Micromodem](INFO): Nmea in: $CAREV,120618,COPROC,0.20.0.39330*77

2021-12-04T12:06:20.897Z,1638619580.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:21.685Z,1638619581.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:22.094Z,1638619582.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:22.931Z,1638619582.931 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120622.20*59

2021-12-04T12:06:22.932Z,1638619582.932 [Micromodem](INFO): Nmea in: $CAREV,120623,AUV,2.1.4000*2E

2021-12-04T12:06:22.949Z,1638619582.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.440002 m, bearing: 155.417253 deg, deltaT: 4.859800 s, deltaX: 2.399994 m, approachRate: 0.493846 m/s, LOS rate: 3.867412 deg/s, posRepo size: 3
2021-12-04T12:06:22.951Z,1638619582.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.440002 m,
      bearing: 155.417253 deg,
      approachRate: 0.493846 m/s,
      LOS rate: 3.867412 deg/s,
      cmd update: 11.602237 deg/s,
      cmd heading: 140.119646 deg,
      new cmd heading: 140.557076 deg.

2021-12-04T12:06:23.320Z,1638619583.320 [Micromodem](INFO): Nmea in: $CAREV,120623,COPROC,0.20.0.39330*7F

2021-12-04T12:06:25.771Z,1638619585.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:26.529Z,1638619586.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:26.943Z,1638619586.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:27.758Z,1638619587.758 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120627.05*5B

2021-12-04T12:06:27.759Z,1638619587.759 [Micromodem](INFO): Nmea in: $CAREV,120628,AUV,2.1.4000*25

2021-12-04T12:06:27.850Z,1638619587.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.239990 m, bearing: 171.807343 deg, deltaT: 4.900629 s, deltaX: 1.799988 m, approachRate: 0.367297 m/s, LOS rate: 3.344487 deg/s, posRepo size: 4
2021-12-04T12:06:27.852Z,1638619587.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.239990 m,
      bearing: 171.807343 deg,
      approachRate: 0.367297 m/s,
      LOS rate: 3.344487 deg/s,
      cmd update: 10.033461 deg/s,
      cmd heading: 196.625489 deg,
      new cmd heading: 201.828733 deg.

2021-12-04T12:06:28.152Z,1638619588.152 [Micromodem](INFO): Nmea in: $CAREV,120628,COPROC,0.20.0.39330*74

2021-12-04T12:06:30.594Z,1638619590.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:31.398Z,1638619591.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:31.787Z,1638619591.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:32.599Z,1638619592.599 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120631.92*52

2021-12-04T12:06:32.601Z,1638619592.601 [Micromodem](INFO): Nmea in: $CAREV,120632,AUV,2.1.4000*2E

2021-12-04T12:06:32.676Z,1638619592.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.099991 m, bearing: 214.281558 deg, deltaT: 4.805193 s, deltaX: 1.860001 m, approachRate: 0.387081 m/s, LOS rate: 8.839232 deg/s, posRepo size: 4
2021-12-04T12:06:32.678Z,1638619592.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.099991 m,
      bearing: 214.281558 deg,
      approachRate: 0.387081 m/s,
      LOS rate: 8.839232 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.795924 deg,
      new cmd heading: 249.335142 deg.

2021-12-04T12:06:32.000Z,1638619593.000 [Micromodem](INFO): Nmea in: $CAREV,120632,COPROC,0.20.0.39330*7F

2021-12-04T12:06:35.459Z,1638619595.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:36.221Z,1638619596.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:36.635Z,1638619596.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:37.467Z,1638619597.467 [Micromodem](INFO): Nmea in: $SNTTA,0.127401,,,,120636.74*42

2021-12-04T12:06:37.468Z,1638619597.468 [Micromodem](INFO): Nmea in: $CAREV,120637,AUV,2.1.4000*2B

2021-12-04T12:06:37.531Z,1638619597.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.880005 m, bearing: 204.896113 deg, deltaT: 4.844524 s, deltaX: 0.780014 m, approachRate: 0.161009 m/s, LOS rate: -1.937331 deg/s, posRepo size: 4
2021-12-04T12:06:37.553Z,1638619597.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.880005 m,
      bearing: 204.896113 deg,
      approachRate: 0.161009 m/s,
      LOS rate: -1.937331 deg/s,
      cmd update: -5.811992 deg/s,
      cmd heading: 303.116394 deg,
      new cmd heading: 308.358762 deg.

2021-12-04T12:06:37.856Z,1638619597.856 [Micromodem](INFO): Nmea in: $CAREV,120637,COPROC,0.20.0.39330*7A

2021-12-04T12:06:40.272Z,1638619600.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:41.069Z,1638619601.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:41.495Z,1638619601.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:42.306Z,1638619602.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120641.59*52

2021-12-04T12:06:42.307Z,1638619602.307 [Micromodem](INFO): Nmea in: $CAREV,120642,AUV,2.1.4000*29

2021-12-04T12:06:42.401Z,1638619602.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.699997 m, bearing: 253.423132 deg, deltaT: 4.897811 s, deltaX: -0.180008 m, approachRate: -0.036753 m/s, LOS rate: 9.907900 deg/s, posRepo size: 4
2021-12-04T12:06:42.408Z,1638619602.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.699997 m,
      bearing: 253.423132 deg,
      approachRate: -0.036753 m/s,
      LOS rate: 9.907900 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 274.842558 deg,
      new cmd heading: 272.086517 deg.

2021-12-04T12:06:42.711Z,1638619602.711 [Micromodem](INFO): Nmea in: $CAREV,120642,COPROC,0.20.0.39330*78

2021-12-04T12:06:45.135Z,1638619605.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:45.921Z,1638619605.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:46.333Z,1638619606.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:47.165Z,1638619607.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120646.44*59

2021-12-04T12:06:47.167Z,1638619607.167 [Micromodem](INFO): Nmea in: $CAREV,120647,AUV,2.1.4000*2C

2021-12-04T12:06:47.189Z,1638619607.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.500000 m, bearing: 246.364459 deg, deltaT: 4.791597 s, deltaX: -1.199997 m, approachRate: -0.250438 m/s, LOS rate: -1.473136 deg/s, posRepo size: 4
2021-12-04T12:06:47.191Z,1638619607.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.500000 m,
      bearing: 246.364459 deg,
      approachRate: -0.250438 m/s,
      LOS rate: -1.473136 deg/s,
      cmd update: -4.419407 deg/s,
      cmd heading: 332.921876 deg,
      new cmd heading: 337.984136 deg.

2021-12-04T12:06:47.567Z,1638619607.567 [Micromodem](INFO): Nmea in: $CAREV,120647,COPROC,0.20.0.39330*7D

2021-12-04T12:06:49.978Z,1638619609.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:50.773Z,1638619610.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:51.191Z,1638619611.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:51.672Z,1638619611.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.520004 m, bearing: 246.670069 deg, deltaT: 4.482748 s, deltaX: -1.979996 m, approachRate: -0.441692 m/s, LOS rate: 0.068175 deg/s, posRepo size: 4
2021-12-04T12:06:51.674Z,1638619611.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 246.670069 deg,
      approachRate: -0.441692 m/s,
      LOS rate: 0.068175 deg/s,
      cmd update: 0.204524 deg/s,
      cmd heading: 313.097891 deg,
      new cmd heading: 311.247626 deg.

2021-12-04T12:06:52.017Z,1638619612.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120651.29*54

2021-12-04T12:06:52.020Z,1638619612.020 [Micromodem](INFO): Nmea in: $CAREV,120652,AUV,2.1.4000*28

2021-12-04T12:06:52.428Z,1638619612.428 [Micromodem](INFO): Nmea in: $CAREV,120652,COPROC,0.20.0.39330*79

2021-12-04T12:06:54.479Z,1638619614.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:55.213Z,1638619615.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:06:55.623Z,1638619615.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:06:56.075Z,1638619616.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.520004 m, bearing: 249.582243 deg, deltaT: 4.380344 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.664828 deg/s, posRepo size: 4
2021-12-04T12:06:56.082Z,1638619616.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 249.582243 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.664828 deg/s,
      cmd update: 1.994483 deg/s,
      cmd heading: 314.008662 deg,
      new cmd heading: 314.083096 deg.

2021-12-04T12:06:56.464Z,1638619616.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120655.73*5F

2021-12-04T12:06:56.465Z,1638619616.465 [Micromodem](INFO): Nmea in: $CAREV,120656,AUV,2.1.4000*2C

2021-12-04T12:06:56.832Z,1638619616.832 [Micromodem](INFO): Nmea in: $CAREV,120656,COPROC,0.20.0.39330*7D

2021-12-04T12:06:58.868Z,1638619618.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:06:59.657Z,1638619619.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:00.072Z,1638619620.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:00.518Z,1638619620.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.520004 m, bearing: 250.282611 deg, deltaT: 4.465902 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.156826 deg/s, posRepo size: 4
2021-12-04T12:07:00.520Z,1638619620.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 250.282611 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.156826 deg/s,
      cmd update: 0.470477 deg/s,
      cmd heading: 322.786430 deg,
      new cmd heading: 323.606617 deg.

2021-12-04T12:07:00.908Z,1638619620.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120700.18*53

2021-12-04T12:07:00.909Z,1638619620.909 [Micromodem](INFO): Nmea in: $CAREV,120701,AUV,2.1.4000*2F

2021-12-04T12:07:01.288Z,1638619621.288 [Micromodem](INFO): Nmea in: $CAREV,120701,COPROC,0.20.0.39330*7E

2021-12-04T12:07:03.301Z,1638619623.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:04.109Z,1638619624.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:04.508Z,1638619624.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:05.329Z,1638619625.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120704.63*5B

2021-12-04T12:07:05.330Z,1638619625.330 [Micromodem](INFO): Nmea in: $CAREV,120705,AUV,2.1.4000*2B

2021-12-04T12:07:05.717Z,1638619625.717 [Micromodem](INFO): Nmea in: $CAREV,120705,COPROC,0.20.0.39330*7A

2021-12-04T12:07:06.132Z,1638619626.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:08.964Z,1638619628.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:11.816Z,1638619631.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:12.597Z,1638619632.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:12.998Z,1638619632.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:13.472Z,1638619633.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 258.026570 deg, deltaT: 12.937121 s, deltaX: -9.120010 m, approachRate: -0.704949 m/s, LOS rate: 0.598584 deg/s, posRepo size: 4
2021-12-04T12:07:13.473Z,1638619633.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.399994 m,
      bearing: 258.026570 deg,
      approachRate: -0.704949 m/s,
      LOS rate: 0.598584 deg/s,
      cmd update: 1.795753 deg/s,
      cmd heading: 328.866659 deg,
      new cmd heading: 329.066300 deg.

2021-12-04T12:07:13.837Z,1638619633.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120713.12*5B

2021-12-04T12:07:13.838Z,1638619633.838 [Micromodem](INFO): Nmea in: $CAREV,120714,AUV,2.1.4000*2B

2021-12-04T12:07:13.850Z,1638619633.850 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T12:07:14.216Z,1638619634.216 [Micromodem](INFO): Nmea in: $CAREV,120714,COPROC,0.20.0.39330*7A

2021-12-04T12:07:16.252Z,1638619636.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:17.033Z,1638619637.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:17.439Z,1638619637.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:17.894Z,1638619637.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 317.315480 deg, deltaT: 4.438864 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 13.356776 deg/s, posRepo size: 4
2021-12-04T12:07:17.895Z,1638619637.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.356776 deg/s. Setting heading cmd to target bearing of 317.315480deg and heading rate command to 0 deg/s.
2021-12-04T12:07:18.264Z,1638619638.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120717.55*5C

2021-12-04T12:07:18.265Z,1638619638.265 [Micromodem](INFO): Nmea in: $CAREV,120718,AUV,2.1.4000*27

2021-12-04T12:07:18.656Z,1638619638.656 [Micromodem](INFO): Nmea in: $CAREV,120718,COPROC,0.20.0.39330*76

2021-12-04T12:07:20.697Z,1638619640.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:21.477Z,1638619641.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:21.879Z,1638619641.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:22.325Z,1638619642.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 322.908941 deg, deltaT: 4.414387 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.267098 deg/s, posRepo size: 4
2021-12-04T12:07:22.333Z,1638619642.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.399994 m,
      bearing: 322.908941 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.267098 deg/s,
      cmd update: 3.801294 deg/s,
      cmd heading: 317.315480 deg,
      new cmd heading: 317.315480 deg.

2021-12-04T12:07:22.720Z,1638619642.720 [Micromodem](INFO): Nmea in: $SNTTA,0.121419,,,,120722.00*4A

2021-12-04T12:07:22.721Z,1638619642.721 [Micromodem](INFO): Nmea in: $CAREV,120723,AUV,2.1.4000*2F

2021-12-04T12:07:23.096Z,1638619643.096 [Micromodem](INFO): Nmea in: $CAREV,120723,COPROC,0.20.0.39330*7E

2021-12-04T12:07:25.120Z,1638619645.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:25.909Z,1638619645.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:26.324Z,1638619646.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:26.770Z,1638619646.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.880005 m, bearing: 325.760600 deg, deltaT: 4.456834 s, deltaX: 0.480011 m, approachRate: 0.107702 m/s, LOS rate: 0.639840 deg/s, posRepo size: 4
2021-12-04T12:07:26.788Z,1638619646.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.880005 m,
      bearing: 325.760600 deg,
      approachRate: 0.107702 m/s,
      LOS rate: 0.639840 deg/s,
      cmd update: 1.919519 deg/s,
      cmd heading: 334.266060 deg,
      new cmd heading: 335.681841 deg.

2021-12-04T12:07:27.167Z,1638619647.167 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120726.43*59

2021-12-04T12:07:27.169Z,1638619647.169 [Micromodem](INFO): Nmea in: $CAREV,120727,AUV,2.1.4000*2B

2021-12-04T12:07:27.555Z,1638619647.555 [Micromodem](INFO): Nmea in: $CAREV,120727,COPROC,0.20.0.39330*7A

2021-12-04T12:07:29.637Z,1638619649.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:30.390Z,1638619650.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:30.771Z,1638619650.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:31.255Z,1638619651.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.880005 m, bearing: 309.303068 deg, deltaT: 4.486174 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -3.668501 deg/s, posRepo size: 4
2021-12-04T12:07:31.257Z,1638619651.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.880005 m,
      bearing: 309.303068 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.668501 deg/s,
      cmd update: -11.005502 deg/s,
      cmd heading: 342.736366 deg,
      new cmd heading: 343.582764 deg.

2021-12-04T12:07:31.632Z,1638619651.632 [Micromodem](INFO): Nmea in: $SNTTA,0.128159,,,,120730.91*49

2021-12-04T12:07:31.633Z,1638619651.633 [Micromodem](INFO): Nmea in: $CAREV,120731,AUV,2.1.4000*2C

2021-12-04T12:07:32.008Z,1638619652.008 [Micromodem](INFO): Nmea in: $CAREV,120731,COPROC,0.20.0.39330*7D

2021-12-04T12:07:34.013Z,1638619654.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:34.809Z,1638619654.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:35.215Z,1638619655.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:35.677Z,1638619655.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.880005 m, bearing: 283.597405 deg, deltaT: 4.425936 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -5.807961 deg/s, posRepo size: 4
2021-12-04T12:07:35.679Z,1638619655.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.880005 m,
      bearing: 283.597405 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.807961 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 293.858699 deg,
      new cmd heading: 289.171379 deg.

2021-12-04T12:07:36.056Z,1638619656.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120735.33*5C

2021-12-04T12:07:36.057Z,1638619656.057 [Micromodem](INFO): Nmea in: $CAREV,120736,AUV,2.1.4000*2B

2021-12-04T12:07:36.444Z,1638619656.444 [Micromodem](INFO): Nmea in: $CAREV,120736,COPROC,0.20.0.39330*7A

2021-12-04T12:07:38.485Z,1638619658.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:39.254Z,1638619659.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:39.655Z,1638619659.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:40.486Z,1638619660.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120739.77*50

2021-12-04T12:07:40.487Z,1638619660.487 [Micromodem](INFO): Nmea in: $CAREV,120740,AUV,2.1.4000*2A

2021-12-04T12:07:40.547Z,1638619660.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 299.400413 deg, deltaT: 4.865559 s, deltaX: 1.679993 m, approachRate: 0.345283 m/s, LOS rate: 3.247933 deg/s, posRepo size: 4
2021-12-04T12:07:40.549Z,1638619660.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 299.400413 deg,
      approachRate: 0.345283 m/s,
      LOS rate: 3.247933 deg/s,
      cmd update: 9.743798 deg/s,
      cmd heading: 235.943025 deg,
      new cmd heading: 230.363529 deg.

2021-12-04T12:07:40.876Z,1638619660.876 [Micromodem](INFO): Nmea in: $CAREV,120740,COPROC,0.20.0.39330*7B

2021-12-04T12:07:43.313Z,1638619663.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:44.099Z,1638619664.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:44.515Z,1638619664.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:44.962Z,1638619664.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 252.584958 deg, deltaT: 4.412225 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -10.610396 deg/s, posRepo size: 4
2021-12-04T12:07:44.969Z,1638619664.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 252.584958 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.610396 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 279.531187 deg,
      new cmd heading: 283.525530 deg.

2021-12-04T12:07:45.336Z,1638619665.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120744.62*5E

2021-12-04T12:07:45.337Z,1638619665.337 [Micromodem](INFO): Nmea in: $CAREV,120745,AUV,2.1.4000*2F

2021-12-04T12:07:45.716Z,1638619665.716 [Micromodem](INFO): Nmea in: $CAREV,120745,COPROC,0.20.0.39330*7E

2021-12-04T12:07:47.781Z,1638619667.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:48.540Z,1638619668.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:48.955Z,1638619668.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:49.419Z,1638619669.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 236.455412 deg, deltaT: 4.459968 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -3.616516 deg/s, posRepo size: 4
2021-12-04T12:07:49.421Z,1638619669.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 236.455412 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.616516 deg/s,
      cmd update: -10.849548 deg/s,
      cmd heading: 226.254785 deg,
      new cmd heading: 221.166893 deg.

2021-12-04T12:07:49.776Z,1638619669.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120749.06*51

2021-12-04T12:07:49.777Z,1638619669.777 [Micromodem](INFO): Nmea in: $CAREV,120750,AUV,2.1.4000*2B

2021-12-04T12:07:50.168Z,1638619670.168 [Micromodem](INFO): Nmea in: $CAREV,120750,COPROC,0.20.0.39330*7A

2021-12-04T12:07:52.184Z,1638619672.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:52.988Z,1638619672.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:53.413Z,1638619673.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:53.865Z,1638619673.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 248.716011 deg, deltaT: 4.446010 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 2.757663 deg/s, posRepo size: 4
2021-12-04T12:07:53.872Z,1638619673.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 248.716011 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.757663 deg/s,
      cmd update: 8.272991 deg/s,
      cmd heading: 177.825592 deg,
      new cmd heading: 173.371810 deg.

2021-12-04T12:07:54.227Z,1638619674.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120753.51*58

2021-12-04T12:07:54.228Z,1638619674.228 [Micromodem](INFO): Nmea in: $CAREV,120754,AUV,2.1.4000*2F

2021-12-04T12:07:54.612Z,1638619674.612 [Micromodem](INFO): Nmea in: $CAREV,120754,COPROC,0.20.0.39330*7E

2021-12-04T12:07:56.650Z,1638619676.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:07:57.437Z,1638619677.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:07:57.843Z,1638619677.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:07:58.257Z,1638619678.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 229.441846 deg, deltaT: 4.393130 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -4.387343 deg/s, posRepo size: 4
2021-12-04T12:07:58.259Z,1638619678.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 229.441846 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.387343 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 214.587801 deg,
      new cmd heading: 217.542533 deg.

2021-12-04T12:07:58.668Z,1638619678.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120757.96*57

2021-12-04T12:07:58.669Z,1638619678.669 [Micromodem](INFO): Nmea in: $CAREV,120759,AUV,2.1.4000*22

2021-12-04T12:07:59.060Z,1638619679.060 [Micromodem](INFO): Nmea in: $CAREV,120759,COPROC,0.20.0.39330*73

2021-12-04T12:08:01.094Z,1638619681.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:01.877Z,1638619681.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:02.288Z,1638619682.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:02.730Z,1638619682.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.559998 m, bearing: 239.805401 deg, deltaT: 4.474993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 2.315882 deg/s, posRepo size: 4
2021-12-04T12:08:02.732Z,1638619682.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 239.805401 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.315882 deg/s,
      cmd update: 6.947646 deg/s,
      cmd heading: 161.439464 deg,
      new cmd heading: 156.610351 deg.

2021-12-04T12:08:03.108Z,1638619683.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120802.40*53

2021-12-04T12:08:03.109Z,1638619683.109 [Micromodem](INFO): Nmea in: $CAREV,120803,AUV,2.1.4000*22

2021-12-04T12:08:03.511Z,1638619683.511 [Micromodem](INFO): Nmea in: $CAREV,120803,COPROC,0.20.0.39330*73

2021-12-04T12:08:05.581Z,1638619685.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:06.317Z,1638619686.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:06.727Z,1638619686.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:07.165Z,1638619687.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.560013 m, bearing: 238.123972 deg, deltaT: 4.435847 s, deltaX: -8.999985 m, approachRate: -2.028921 m/s, LOS rate: -0.379055 deg/s, posRepo size: 4
2021-12-04T12:08:07.167Z,1638619687.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.560013 m,
      bearing: 238.123972 deg,
      approachRate: -2.028921 m/s,
      LOS rate: -0.379055 deg/s,
      cmd update: -1.137164 deg/s,
      cmd heading: 192.446869 deg,
      new cmd heading: 195.050826 deg.

2021-12-04T12:08:07.592Z,1638619687.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120806.84*5F

2021-12-04T12:08:07.593Z,1638619687.593 [Micromodem](INFO): Nmea in: $CAREV,120807,AUV,2.1.4000*26

2021-12-04T12:08:07.952Z,1638619687.952 [Micromodem](INFO): Nmea in: $CAREV,120807,COPROC,0.20.0.39330*77

2021-12-04T12:08:09.972Z,1638619689.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:10.765Z,1638619690.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:11.163Z,1638619691.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:11.662Z,1638619691.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.399994 m, bearing: 233.079249 deg, deltaT: 4.496500 s, deltaX: -2.160019 m, approachRate: -0.480378 m/s, LOS rate: -1.121922 deg/s, posRepo size: 4
2021-12-04T12:08:11.664Z,1638619691.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 233.079249 deg,
      approachRate: -0.480378 m/s,
      LOS rate: -1.121922 deg/s,
      cmd update: -3.365767 deg/s,
      cmd heading: 187.438569 deg,
      new cmd heading: 186.907363 deg.

2021-12-04T12:08:11.000Z,1638619692.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120811.29*5E

2021-12-04T12:08:12.001Z,1638619692.001 [Micromodem](INFO): Nmea in: $CAREV,120812,AUV,2.1.4000*22

2021-12-04T12:08:12.408Z,1638619692.408 [Micromodem](INFO): Nmea in: $CAREV,120812,COPROC,0.20.0.39330*73

2021-12-04T12:08:14.443Z,1638619694.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:15.205Z,1638619695.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:15.619Z,1638619695.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:16.063Z,1638619696.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.399994 m, bearing: 238.621073 deg, deltaT: 4.397751 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.260150 deg/s, posRepo size: 4
2021-12-04T12:08:16.065Z,1638619696.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 238.621073 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.260150 deg/s,
      cmd update: 3.780449 deg/s,
      cmd heading: 172.308055 deg,
      new cmd heading: 171.065360 deg.

2021-12-04T12:08:16.460Z,1638619696.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120815.73*55

2021-12-04T12:08:16.461Z,1638619696.461 [Micromodem](INFO): Nmea in: $CAREV,120816,AUV,2.1.4000*26

2021-12-04T12:08:16.840Z,1638619696.840 [Micromodem](INFO): Nmea in: $CAREV,120816,COPROC,0.20.0.39330*77

2021-12-04T12:08:18.853Z,1638619698.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:19.649Z,1638619699.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:20.065Z,1638619700.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:20.501Z,1638619700.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.460007 m, bearing: 246.922021 deg, deltaT: 4.441947 s, deltaX: -2.939987 m, approachRate: -0.661869 m/s, LOS rate: 1.868763 deg/s, posRepo size: 4
2021-12-04T12:08:20.503Z,1638619700.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.460007 m,
      bearing: 246.922021 deg,
      approachRate: -0.661869 m/s,
      LOS rate: 1.868763 deg/s,
      cmd update: 5.606290 deg/s,
      cmd heading: 188.975915 deg,
      new cmd heading: 190.497308 deg.

2021-12-04T12:08:20.884Z,1638619700.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120820.17*51

2021-12-04T12:08:20.885Z,1638619700.885 [Micromodem](INFO): Nmea in: $CAREV,120821,AUV,2.1.4000*22

2021-12-04T12:08:21.308Z,1638619701.308 [Micromodem](INFO): Nmea in: $CAREV,120821,COPROC,0.20.0.39330*73

2021-12-04T12:08:23.297Z,1638619703.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:24.101Z,1638619704.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:24.499Z,1638619704.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:24.945Z,1638619704.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.539993 m, bearing: 241.625947 deg, deltaT: 4.427412 s, deltaX: -1.920013 m, approachRate: -0.433665 m/s, LOS rate: -1.196201 deg/s, posRepo size: 4
2021-12-04T12:08:24.952Z,1638619704.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.539993 m,
      bearing: 241.625947 deg,
      approachRate: -0.433665 m/s,
      LOS rate: -1.196201 deg/s,
      cmd update: -3.588603 deg/s,
      cmd heading: 213.914172 deg,
      new cmd heading: 216.145234 deg.

2021-12-04T12:08:25.340Z,1638619705.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120824.62*57

2021-12-04T12:08:25.341Z,1638619705.341 [Micromodem](INFO): Nmea in: $CAREV,120825,AUV,2.1.4000*26

2021-12-04T12:08:25.724Z,1638619705.724 [Micromodem](INFO): Nmea in: $CAREV,120825,COPROC,0.20.0.39330*77

2021-12-04T12:08:27.766Z,1638619707.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:28.537Z,1638619708.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:28.952Z,1638619708.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:29.415Z,1638619709.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.339996 m, bearing: 240.130764 deg, deltaT: 4.477884 s, deltaX: -1.199997 m, approachRate: -0.267983 m/s, LOS rate: -0.333904 deg/s, posRepo size: 4
2021-12-04T12:08:29.417Z,1638619709.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 240.130764 deg,
      approachRate: -0.267983 m/s,
      LOS rate: -0.333904 deg/s,
      cmd update: -1.001712 deg/s,
      cmd heading: 198.008925 deg,
      new cmd heading: 196.461153 deg.

2021-12-04T12:08:29.788Z,1638619709.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120829.06*58

2021-12-04T12:08:29.789Z,1638619709.789 [Micromodem](INFO): Nmea in: $CAREV,120830,AUV,2.1.4000*22

2021-12-04T12:08:30.160Z,1638619710.160 [Micromodem](INFO): Nmea in: $CAREV,120830,COPROC,0.20.0.39330*73

2021-12-04T12:08:32.200Z,1638619712.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:32.987Z,1638619712.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:33.395Z,1638619713.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:33.856Z,1638619713.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.300003 m, bearing: 239.467525 deg, deltaT: 4.445114 s, deltaX: -2.039993 m, approachRate: -0.458929 m/s, LOS rate: -0.149206 deg/s, posRepo size: 4
2021-12-04T12:08:33.858Z,1638619713.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 239.467525 deg,
      approachRate: -0.458929 m/s,
      LOS rate: -0.149206 deg/s,
      cmd update: -0.447619 deg/s,
      cmd heading: 193.542529 deg,
      new cmd heading: 193.126968 deg.

2021-12-04T12:08:34.220Z,1638619714.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120833.51*51

2021-12-04T12:08:34.221Z,1638619714.221 [Micromodem](INFO): Nmea in: $CAREV,120834,AUV,2.1.4000*26

2021-12-04T12:08:34.609Z,1638619714.609 [Micromodem](INFO): Nmea in: $CAREV,120834,COPROC,0.20.0.39330*77

2021-12-04T12:08:36.652Z,1638619716.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:37.437Z,1638619717.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:37.831Z,1638619717.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:38.280Z,1638619718.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.300003 m, bearing: 243.006273 deg, deltaT: 4.424124 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.799876 deg/s, posRepo size: 4
2021-12-04T12:08:38.282Z,1638619718.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 243.006273 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.799876 deg/s,
      cmd update: 2.399626 deg/s,
      cmd heading: 191.541287 deg,
      new cmd heading: 191.377157 deg.

2021-12-04T12:08:38.673Z,1638619718.673 [Micromodem](INFO): Nmea in: $SNTTA,0.102821,,,,120837.96*48

2021-12-04T12:08:38.674Z,1638619718.674 [Micromodem](INFO): Nmea in: $CAREV,120839,AUV,2.1.4000*2B

2021-12-04T12:08:39.052Z,1638619719.052 [Micromodem](INFO): Nmea in: $CAREV,120839,COPROC,0.20.0.39330*7A

2021-12-04T12:08:41.082Z,1638619721.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:41.865Z,1638619721.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:42.276Z,1638619722.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:42.724Z,1638619722.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.939987 m, bearing: 245.577102 deg, deltaT: 4.444098 s, deltaX: -3.360016 m, approachRate: -0.756063 m/s, LOS rate: 0.578482 deg/s, posRepo size: 4
2021-12-04T12:08:42.752Z,1638619722.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.939987 m,
      bearing: 245.577102 deg,
      approachRate: -0.756063 m/s,
      LOS rate: 0.578482 deg/s,
      cmd update: 1.735445 deg/s,
      cmd heading: 202.093836 deg,
      new cmd heading: 203.089324 deg.

2021-12-04T12:08:43.116Z,1638619723.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120842.38*58

2021-12-04T12:08:43.117Z,1638619723.117 [Micromodem](INFO): Nmea in: $CAREV,120843,AUV,2.1.4000*26

2021-12-04T12:08:43.498Z,1638619723.498 [Micromodem](INFO): Nmea in: $CAREV,120843,COPROC,0.20.0.39330*77

2021-12-04T12:08:45.579Z,1638619725.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:46.313Z,1638619726.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:46.719Z,1638619726.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:47.163Z,1638619727.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.780014 m, bearing: 244.742917 deg, deltaT: 4.443052 s, deltaX: -2.159973 m, approachRate: -0.486146 m/s, LOS rate: -0.187750 deg/s, posRepo size: 4
2021-12-04T12:08:47.165Z,1638619727.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 244.742917 deg,
      approachRate: -0.486146 m/s,
      LOS rate: -0.187750 deg/s,
      cmd update: -0.563251 deg/s,
      cmd heading: 209.827500 deg,
      new cmd heading: 210.521644 deg.

2021-12-04T12:08:47.584Z,1638619727.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120846.84*5B

2021-12-04T12:08:47.585Z,1638619727.585 [Micromodem](INFO): Nmea in: $CAREV,120847,AUV,2.1.4000*22

2021-12-04T12:08:47.940Z,1638619727.940 [Micromodem](INFO): Nmea in: $CAREV,120847,COPROC,0.20.0.39330*73

2021-12-04T12:08:49.967Z,1638619729.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:50.762Z,1638619730.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:51.166Z,1638619731.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:51.659Z,1638619731.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.679993 m, bearing: 244.247975 deg, deltaT: 4.496256 s, deltaX: -2.100021 m, approachRate: -0.467060 m/s, LOS rate: -0.110079 deg/s, posRepo size: 4
2021-12-04T12:08:51.661Z,1638619731.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.679993 m,
      bearing: 244.247975 deg,
      approachRate: -0.467060 m/s,
      LOS rate: -0.110079 deg/s,
      cmd update: -0.330237 deg/s,
      cmd heading: 207.329087 deg,
      new cmd heading: 207.069685 deg.

2021-12-04T12:08:51.992Z,1638619731.992 [Micromodem](INFO): Nmea in: $SNTTA,0.109777,,,,120851.28*4A

2021-12-04T12:08:51.993Z,1638619731.993 [Micromodem](INFO): Nmea in: $CAREV,120852,AUV,2.1.4000*26

2021-12-04T12:08:52.408Z,1638619732.408 [Micromodem](INFO): Nmea in: $CAREV,120852,COPROC,0.20.0.39330*77

2021-12-04T12:08:54.427Z,1638619734.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:55.193Z,1638619735.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:08:55.608Z,1638619735.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:08:56.038Z,1638619736.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.399994 m, bearing: 242.874997 deg, deltaT: 4.378571 s, deltaX: -2.279999 m, approachRate: -0.520718 m/s, LOS rate: -0.313567 deg/s, posRepo size: 4
2021-12-04T12:08:56.040Z,1638619736.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.399994 m,
      bearing: 242.874997 deg,
      approachRate: -0.520718 m/s,
      LOS rate: -0.313567 deg/s,
      cmd update: -0.940702 deg/s,
      cmd heading: 205.845777 deg,
      new cmd heading: 205.730956 deg.

2021-12-04T12:08:56.456Z,1638619736.456 [Micromodem](INFO): Nmea in: $SNTTA,0.114354,,,,120855.72*48

2021-12-04T12:08:56.457Z,1638619736.457 [Micromodem](INFO): Nmea in: $CAREV,120856,AUV,2.1.4000*22

2021-12-04T12:08:56.828Z,1638619736.828 [Micromodem](INFO): Nmea in: $CAREV,120856,COPROC,0.20.0.39330*73

2021-12-04T12:08:58.845Z,1638619738.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:08:59.648Z,1638619739.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:00.071Z,1638619740.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:00.514Z,1638619740.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.480011 m, bearing: 243.316118 deg, deltaT: 4.476218 s, deltaX: -1.919983 m, approachRate: -0.428930 m/s, LOS rate: 0.098548 deg/s, posRepo size: 4
2021-12-04T12:09:00.516Z,1638619740.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.480011 m,
      bearing: 243.316118 deg,
      approachRate: -0.428930 m/s,
      LOS rate: 0.098548 deg/s,
      cmd update: 0.295643 deg/s,
      cmd heading: 201.698253 deg,
      new cmd heading: 201.307914 deg.

2021-12-04T12:09:00.896Z,1638619740.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120900.17*52

2021-12-04T12:09:00.897Z,1638619740.897 [Micromodem](INFO): Nmea in: $CAREV,120901,AUV,2.1.4000*21

2021-12-04T12:09:01.300Z,1638619741.300 [Micromodem](INFO): Nmea in: $CAREV,120901,COPROC,0.20.0.39330*70

2021-12-04T12:09:03.312Z,1638619743.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:04.105Z,1638619744.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:04.511Z,1638619744.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:04.943Z,1638619744.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.380005 m, bearing: 245.095109 deg, deltaT: 4.428430 s, deltaX: -2.100006 m, approachRate: -0.474210 m/s, LOS rate: 0.401720 deg/s, posRepo size: 4
2021-12-04T12:09:04.944Z,1638619744.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.380005 m,
      bearing: 245.095109 deg,
      approachRate: -0.474210 m/s,
      LOS rate: 0.401720 deg/s,
      cmd update: 1.205161 deg/s,
      cmd heading: 203.013182 deg,
      new cmd heading: 203.130156 deg.

2021-12-04T12:09:05.355Z,1638619745.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120904.63*55

2021-12-04T12:09:05.393Z,1638619745.393 [Micromodem](INFO): Nmea in: $CAREV,120905,AUV,2.1.4000*25

2021-12-04T12:09:05.732Z,1638619745.732 [Micromodem](INFO): Nmea in: $CAREV,120905,COPROC,0.20.0.39330*74

2021-12-04T12:09:07.780Z,1638619747.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:08.545Z,1638619748.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:08.961Z,1638619748.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:09.438Z,1638619749.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.520004 m, bearing: 245.207507 deg, deltaT: 4.495191 s, deltaX: -1.860001 m, approachRate: -0.413776 m/s, LOS rate: 0.025004 deg/s, posRepo size: 4
2021-12-04T12:09:09.448Z,1638619749.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.520004 m,
      bearing: 245.207507 deg,
      approachRate: -0.413776 m/s,
      LOS rate: 0.025004 deg/s,
      cmd update: 0.075012 deg/s,
      cmd heading: 208.380501 deg,
      new cmd heading: 208.907878 deg.

2021-12-04T12:09:09.788Z,1638619749.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120909.07*5A

2021-12-04T12:09:09.789Z,1638619749.789 [Micromodem](INFO): Nmea in: $CAREV,120910,AUV,2.1.4000*21

2021-12-04T12:09:10.177Z,1638619750.177 [Micromodem](INFO): Nmea in: $CAREV,120910,COPROC,0.20.0.39330*70

2021-12-04T12:09:12.219Z,1638619752.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:12.994Z,1638619752.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:13.428Z,1638619753.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:13.855Z,1638619753.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.660004 m, bearing: 248.449852 deg, deltaT: 4.416883 s, deltaX: -1.860001 m, approachRate: -0.421112 m/s, LOS rate: 0.734080 deg/s, posRepo size: 4
2021-12-04T12:09:13.857Z,1638619753.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.660004 m,
      bearing: 248.449852 deg,
      approachRate: -0.421112 m/s,
      LOS rate: 0.734080 deg/s,
      cmd update: 2.202240 deg/s,
      cmd heading: 208.716113 deg,
      new cmd heading: 208.744616 deg.

2021-12-04T12:09:14.228Z,1638619754.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120913.51*52

2021-12-04T12:09:14.229Z,1638619754.229 [Micromodem](INFO): Nmea in: $CAREV,120914,AUV,2.1.4000*25

2021-12-04T12:09:14.620Z,1638619754.620 [Micromodem](INFO): Nmea in: $CAREV,120914,COPROC,0.20.0.39330*74

2021-12-04T12:09:16.675Z,1638619756.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:17.441Z,1638619757.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:17.847Z,1638619757.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:18.274Z,1638619758.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.559998 m, bearing: 249.287179 deg, deltaT: 4.419378 s, deltaX: -2.100006 m, approachRate: -0.475181 m/s, LOS rate: 0.189467 deg/s, posRepo size: 4
2021-12-04T12:09:18.276Z,1638619758.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 249.287179 deg,
      approachRate: -0.475181 m/s,
      LOS rate: 0.189467 deg/s,
      cmd update: 0.568401 deg/s,
      cmd heading: 218.506836 deg,
      new cmd heading: 219.285517 deg.

2021-12-04T12:09:18.684Z,1638619758.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120917.96*5D

2021-12-04T12:09:18.685Z,1638619758.685 [Micromodem](INFO): Nmea in: $CAREV,120919,AUV,2.1.4000*28

2021-12-04T12:09:19.064Z,1638619759.064 [Micromodem](INFO): Nmea in: $CAREV,120919,COPROC,0.20.0.39330*79

2021-12-04T12:09:21.084Z,1638619761.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:21.896Z,1638619761.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:22.279Z,1638619762.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:22.755Z,1638619762.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.160004 m, bearing: 252.456687 deg, deltaT: 4.472522 s, deltaX: -2.399994 m, approachRate: -0.536609 m/s, LOS rate: 0.708662 deg/s, posRepo size: 4
2021-12-04T12:09:22.756Z,1638619762.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.160004 m,
      bearing: 252.456687 deg,
      approachRate: -0.536609 m/s,
      LOS rate: 0.708662 deg/s,
      cmd update: 2.125987 deg/s,
      cmd heading: 221.014923 deg,
      new cmd heading: 221.252284 deg.

2021-12-04T12:09:23.124Z,1638619763.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120922.42*52

2021-12-04T12:09:23.125Z,1638619763.125 [Micromodem](INFO): Nmea in: $CAREV,120923,AUV,2.1.4000*21

2021-12-04T12:09:23.544Z,1638619763.544 [Micromodem](INFO): Nmea in: $CAREV,120923,COPROC,0.20.0.39330*70

2021-12-04T12:09:25.582Z,1638619765.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:26.359Z,1638619766.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:26.733Z,1638619766.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:27.163Z,1638619767.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 253.223362 deg, deltaT: 4.416165 s, deltaX: -3.059998 m, approachRate: -0.692908 m/s, LOS rate: 0.173607 deg/s, posRepo size: 4
2021-12-04T12:09:27.165Z,1638619767.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.100006 m,
      bearing: 253.223362 deg,
      approachRate: -0.692908 m/s,
      LOS rate: 0.173607 deg/s,
      cmd update: 0.520820 deg/s,
      cmd heading: 230.522255 deg,
      new cmd heading: 231.282859 deg.

2021-12-04T12:09:27.573Z,1638619767.573 [Micromodem](INFO): Nmea in: $SNTTA,0.096009,,,,120926.88*48

2021-12-04T12:09:27.586Z,1638619767.586 [Micromodem](INFO): Nmea in: $CAREV,120927,AUV,2.1.4000*25

2021-12-04T12:09:27.948Z,1638619767.948 [Micromodem](INFO): Nmea in: $CAREV,120927,COPROC,0.20.0.39330*74

2021-12-04T12:09:29.665Z,1638619769.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:30.395Z,1638619770.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:30.775Z,1638619770.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:31.194Z,1638619771.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.580002 m, bearing: 252.276862 deg, deltaT: 4.031676 s, deltaX: -2.520004 m, approachRate: -0.625051 m/s, LOS rate: -0.234766 deg/s, posRepo size: 4
2021-12-04T12:09:31.196Z,1638619771.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.580002 m,
      bearing: 252.276862 deg,
      approachRate: -0.625051 m/s,
      LOS rate: -0.234766 deg/s,
      cmd update: -0.704298 deg/s,
      cmd heading: 232.619084 deg,
      new cmd heading: 232.808397 deg.

2021-12-04T12:09:31.624Z,1638619771.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120930.92*5C

2021-12-04T12:09:31.626Z,1638619771.626 [Micromodem](INFO): Nmea in: $CAREV,120931,AUV,2.1.4000*22

2021-12-04T12:09:31.988Z,1638619771.988 [Micromodem](INFO): Nmea in: $CAREV,120931,COPROC,0.20.0.39330*73

2021-12-04T12:09:34.017Z,1638619774.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:34.809Z,1638619774.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:35.214Z,1638619775.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:35.713Z,1638619775.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.880005 m, bearing: 252.707574 deg, deltaT: 4.507825 s, deltaX: -2.699997 m, approachRate: -0.598958 m/s, LOS rate: 0.095548 deg/s, posRepo size: 4
2021-12-04T12:09:35.720Z,1638619775.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.880005 m,
      bearing: 252.707574 deg,
      approachRate: -0.598958 m/s,
      LOS rate: 0.095548 deg/s,
      cmd update: 0.286643 deg/s,
      cmd heading: 229.509153 deg,
      new cmd heading: 229.184744 deg.

2021-12-04T12:09:36.060Z,1638619776.060 [Micromodem](INFO): Nmea in: $SNTTA,0.100183,,,,120935.33*47

2021-12-04T12:09:36.061Z,1638619776.061 [Micromodem](INFO): Nmea in: $CAREV,120936,AUV,2.1.4000*25

2021-12-04T12:09:36.452Z,1638619776.452 [Micromodem](INFO): Nmea in: $CAREV,120936,COPROC,0.20.0.39330*74

2021-12-04T12:09:38.471Z,1638619778.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:39.261Z,1638619779.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:39.662Z,1638619779.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:40.095Z,1638619780.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.299995 m, bearing: 253.467200 deg, deltaT: 4.393292 s, deltaX: -2.580009 m, approachRate: -0.587261 m/s, LOS rate: 0.172906 deg/s, posRepo size: 4
2021-12-04T12:09:40.097Z,1638619780.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.299995 m,
      bearing: 253.467200 deg,
      approachRate: -0.587261 m/s,
      LOS rate: 0.172906 deg/s,
      cmd update: 0.518718 deg/s,
      cmd heading: 230.795643 deg,
      new cmd heading: 230.898989 deg.

2021-12-04T12:09:40.520Z,1638619780.520 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120939.78*51

2021-12-04T12:09:40.521Z,1638619780.521 [Micromodem](INFO): Nmea in: $CAREV,120940,AUV,2.1.4000*24

2021-12-04T12:09:40.872Z,1638619780.872 [Micromodem](INFO): Nmea in: $CAREV,120940,COPROC,0.20.0.39330*75

2021-12-04T12:09:42.901Z,1638619782.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:43.705Z,1638619783.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:44.103Z,1638619784.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:44.557Z,1638619784.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.780006 m, bearing: 251.847434 deg, deltaT: 4.457881 s, deltaX: -2.519989 m, approachRate: -0.565289 m/s, LOS rate: -0.363349 deg/s, posRepo size: 4
2021-12-04T12:09:44.563Z,1638619784.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.780006 m,
      bearing: 251.847434 deg,
      approachRate: -0.565289 m/s,
      LOS rate: -0.363349 deg/s,
      cmd update: -1.090046 deg/s,
      cmd heading: 233.086395 deg,
      new cmd heading: 233.297243 deg.

2021-12-04T12:09:44.940Z,1638619784.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120944.23*55

2021-12-04T12:09:44.941Z,1638619784.941 [Micromodem](INFO): Nmea in: $CAREV,120945,AUV,2.1.4000*21

2021-12-04T12:09:45.325Z,1638619785.325 [Micromodem](INFO): Nmea in: $CAREV,120945,COPROC,0.20.0.39330*70

2021-12-04T12:09:47.394Z,1638619787.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:48.145Z,1638619788.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:48.539Z,1638619788.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:48.987Z,1638619788.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.199997 m, bearing: 253.648910 deg, deltaT: 4.433704 s, deltaX: -2.580009 m, approachRate: -0.581908 m/s, LOS rate: 0.406314 deg/s, posRepo size: 4
2021-12-04T12:09:48.989Z,1638619788.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.199997 m,
      bearing: 253.648910 deg,
      approachRate: -0.581908 m/s,
      LOS rate: 0.406314 deg/s,
      cmd update: 1.218942 deg/s,
      cmd heading: 228.254744 deg,
      new cmd heading: 227.814982 deg.

2021-12-04T12:09:49.408Z,1638619789.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120948.67*59

2021-12-04T12:09:49.409Z,1638619789.409 [Micromodem](INFO): Nmea in: $CAREV,120949,AUV,2.1.4000*2D

2021-12-04T12:09:49.780Z,1638619789.780 [Micromodem](INFO): Nmea in: $CAREV,120949,COPROC,0.20.0.39330*7C

2021-12-04T12:09:51.815Z,1638619791.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:52.585Z,1638619792.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:52.988Z,1638619792.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:53.449Z,1638619793.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.380005 m, bearing: 253.887202 deg, deltaT: 4.462121 s, deltaX: -2.819992 m, approachRate: -0.631985 m/s, LOS rate: 0.053403 deg/s, posRepo size: 4
2021-12-04T12:09:53.451Z,1638619793.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 253.887202 deg,
      approachRate: -0.631985 m/s,
      LOS rate: 0.053403 deg/s,
      cmd update: 0.160210 deg/s,
      cmd heading: 233.670860 deg,
      new cmd heading: 234.185868 deg.

2021-12-04T12:09:53.824Z,1638619793.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120953.10*53

2021-12-04T12:09:53.825Z,1638619793.825 [Micromodem](INFO): Nmea in: $CAREV,120954,AUV,2.1.4000*21

2021-12-04T12:09:54.208Z,1638619794.208 [Micromodem](INFO): Nmea in: $CAREV,120954,COPROC,0.20.0.39330*70

2021-12-04T12:09:56.233Z,1638619796.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:09:57.025Z,1638619797.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:09:57.439Z,1638619797.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:09:57.903Z,1638619797.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.740005 m, bearing: 255.059454 deg, deltaT: 4.450147 s, deltaX: -2.639999 m, approachRate: -0.593239 m/s, LOS rate: 0.263419 deg/s, posRepo size: 4
2021-12-04T12:09:57.905Z,1638619797.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.740005 m,
      bearing: 255.059454 deg,
      approachRate: -0.593239 m/s,
      LOS rate: 0.263419 deg/s,
      cmd update: 0.790256 deg/s,
      cmd heading: 234.386429 deg,
      new cmd heading: 234.451468 deg.

2021-12-04T12:09:58.264Z,1638619798.264 [Micromodem](INFO): Nmea in: $SNTTA,0.094164,,,,120957.55*46

2021-12-04T12:09:58.265Z,1638619798.265 [Micromodem](INFO): Nmea in: $CAREV,120958,AUV,2.1.4000*2D

2021-12-04T12:09:58.652Z,1638619798.652 [Micromodem](INFO): Nmea in: $CAREV,120958,COPROC,0.20.0.39330*7C

2021-12-04T12:10:00.686Z,1638619800.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:01.486Z,1638619801.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:01.875Z,1638619801.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:02.303Z,1638619802.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.980003 m, bearing: 254.954132 deg, deltaT: 4.404087 s, deltaX: -2.760002 m, approachRate: -0.626691 m/s, LOS rate: -0.023914 deg/s, posRepo size: 4
2021-12-04T12:10:02.305Z,1638619802.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.980003 m,
      bearing: 254.954132 deg,
      approachRate: -0.626691 m/s,
      LOS rate: -0.023914 deg/s,
      cmd update: -0.071743 deg/s,
      cmd heading: 237.893754 deg,
      new cmd heading: 238.187573 deg.

2021-12-04T12:10:02.720Z,1638619802.720 [Micromodem](INFO): Nmea in: $SNTTA,0.081796,,,,121002.01*40

2021-12-04T12:10:02.721Z,1638619802.721 [Micromodem](INFO): Nmea in: $CAREV,121003,AUV,2.1.4000*2B

2021-12-04T12:10:03.096Z,1638619803.096 [Micromodem](INFO): Nmea in: $CAREV,121003,COPROC,0.20.0.39330*7A

2021-12-04T12:10:05.125Z,1638619805.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:05.932Z,1638619805.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:06.346Z,1638619806.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:06.778Z,1638619806.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 255.035056 deg, deltaT: 4.474258 s, deltaX: -2.760002 m, approachRate: -0.616863 m/s, LOS rate: 0.018087 deg/s, posRepo size: 4
2021-12-04T12:10:06.788Z,1638619806.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 255.035056 deg,
      approachRate: -0.616863 m/s,
      LOS rate: 0.018087 deg/s,
      cmd update: 0.054260 deg/s,
      cmd heading: 237.572189 deg,
      new cmd heading: 237.546041 deg.

2021-12-04T12:10:07.160Z,1638619807.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121006.46*58

2021-12-04T12:10:07.161Z,1638619807.161 [Micromodem](INFO): Nmea in: $CAREV,121007,AUV,2.1.4000*2F

2021-12-04T12:10:07.576Z,1638619807.576 [Micromodem](INFO): Nmea in: $CAREV,121007,COPROC,0.20.0.39330*7E

2021-12-04T12:10:09.620Z,1638619809.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:10.388Z,1638619810.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:10.773Z,1638619810.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:11.188Z,1638619811.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.519997 m, bearing: 255.038417 deg, deltaT: 4.409977 s, deltaX: -2.700005 m, approachRate: -0.612249 m/s, LOS rate: 0.000762 deg/s, posRepo size: 4
2021-12-04T12:10:11.189Z,1638619811.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.519997 m,
      bearing: 255.038417 deg,
      approachRate: -0.612249 m/s,
      LOS rate: 0.000762 deg/s,
      cmd update: 0.002286 deg/s,
      cmd heading: 237.811088 deg,
      new cmd heading: 237.831218 deg.

2021-12-04T12:10:11.624Z,1638619811.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121010.91*55

2021-12-04T12:10:11.625Z,1638619811.625 [Micromodem](INFO): Nmea in: $CAREV,121011,AUV,2.1.4000*28

2021-12-04T12:10:11.996Z,1638619811.996 [Micromodem](INFO): Nmea in: $CAREV,121011,COPROC,0.20.0.39330*79

2021-12-04T12:10:14.037Z,1638619814.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:14.807Z,1638619814.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:15.219Z,1638619815.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:15.713Z,1638619815.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 255.939838 deg, deltaT: 4.521108 s, deltaX: -2.759995 m, approachRate: -0.610469 m/s, LOS rate: 0.199381 deg/s, posRepo size: 4
2021-12-04T12:10:15.719Z,1638619815.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.760002 m,
      bearing: 255.939838 deg,
      approachRate: -0.610469 m/s,
      LOS rate: 0.199381 deg/s,
      cmd update: 0.598142 deg/s,
      cmd heading: 237.821225 deg,
      new cmd heading: 237.822281 deg.

2021-12-04T12:10:16.044Z,1638619816.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121015.33*58

2021-12-04T12:10:16.045Z,1638619816.045 [Micromodem](INFO): Nmea in: $CAREV,121016,AUV,2.1.4000*2F

2021-12-04T12:10:16.445Z,1638619816.445 [Micromodem](INFO): Nmea in: $CAREV,121016,COPROC,0.20.0.39330*7E

2021-12-04T12:10:18.487Z,1638619818.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:19.250Z,1638619819.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:19.663Z,1638619819.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:20.095Z,1638619820.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.759995 m, bearing: 256.959394 deg, deltaT: 4.382361 s, deltaX: -3.000008 m, approachRate: -0.684564 m/s, LOS rate: 0.232650 deg/s, posRepo size: 4
2021-12-04T12:10:20.097Z,1638619820.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.759995 m,
      bearing: 256.959394 deg,
      approachRate: -0.684564 m/s,
      LOS rate: 0.232650 deg/s,
      cmd update: 0.697950 deg/s,
      cmd heading: 240.524120 deg,
      new cmd heading: 240.716323 deg.

2021-12-04T12:10:20.508Z,1638619820.508 [Micromodem](INFO): Nmea in: $SNTTA,0.080479,,,,121019.77*48

2021-12-04T12:10:20.509Z,1638619820.509 [Micromodem](INFO): Nmea in: $CAREV,121020,AUV,2.1.4000*2A

2021-12-04T12:10:20.872Z,1638619820.872 [Micromodem](INFO): Nmea in: $CAREV,121020,COPROC,0.20.0.39330*7B

2021-12-04T12:10:21.714Z,1638619821.714 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:10:22.905Z,1638619822.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:23.689Z,1638619823.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:24.099Z,1638619824.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:24.539Z,1638619824.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 256.415601 deg, deltaT: 4.448038 s, deltaX: -2.519989 m, approachRate: -0.566539 m/s, LOS rate: -0.122254 deg/s, posRepo size: 4
2021-12-04T12:10:24.541Z,1638619824.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 256.415601 deg,
      approachRate: -0.566539 m/s,
      LOS rate: -0.122254 deg/s,
      cmd update: -0.366763 deg/s,
      cmd heading: 243.565196 deg,
      new cmd heading: 243.852883 deg.

2021-12-04T12:10:24.940Z,1638619824.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121024.21*59

2021-12-04T12:10:24.941Z,1638619824.941 [Micromodem](INFO): Nmea in: $CAREV,121025,AUV,2.1.4000*2F

2021-12-04T12:10:25.320Z,1638619825.320 [Micromodem](INFO): Nmea in: $CAREV,121025,COPROC,0.20.0.39330*7E

2021-12-04T12:10:27.395Z,1638619827.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:28.129Z,1638619828.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:28.544Z,1638619828.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:28.968Z,1638619828.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 258.314394 deg, deltaT: 4.428566 s, deltaX: -2.879997 m, approachRate: -0.650323 m/s, LOS rate: 0.428760 deg/s, posRepo size: 4
2021-12-04T12:10:28.969Z,1638619828.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.360008 m,
      bearing: 258.314394 deg,
      approachRate: -0.650323 m/s,
      LOS rate: 0.428760 deg/s,
      cmd update: 1.286280 deg/s,
      cmd heading: 241.926372 deg,
      new cmd heading: 241.789798 deg.

2021-12-04T12:10:29.392Z,1638619829.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121028.65*55

2021-12-04T12:10:29.404Z,1638619829.404 [Micromodem](INFO): Nmea in: $CAREV,121029,AUV,2.1.4000*23

2021-12-04T12:10:29.764Z,1638619829.764 [Micromodem](INFO): Nmea in: $CAREV,121029,COPROC,0.20.0.39330*72

2021-12-04T12:10:31.813Z,1638619831.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:32.581Z,1638619832.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:32.988Z,1638619832.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:33.435Z,1638619833.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.360001 m, bearing: 260.449894 deg, deltaT: 4.467707 s, deltaX: -3.000008 m, approachRate: -0.671487 m/s, LOS rate: 0.477986 deg/s, posRepo size: 4
2021-12-04T12:10:33.437Z,1638619833.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 260.449894 deg,
      approachRate: -0.671487 m/s,
      LOS rate: 0.477986 deg/s,
      cmd update: 1.433957 deg/s,
      cmd heading: 247.616183 deg,
      new cmd heading: 248.152131 deg.

2021-12-04T12:10:33.824Z,1638619833.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121033.10*5D

2021-12-04T12:10:33.825Z,1638619833.825 [Micromodem](INFO): Nmea in: $CAREV,121034,AUV,2.1.4000*2F

2021-12-04T12:10:34.208Z,1638619834.208 [Micromodem](INFO): Nmea in: $CAREV,121034,COPROC,0.20.0.39330*7E

2021-12-04T12:10:36.232Z,1638619836.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:37.032Z,1638619837.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:37.439Z,1638619837.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:37.862Z,1638619837.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 260.808178 deg, deltaT: 4.426635 s, deltaX: -2.700005 m, approachRate: -0.609945 m/s, LOS rate: 0.080938 deg/s, posRepo size: 4
2021-12-04T12:10:37.880Z,1638619837.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 260.808178 deg,
      approachRate: -0.609945 m/s,
      LOS rate: 0.080938 deg/s,
      cmd update: 0.242815 deg/s,
      cmd heading: 254.022736 deg,
      new cmd heading: 254.561645 deg.

2021-12-04T12:10:38.260Z,1638619838.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121037.55*58

2021-12-04T12:10:38.261Z,1638619838.261 [Micromodem](INFO): Nmea in: $CAREV,121038,AUV,2.1.4000*23

2021-12-04T12:10:38.660Z,1638619838.660 [Micromodem](INFO): Nmea in: $CAREV,121038,COPROC,0.20.0.39330*72

2021-12-04T12:10:40.699Z,1638619840.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:41.473Z,1638619841.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:41.493Z,1638619841.493 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:10:41.875Z,1638619841.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:42.297Z,1638619842.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.779999 m, bearing: 261.775305 deg, deltaT: 4.435347 s, deltaX: -2.879997 m, approachRate: -0.649329 m/s, LOS rate: 0.218050 deg/s, posRepo size: 4
2021-12-04T12:10:42.319Z,1638619842.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 261.775305 deg,
      approachRate: -0.649329 m/s,
      LOS rate: 0.218050 deg/s,
      cmd update: 0.654150 deg/s,
      cmd heading: 255.101854 deg,
      new cmd heading: 255.190950 deg.

2021-12-04T12:10:42.715Z,1638619842.715 [Micromodem](INFO): Nmea in: $SNTTA,0.089214,,,,121041.99*41

2021-12-04T12:10:42.716Z,1638619842.716 [Micromodem](INFO): Nmea in: $CAREV,121043,AUV,2.1.4000*2F

2021-12-04T12:10:43.096Z,1638619843.096 [Micromodem](INFO): Nmea in: $CAREV,121043,COPROC,0.20.0.39330*7E

2021-12-04T12:10:45.128Z,1638619845.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:45.917Z,1638619845.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:46.327Z,1638619846.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:46.771Z,1638619846.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.960007 m, bearing: 263.428730 deg, deltaT: 4.473222 s, deltaX: -2.819992 m, approachRate: -0.630416 m/s, LOS rate: 0.369627 deg/s, posRepo size: 4
2021-12-04T12:10:46.773Z,1638619846.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.960007 m,
      bearing: 263.428730 deg,
      approachRate: -0.630416 m/s,
      LOS rate: 0.369627 deg/s,
      cmd update: 1.108882 deg/s,
      cmd heading: 258.034793 deg,
      new cmd heading: 258.268036 deg.

2021-12-04T12:10:47.156Z,1638619847.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121046.44*5E

2021-12-04T12:10:47.157Z,1638619847.157 [Micromodem](INFO): Nmea in: $CAREV,121047,AUV,2.1.4000*2B

2021-12-04T12:10:47.576Z,1638619847.576 [Micromodem](INFO): Nmea in: $CAREV,121047,COPROC,0.20.0.39330*7A

2021-12-04T12:10:49.613Z,1638619849.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:50.368Z,1638619850.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:50.778Z,1638619850.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:51.210Z,1638619851.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 262.055698 deg, deltaT: 4.435052 s, deltaX: -3.120003 m, approachRate: -0.703487 m/s, LOS rate: -0.309586 deg/s, posRepo size: 4
2021-12-04T12:10:51.216Z,1638619851.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.840004 m,
      bearing: 262.055698 deg,
      approachRate: -0.703487 m/s,
      LOS rate: -0.309586 deg/s,
      cmd update: -0.928759 deg/s,
      cmd heading: 262.950004 deg,
      new cmd heading: 263.352592 deg.

2021-12-04T12:10:51.628Z,1638619851.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121050.89*58

2021-12-04T12:10:51.629Z,1638619851.629 [Micromodem](INFO): Nmea in: $CAREV,121051,AUV,2.1.4000*2C

2021-12-04T12:10:51.681Z,1638619851.681 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T12:10:51.988Z,1638619851.988 [Micromodem](INFO): Nmea in: $CAREV,121051,COPROC,0.20.0.39330*7D

2021-12-04T12:10:54.033Z,1638619854.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:54.811Z,1638619854.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:55.199Z,1638619855.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:10:55.727Z,1638619855.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 262.321201 deg, deltaT: 4.517478 s, deltaX: -3.000000 m, approachRate: -0.664087 m/s, LOS rate: 0.058772 deg/s, posRepo size: 4
2021-12-04T12:10:55.729Z,1638619855.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.840004 m,
      bearing: 262.321201 deg,
      approachRate: -0.664087 m/s,
      LOS rate: 0.058772 deg/s,
      cmd update: 0.176317 deg/s,
      cmd heading: 258.869475 deg,
      new cmd heading: 258.421068 deg.

2021-12-04T12:10:56.032Z,1638619856.032 [Micromodem](INFO): Nmea in: $SNTTA,0.060818,,,,121055.34*42

2021-12-04T12:10:56.033Z,1638619856.033 [Micromodem](INFO): Nmea in: $CAREV,121056,AUV,2.1.4000*2B

2021-12-04T12:10:56.448Z,1638619856.448 [Micromodem](INFO): Nmea in: $CAREV,121056,COPROC,0.20.0.39330*7A

2021-12-04T12:10:56.456Z,1638619856.456 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:10:58.479Z,1638619858.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:10:59.241Z,1638619859.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:10:59.651Z,1638619859.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:00.075Z,1638619860.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.140007 m, bearing: 262.107034 deg, deltaT: 4.352011 s, deltaX: -2.699997 m, approachRate: -0.620402 m/s, LOS rate: -0.049211 deg/s, posRepo size: 4
2021-12-04T12:11:00.077Z,1638619860.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.140007 m,
      bearing: 262.107034 deg,
      approachRate: -0.620402 m/s,
      LOS rate: -0.049211 deg/s,
      cmd update: -0.147633 deg/s,
      cmd heading: 259.668199 deg,
      new cmd heading: 259.721926 deg.

2021-12-04T12:11:00.492Z,1638619860.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121059.76*51

2021-12-04T12:11:00.493Z,1638619860.493 [Micromodem](INFO): Nmea in: $CAREV,121100,AUV,2.1.4000*29

2021-12-04T12:11:00.868Z,1638619860.868 [Micromodem](INFO): Nmea in: $CAREV,121100,COPROC,0.20.0.39330*78

2021-12-04T12:11:01.706Z,1638619861.706 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:11:02.901Z,1638619862.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:03.681Z,1638619863.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:04.095Z,1638619864.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:04.541Z,1638619864.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.260010 m, bearing: 262.131923 deg, deltaT: 4.450449 s, deltaX: -2.879997 m, approachRate: -0.647125 m/s, LOS rate: 0.005593 deg/s, posRepo size: 4
2021-12-04T12:11:04.548Z,1638619864.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.260010 m,
      bearing: 262.131923 deg,
      approachRate: -0.647125 m/s,
      LOS rate: 0.005593 deg/s,
      cmd update: 0.016778 deg/s,
      cmd heading: 259.022679 deg,
      new cmd heading: 258.963783 deg.

2021-12-04T12:11:04.924Z,1638619864.924 [Micromodem](INFO): Nmea in: $SNTTA,0.063551,,,,121104.20*41

2021-12-04T12:11:04.925Z,1638619864.925 [Micromodem](INFO): Nmea in: $CAREV,121105,AUV,2.1.4000*2C

2021-12-04T12:11:05.317Z,1638619865.317 [Micromodem](INFO): Nmea in: $CAREV,121105,COPROC,0.20.0.39330*7D

2021-12-04T12:11:06.527Z,1638619866.527 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:11:07.382Z,1638619867.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:08.136Z,1638619868.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:08.539Z,1638619868.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:08.959Z,1638619868.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.560005 m, bearing: 261.515649 deg, deltaT: 4.433867 s, deltaX: -2.700005 m, approachRate: -0.608950 m/s, LOS rate: -0.138993 deg/s, posRepo size: 4
2021-12-04T12:11:08.961Z,1638619868.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.560005 m,
      bearing: 261.515649 deg,
      approachRate: -0.608950 m/s,
      LOS rate: -0.138993 deg/s,
      cmd update: -0.416978 deg/s,
      cmd heading: 259.097283 deg,
      new cmd heading: 259.103489 deg.

2021-12-04T12:11:09.392Z,1638619869.392 [Micromodem](INFO): Nmea in: $SNTTA,0.060392,,,,121108.66*45

2021-12-04T12:11:09.393Z,1638619869.393 [Micromodem](INFO): Nmea in: $CAREV,121109,AUV,2.1.4000*20

2021-12-04T12:11:09.760Z,1638619869.760 [Micromodem](INFO): Nmea in: $CAREV,121109,COPROC,0.20.0.39330*71

2021-12-04T12:11:11.795Z,1638619871.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:12.577Z,1638619872.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:12.983Z,1638619872.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:13.440Z,1638619873.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 261.903877 deg, deltaT: 4.476181 s, deltaX: -2.879997 m, approachRate: -0.643405 m/s, LOS rate: 0.086732 deg/s, posRepo size: 4
2021-12-04T12:11:13.441Z,1638619873.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.680008 m,
      bearing: 261.903877 deg,
      approachRate: -0.643405 m/s,
      LOS rate: 0.086732 deg/s,
      cmd update: 0.260196 deg/s,
      cmd heading: 257.246377 deg,
      new cmd heading: 257.076581 deg.

2021-12-04T12:11:13.829Z,1638619873.829 [Micromodem](INFO): Nmea in: $SNTTA,0.060050,,,,121113.10*43

2021-12-04T12:11:13.830Z,1638619873.830 [Micromodem](INFO): Nmea in: $CAREV,121114,AUV,2.1.4000*2C

2021-12-04T12:11:14.204Z,1638619874.204 [Micromodem](INFO): Nmea in: $CAREV,121114,COPROC,0.20.0.39330*7D

2021-12-04T12:11:16.232Z,1638619876.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:16.637Z,1638619876.637 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:11:17.033Z,1638619877.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:17.435Z,1638619877.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:17.886Z,1638619877.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 262.361254 deg, deltaT: 4.450650 s, deltaX: -2.940006 m, approachRate: -0.660579 m/s, LOS rate: 0.102766 deg/s, posRepo size: 4
2021-12-04T12:11:17.888Z,1638619877.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 262.361254 deg,
      approachRate: -0.660579 m/s,
      LOS rate: 0.102766 deg/s,
      cmd update: 0.308299 deg/s,
      cmd heading: 258.405514 deg,
      new cmd heading: 258.510445 deg.

2021-12-04T12:11:18.275Z,1638619878.275 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121117.55*5B

2021-12-04T12:11:18.276Z,1638619878.276 [Micromodem](INFO): Nmea in: $CAREV,121118,AUV,2.1.4000*20

2021-12-04T12:11:18.652Z,1638619878.652 [Micromodem](INFO): Nmea in: $CAREV,121118,COPROC,0.20.0.39330*71

2021-12-04T12:11:20.690Z,1638619880.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:21.473Z,1638619881.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:21.570Z,1638619881.570 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:11:21.871Z,1638619881.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:22.302Z,1638619882.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 261.711812 deg, deltaT: 4.415912 s, deltaX: -3.239994 m, approachRate: -0.733709 m/s, LOS rate: -0.147069 deg/s, posRepo size: 4
2021-12-04T12:11:22.304Z,1638619882.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 261.711812 deg,
      approachRate: -0.733709 m/s,
      LOS rate: -0.147069 deg/s,
      cmd update: -0.441206 deg/s,
      cmd heading: 259.779544 deg,
      new cmd heading: 259.891259 deg.

2021-12-04T12:11:22.711Z,1638619882.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121121.99*5E

2021-12-04T12:11:22.712Z,1638619882.712 [Micromodem](INFO): Nmea in: $CAREV,121123,AUV,2.1.4000*28

2021-12-04T12:11:23.092Z,1638619883.092 [Micromodem](INFO): Nmea in: $CAREV,121123,COPROC,0.20.0.39330*79

2021-12-04T12:11:25.118Z,1638619885.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:25.913Z,1638619885.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:26.327Z,1638619886.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:26.777Z,1638619886.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 262.143999 deg, deltaT: 4.475068 s, deltaX: -2.940002 m, approachRate: -0.656974 m/s, LOS rate: 0.096577 deg/s, posRepo size: 4
2021-12-04T12:11:26.779Z,1638619886.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 262.143999 deg,
      approachRate: -0.656974 m/s,
      LOS rate: 0.096577 deg/s,
      cmd update: 0.289730 deg/s,
      cmd heading: 257.805495 deg,
      new cmd heading: 257.645185 deg.

2021-12-04T12:11:27.152Z,1638619887.152 [Micromodem](INFO): Nmea in: $SNTTA,0.036809,,,,121126.43*44

2021-12-04T12:11:27.153Z,1638619887.153 [Micromodem](INFO): Nmea in: $CAREV,121127,AUV,2.1.4000*2C

2021-12-04T12:11:27.572Z,1638619887.572 [Micromodem](INFO): Nmea in: $CAREV,121127,COPROC,0.20.0.39330*7D

2021-12-04T12:11:29.637Z,1638619889.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:30.369Z,1638619890.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:30.827Z,1638619890.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:31.613Z,1638619891.613 [Micromodem](INFO): Nmea in: $SNTTA,0.074655,,,,121130.89*44

2021-12-04T12:11:31.614Z,1638619891.614 [Micromodem](INFO): Nmea in: $CAREV,121131,AUV,2.1.4000*2B

2021-12-04T12:11:31.977Z,1638619891.977 [Micromodem](INFO): Nmea in: $CAREV,121131,COPROC,0.20.0.39330*7A

2021-12-04T12:11:32.431Z,1638619892.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:34.001Z,1638619894.001 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:11:35.225Z,1638619895.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:36.013Z,1638619896.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:36.475Z,1638619896.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:36.496Z,1638619896.496 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:11:36.853Z,1638619896.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.019997 m, bearing: 262.430894 deg, deltaT: 10.075935 s, deltaX: -6.540009 m, approachRate: -0.649072 m/s, LOS rate: 0.028473 deg/s, posRepo size: 4
2021-12-04T12:11:36.855Z,1638619896.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.019997 m,
      bearing: 262.430894 deg,
      approachRate: -0.649072 m/s,
      LOS rate: 0.028473 deg/s,
      cmd update: 0.085420 deg/s,
      cmd heading: 260.738454 deg,
      new cmd heading: 260.830023 deg.

2021-12-04T12:11:37.264Z,1638619897.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121136.53*5E

2021-12-04T12:11:37.266Z,1638619897.266 [Micromodem](INFO): Nmea in: $CAREV,121137,AUV,2.1.4000*2D

2021-12-04T12:11:37.640Z,1638619897.640 [Micromodem](INFO): Nmea in: $CAREV,121137,COPROC,0.20.0.39330*7C

2021-12-04T12:11:39.719Z,1638619899.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:40.453Z,1638619900.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:40.871Z,1638619900.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:41.323Z,1638619901.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 262.279483 deg, deltaT: 4.458786 s, deltaX: -2.939995 m, approachRate: -0.659371 m/s, LOS rate: -0.033958 deg/s, posRepo size: 4
2021-12-04T12:11:41.326Z,1638619901.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.080002 m,
      bearing: 262.279483 deg,
      approachRate: -0.659371 m/s,
      LOS rate: -0.033958 deg/s,
      cmd update: -0.101874 deg/s,
      cmd heading: 261.111399 deg,
      new cmd heading: 261.146801 deg.

2021-12-04T12:11:41.700Z,1638619901.700 [Micromodem](INFO): Nmea in: $SNTTA,0.057107,,,,121140.97*4D

2021-12-04T12:11:41.701Z,1638619901.701 [Micromodem](INFO): Nmea in: $CAREV,121142,AUV,2.1.4000*2F

2021-12-04T12:11:41.729Z,1638619901.729 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:11:42.080Z,1638619902.080 [Micromodem](INFO): Nmea in: $CAREV,121142,COPROC,0.20.0.39330*7E

2021-12-04T12:11:44.116Z,1638619904.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:44.897Z,1638619904.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:45.311Z,1638619905.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:45.768Z,1638619905.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 261.512862 deg, deltaT: 4.455880 s, deltaX: -2.940002 m, approachRate: -0.659803 m/s, LOS rate: -0.172047 deg/s, posRepo size: 4
2021-12-04T12:11:45.770Z,1638619905.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.139999 m,
      bearing: 261.512862 deg,
      approachRate: -0.659803 m/s,
      LOS rate: -0.172047 deg/s,
      cmd update: -0.516141 deg/s,
      cmd heading: 260.658867 deg,
      new cmd heading: 260.615840 deg.

2021-12-04T12:11:46.147Z,1638619906.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121145.42*5A

2021-12-04T12:11:46.148Z,1638619906.148 [Micromodem](INFO): Nmea in: $CAREV,121146,AUV,2.1.4000*2B

2021-12-04T12:11:46.528Z,1638619906.528 [Micromodem](INFO): Nmea in: $CAREV,121146,COPROC,0.20.0.39330*7A

2021-12-04T12:11:48.567Z,1638619908.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:49.353Z,1638619909.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:49.764Z,1638619909.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:50.171Z,1638619910.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 261.144742 deg, deltaT: 4.403102 s, deltaX: -3.059998 m, approachRate: -0.694964 m/s, LOS rate: -0.083605 deg/s, posRepo size: 4
2021-12-04T12:11:50.173Z,1638619910.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.080002 m,
      bearing: 261.144742 deg,
      approachRate: -0.694964 m/s,
      LOS rate: -0.083605 deg/s,
      cmd update: -0.250814 deg/s,
      cmd heading: 258.336522 deg,
      new cmd heading: 258.168231 deg.

2021-12-04T12:11:50.612Z,1638619910.612 [Micromodem](INFO): Nmea in: $SNTTA,0.052635,,,,121149.88*49

2021-12-04T12:11:50.613Z,1638619910.613 [Micromodem](INFO): Nmea in: $CAREV,121150,AUV,2.1.4000*2C

2021-12-04T12:11:50.967Z,1638619910.967 [Micromodem](INFO): Nmea in: 0*7D

2021-12-04T12:11:50.968Z,1638619910.968 [Micromodem](ERROR): Response from modem failed NMEA checksum: 0*7D
 expected 0
2021-12-04T12:11:52.997Z,1638619912.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:53.789Z,1638619913.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:54.196Z,1638619914.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:54.649Z,1638619914.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 262.414775 deg, deltaT: 4.474268 s, deltaX: -2.820004 m, approachRate: -0.630271 m/s, LOS rate: 0.283853 deg/s, posRepo size: 4
2021-12-04T12:11:54.650Z,1638619914.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 37.26 m.
2021-12-04T12:11:54.656Z,1638619914.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.259998 m,
      bearing: 262.414775 deg,
      approachRate: -0.630271 m/s,
      LOS rate: 0.283853 deg/s,
      cmd update: 0.851558 deg/s,
      cmd heading: 257.233454 deg,
      new cmd heading: 257.131481 deg.

2021-12-04T12:11:55.060Z,1638619915.060 [Micromodem](INFO): Nmea in: $SNTTA,0.052153,,,,121154.31*40

2021-12-04T12:11:55.061Z,1638619915.061 [Micromodem](INFO): Nmea in: $CAREV,121155,AUV,2.1.4000*29

2021-12-04T12:11:55.081Z,1638619915.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T12:11:55.081Z,1638619915.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:11:55.081Z,1638619915.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T12:11:55.082Z,1638619915.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 37.259998 m (mode 1 count ).
2021-12-04T12:11:55.082Z,1638619915.082 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T12:11:55.083Z,1638619915.083 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T12:11:55.481Z,1638619915.481 [Micromodem](INFO): Nmea in: $CAREV,121155,COPROC,0.20.0.39330*78

2021-12-04T12:11:55.571Z,1638619915.571 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T12:11:55.571Z,1638619915.571 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:11:55.571Z,1638619915.571 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T12:11:55.572Z,1638619915.572 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:11:57.477Z,1638619917.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:11:58.233Z,1638619918.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:11:58.635Z,1638619918.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:11:59.049Z,1638619919.049 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:11:59.054Z,1638619919.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 260.661547 deg, deltaT: 4.408976 s, deltaX: -2.579998 m, approachRate: -0.585169 m/s, LOS rate: -0.397650 deg/s, posRepo size: 4
2021-12-04T12:11:59.055Z,1638619919.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 34.68 m.
2021-12-04T12:11:59.057Z,1638619919.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.680000 m,
      bearing: 260.661547 deg,
      approachRate: -0.585169 m/s,
      LOS rate: -0.397650 deg/s,
      cmd update: -1.192949 deg/s,
      cmd heading: 261.017988 deg,
      new cmd heading: 261.330771 deg.

2021-12-04T12:11:59.468Z,1638619919.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121158.76*51

2021-12-04T12:11:59.469Z,1638619919.469 [Micromodem](INFO): Nmea in: $CAREV,121159,AUV,2.1.4000*25

2021-12-04T12:11:59.860Z,1638619919.860 [Micromodem](INFO): Nmea in: $CAREV,121159,COPROC,0.20.0.39330*74

2021-12-04T12:12:01.573Z,1638619921.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:02.273Z,1638619922.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:02.675Z,1638619922.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:03.095Z,1638619923.095 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:03.100Z,1638619923.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 260.312825 deg, deltaT: 4.045972 s, deltaX: -2.340000 m, approachRate: -0.578353 m/s, LOS rate: -0.086190 deg/s, posRepo size: 4
2021-12-04T12:12:03.101Z,1638619923.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 32.34 m.
2021-12-04T12:12:03.101Z,1638619923.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.34 m.
2021-12-04T12:12:03.101Z,1638619923.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T12:12:03.106Z,1638619923.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 256.194298 deg,
      new cmd heading: 255.753181 deg.

2021-12-04T12:12:03.536Z,1638619923.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121202.79*52

2021-12-04T12:12:03.540Z,1638619923.540 [Micromodem](INFO): Nmea in: $CAREV,121203,AUV,2.1.4000*29

2021-12-04T12:12:03.595Z,1638619923.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 256.098686 deg,
      new cmd heading: 255.971815 deg.

2021-12-04T12:12:03.912Z,1638619923.912 [Micromodem](INFO): Nmea in: $CAREV,121203,COPROC,0.20.0.39330*78

2021-12-04T12:12:03.946Z,1638619923.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.971815 deg,
      new cmd heading: 255.879974 deg.

2021-12-04T12:12:04.319Z,1638619924.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.879974 deg,
      new cmd heading: 255.783569 deg.

2021-12-04T12:12:04.744Z,1638619924.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.783569 deg,
      new cmd heading: 255.673841 deg.

2021-12-04T12:12:05.139Z,1638619925.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.673841 deg,
      new cmd heading: 255.571571 deg.

2021-12-04T12:12:05.579Z,1638619925.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.571571 deg,
      new cmd heading: 255.457817 deg.

2021-12-04T12:12:05.939Z,1638619925.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:05.942Z,1638619925.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.457817 deg,
      new cmd heading: 255.363860 deg.

2021-12-04T12:12:06.382Z,1638619926.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.363860 deg,
      new cmd heading: 255.251460 deg.

2021-12-04T12:12:06.717Z,1638619926.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:06.847Z,1638619926.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.251460 deg,
      new cmd heading: 255.130887 deg.

2021-12-04T12:12:07.131Z,1638619927.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:07.159Z,1638619927.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 260.312825 deg,
      approachRate: -0.578353 m/s,
      LOS rate: -0.086190 deg/s,
      cmd update: -0.258570 deg/s,
      cmd heading: 255.130887 deg,
      new cmd heading: 255.049164 deg.

2021-12-04T12:12:07.620Z,1638619927.620 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:07.625Z,1638619927.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 259.351135 deg, deltaT: 4.524667 s, deltaX: -3.059998 m, approachRate: -0.676292 m/s, LOS rate: -0.212544 deg/s, posRepo size: 4
2021-12-04T12:12:07.627Z,1638619927.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 255.049164 deg,
      new cmd heading: 254.928748 deg.

2021-12-04T12:12:07.956Z,1638619927.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121207.24*5F

2021-12-04T12:12:07.957Z,1638619927.957 [Micromodem](INFO): Nmea in: $CAREV,121208,AUV,2.1.4000*22

2021-12-04T12:12:08.002Z,1638619928.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 254.752218 deg,
      new cmd heading: 254.511914 deg.

2021-12-04T12:12:08.359Z,1638619928.359 [Micromodem](INFO): Nmea in: $CAREV,121208,COPROC,0.20.0.39330*73

2021-12-04T12:12:08.413Z,1638619928.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 254.511914 deg,
      new cmd heading: 254.249542 deg.

2021-12-04T12:12:08.790Z,1638619928.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 254.249542 deg,
      new cmd heading: 254.009387 deg.

2021-12-04T12:12:09.175Z,1638619929.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 254.009387 deg,
      new cmd heading: 253.764171 deg.

2021-12-04T12:12:09.647Z,1638619929.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 253.764171 deg,
      new cmd heading: 253.463154 deg.

2021-12-04T12:12:09.992Z,1638619929.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 253.463154 deg,
      new cmd heading: 253.242626 deg.

2021-12-04T12:12:10.408Z,1638619930.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:10.411Z,1638619930.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 253.242626 deg,
      new cmd heading: 252.975629 deg.

2021-12-04T12:12:10.801Z,1638619930.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 252.975629 deg,
      new cmd heading: 252.727090 deg.

2021-12-04T12:12:11.157Z,1638619931.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:11.259Z,1638619931.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 252.727090 deg,
      new cmd heading: 252.438960 deg.

2021-12-04T12:12:11.605Z,1638619931.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:11.678Z,1638619931.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 259.351135 deg,
      approachRate: -0.676292 m/s,
      LOS rate: -0.212544 deg/s,
      cmd update: -0.637632 deg/s,
      cmd heading: 252.438960 deg,
      new cmd heading: 252.167824 deg.

2021-12-04T12:12:11.982Z,1638619931.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:11.987Z,1638619931.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 259.630462 deg, deltaT: 4.361860 s, deltaX: -2.640003 m, approachRate: -0.605247 m/s, LOS rate: 0.064039 deg/s, posRepo size: 4
2021-12-04T12:12:11.989Z,1638619931.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.167824 deg,
      new cmd heading: 251.970858 deg.

2021-12-04T12:12:12.420Z,1638619932.420 [Micromodem](INFO): Nmea in: $SNTTA,0.047472,,,,121211.68*4C

2021-12-04T12:12:12.421Z,1638619932.421 [Micromodem](INFO): Nmea in: $CAREV,121212,AUV,2.1.4000*29

2021-12-04T12:12:12.446Z,1638619932.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.227169 deg,
      new cmd heading: 252.315326 deg.

2021-12-04T12:12:12.792Z,1638619932.792 [Micromodem](INFO): Nmea in: $CAREV,121212,COPROC,0.20.0.39330*78

2021-12-04T12:12:12.817Z,1638619932.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.315326 deg,
      new cmd heading: 252.386571 deg.

2021-12-04T12:12:13.228Z,1638619933.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.386571 deg,
      new cmd heading: 252.465483 deg.

2021-12-04T12:12:13.663Z,1638619933.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.465483 deg,
      new cmd heading: 252.549068 deg.

2021-12-04T12:12:14.031Z,1638619934.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.549068 deg,
      new cmd heading: 252.619888 deg.

2021-12-04T12:12:14.460Z,1638619934.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.619888 deg,
      new cmd heading: 252.702220 deg.

2021-12-04T12:12:14.817Z,1638619934.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:14.820Z,1638619934.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.702220 deg,
      new cmd heading: 252.771364 deg.

2021-12-04T12:12:15.243Z,1638619935.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.771364 deg,
      new cmd heading: 252.851819 deg.

2021-12-04T12:12:15.623Z,1638619935.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:15.743Z,1638619935.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.851819 deg,
      new cmd heading: 252.948682 deg.

2021-12-04T12:12:16.007Z,1638619936.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:16.051Z,1638619936.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 259.630462 deg,
      approachRate: -0.605247 m/s,
      LOS rate: 0.064039 deg/s,
      cmd update: 0.192116 deg/s,
      cmd heading: 252.948682 deg,
      new cmd heading: 253.007947 deg.

2021-12-04T12:12:16.477Z,1638619936.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:16.483Z,1638619936.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 260.074342 deg, deltaT: 4.495741 s, deltaX: -1.919998 m, approachRate: -0.427070 m/s, LOS rate: 0.098734 deg/s, posRepo size: 4
2021-12-04T12:12:16.485Z,1638619936.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.007947 deg,
      new cmd heading: 253.090942 deg.

2021-12-04T12:12:16.844Z,1638619936.844 [Micromodem](INFO): Nmea in: $SNTTA,0.046922,,,,121216.14*49

2021-12-04T12:12:16.845Z,1638619936.845 [Micromodem](INFO): Nmea in: $CAREV,121217,AUV,2.1.4000*2C

2021-12-04T12:12:16.861Z,1638619936.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.135908 deg,
      new cmd heading: 253.247795 deg.

2021-12-04T12:12:17.229Z,1638619937.229 [Micromodem](INFO): Nmea in: $CAREV,121217,COPROC,0.20.0.39330*7D

2021-12-04T12:12:17.277Z,1638619937.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.247795 deg,
      new cmd heading: 253.371241 deg.

2021-12-04T12:12:17.686Z,1638619937.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.371241 deg,
      new cmd heading: 253.492237 deg.

2021-12-04T12:12:18.086Z,1638619938.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.492237 deg,
      new cmd heading: 253.606525 deg.

2021-12-04T12:12:18.507Z,1638619938.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.606525 deg,
      new cmd heading: 253.729373 deg.

2021-12-04T12:12:18.890Z,1638619938.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.729373 deg,
      new cmd heading: 253.848740 deg.

2021-12-04T12:12:19.260Z,1638619939.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:19.263Z,1638619939.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.848740 deg,
      new cmd heading: 253.959383 deg.

2021-12-04T12:12:19.723Z,1638619939.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 253.959383 deg,
      new cmd heading: 254.095478 deg.

2021-12-04T12:12:20.049Z,1638619940.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:20.134Z,1638619940.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 254.095478 deg,
      new cmd heading: 254.215393 deg.

2021-12-04T12:12:20.451Z,1638619940.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:20.530Z,1638619940.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.720001 m,
      bearing: 260.074342 deg,
      approachRate: -0.427070 m/s,
      LOS rate: 0.098734 deg/s,
      cmd update: 0.296201 deg/s,
      cmd heading: 254.215393 deg,
      new cmd heading: 254.334528 deg.

2021-12-04T12:12:20.875Z,1638619940.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:20.880Z,1638619940.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 262.393929 deg, deltaT: 4.397372 s, deltaX: -2.640003 m, approachRate: -0.600359 m/s, LOS rate: 0.527494 deg/s, posRepo size: 4
2021-12-04T12:12:20.881Z,1638619940.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 254.334528 deg,
      new cmd heading: 254.438191 deg.

2021-12-04T12:12:21.305Z,1638619941.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121220.57*5E

2021-12-04T12:12:21.306Z,1638619941.306 [Micromodem](INFO): Nmea in: $CAREV,121221,AUV,2.1.4000*29

2021-12-04T12:12:21.387Z,1638619941.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 254.888360 deg,
      new cmd heading: 255.675015 deg.

2021-12-04T12:12:21.684Z,1638619941.684 [Micromodem](INFO): Nmea in: $CAREV,121221,COPROC,0.20.0.39330*78

2021-12-04T12:12:21.728Z,1638619941.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 255.675015 deg,
      new cmd heading: 256.230569 deg.

2021-12-04T12:12:22.096Z,1638619942.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 256.230569 deg,
      new cmd heading: 256.812688 deg.

2021-12-04T12:12:22.519Z,1638619942.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 256.812688 deg,
      new cmd heading: 257.482315 deg.

2021-12-04T12:12:22.930Z,1638619942.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 257.482315 deg,
      new cmd heading: 258.132748 deg.

2021-12-04T12:12:23.311Z,1638619943.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 258.132748 deg,
      new cmd heading: 258.735623 deg.

2021-12-04T12:12:23.749Z,1638619943.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:23.755Z,1638619943.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 258.735623 deg,
      new cmd heading: 259.436085 deg.

2021-12-04T12:12:24.132Z,1638619944.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 259.436085 deg,
      new cmd heading: 260.034060 deg.

2021-12-04T12:12:24.493Z,1638619944.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:24.617Z,1638619944.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 260.034060 deg,
      new cmd heading: 260.802887 deg.

2021-12-04T12:12:24.903Z,1638619944.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:24.935Z,1638619944.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 262.393929 deg,
      approachRate: -0.600359 m/s,
      LOS rate: 0.527494 deg/s,
      cmd update: 1.582482 deg/s,
      cmd heading: 260.802887 deg,
      new cmd heading: 261.305254 deg.

2021-12-04T12:12:25.336Z,1638619945.336 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:25.345Z,1638619945.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 263.043398 deg, deltaT: 4.460815 s, deltaX: -3.839996 m, approachRate: -0.860828 m/s, LOS rate: 0.145594 deg/s, posRepo size: 4
2021-12-04T12:12:25.351Z,1638619945.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 261.305254 deg,
      new cmd heading: 261.954291 deg.

2021-12-04T12:12:25.752Z,1638619945.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121225.02*5B

2021-12-04T12:12:25.753Z,1638619945.753 [Micromodem](INFO): Nmea in: $CAREV,121226,AUV,2.1.4000*2E

2021-12-04T12:12:25.864Z,1638619945.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 261.484395 deg,
      new cmd heading: 261.710889 deg.

2021-12-04T12:12:26.120Z,1638619946.120 [Micromodem](INFO): Nmea in: $CAREV,121226,COPROC,0.20.0.39330*7F

2021-12-04T12:12:26.139Z,1638619946.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 261.710889 deg,
      new cmd heading: 261.831219 deg.

2021-12-04T12:12:26.565Z,1638619946.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 261.831219 deg,
      new cmd heading: 262.009534 deg.

2021-12-04T12:12:26.955Z,1638619946.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 262.009534 deg,
      new cmd heading: 262.187653 deg.

2021-12-04T12:12:27.399Z,1638619947.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 262.187653 deg,
      new cmd heading: 262.381554 deg.

2021-12-04T12:12:27.783Z,1638619947.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 262.381554 deg,
      new cmd heading: 262.549282 deg.

2021-12-04T12:12:28.137Z,1638619948.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:28.140Z,1638619948.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 262.549282 deg,
      new cmd heading: 262.705466 deg.

2021-12-04T12:12:28.584Z,1638619948.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 262.705466 deg,
      new cmd heading: 262.892083 deg.

2021-12-04T12:12:28.937Z,1638619948.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:29.038Z,1638619949.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 262.892083 deg,
      new cmd heading: 263.092814 deg.

2021-12-04T12:12:29.361Z,1638619949.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:29.423Z,1638619949.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 263.043398 deg,
      approachRate: -0.860828 m/s,
      LOS rate: 0.145594 deg/s,
      cmd update: 0.436783 deg/s,
      cmd heading: 263.092814 deg,
      new cmd heading: 263.265593 deg.

2021-12-04T12:12:29.771Z,1638619949.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:29.792Z,1638619949.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 260.681874 deg, deltaT: 4.435017 s, deltaX: -2.640003 m, approachRate: -0.595263 m/s, LOS rate: -0.532472 deg/s, posRepo size: 4
2021-12-04T12:12:29.793Z,1638619949.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 263.265593 deg,
      new cmd heading: 263.419666 deg.

2021-12-04T12:12:30.184Z,1638619950.184 [Micromodem](INFO): Nmea in: $SNTTA,0.035689,,,,121229.46*48

2021-12-04T12:12:30.185Z,1638619950.185 [Micromodem](INFO): Nmea in: $CAREV,121230,AUV,2.1.4000*29

2021-12-04T12:12:30.224Z,1638619950.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 262.702112 deg,
      new cmd heading: 261.986333 deg.

2021-12-04T12:12:30.556Z,1638619950.556 [Micromodem](INFO): Nmea in: $CAREV,121230,COPROC,0.20.0.39330*78

2021-12-04T12:12:30.597Z,1638619950.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 261.986333 deg,
      new cmd heading: 261.389351 deg.

2021-12-04T12:12:30.987Z,1638619950.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 261.389351 deg,
      new cmd heading: 260.767293 deg.

2021-12-04T12:12:31.413Z,1638619951.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 260.767293 deg,
      new cmd heading: 260.086895 deg.

2021-12-04T12:12:31.830Z,1638619951.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 260.086895 deg,
      new cmd heading: 259.420643 deg.

2021-12-04T12:12:32.202Z,1638619952.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 259.420643 deg,
      new cmd heading: 258.826369 deg.

2021-12-04T12:12:32.615Z,1638619952.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:32.618Z,1638619952.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 258.826369 deg,
      new cmd heading: 258.161416 deg.

2021-12-04T12:12:33.011Z,1638619953.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 258.161416 deg,
      new cmd heading: 257.534323 deg.

2021-12-04T12:12:33.393Z,1638619953.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:33.582Z,1638619953.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 257.534323 deg,
      new cmd heading: 256.640543 deg.

2021-12-04T12:12:33.815Z,1638619953.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:33.878Z,1638619953.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 260.681874 deg,
      approachRate: -0.595263 m/s,
      LOS rate: -0.532472 deg/s,
      cmd update: -1.597417 deg/s,
      cmd heading: 256.640543 deg,
      new cmd heading: 256.149111 deg.

2021-12-04T12:12:34.198Z,1638619954.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:34.203Z,1638619954.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 262.072473 deg, deltaT: 4.427885 s, deltaX: -2.820002 m, approachRate: -0.636873 m/s, LOS rate: 0.314055 deg/s, posRepo size: 4
2021-12-04T12:12:34.205Z,1638619954.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 256.149111 deg,
      new cmd heading: 255.628952 deg.

2021-12-04T12:12:34.616Z,1638619954.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121233.92*55

2021-12-04T12:12:34.617Z,1638619954.617 [Micromodem](INFO): Nmea in: $CAREV,121234,AUV,2.1.4000*2D

2021-12-04T12:12:34.665Z,1638619954.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 256.455904 deg,
      new cmd heading: 256.890923 deg.

2021-12-04T12:12:34.000Z,1638619955.000 [Micromodem](INFO): Nmea in: $CAREV,121234,COPROC,0.20.0.39330*7C

2021-12-04T12:12:35.015Z,1638619955.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 256.890923 deg,
      new cmd heading: 257.220298 deg.

2021-12-04T12:12:35.465Z,1638619955.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 257.220298 deg,
      new cmd heading: 257.644815 deg.

2021-12-04T12:12:35.856Z,1638619955.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 257.644815 deg,
      new cmd heading: 258.012745 deg.

2021-12-04T12:12:36.235Z,1638619956.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 258.012745 deg,
      new cmd heading: 258.369608 deg.

2021-12-04T12:12:36.645Z,1638619956.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 258.369608 deg,
      new cmd heading: 258.756004 deg.

2021-12-04T12:12:37.017Z,1638619957.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:37.020Z,1638619957.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 258.756004 deg,
      new cmd heading: 259.109179 deg.

2021-12-04T12:12:37.485Z,1638619957.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 259.109179 deg,
      new cmd heading: 259.546057 deg.

2021-12-04T12:12:37.821Z,1638619957.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:37.950Z,1638619957.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 259.546057 deg,
      new cmd heading: 259.985444 deg.

2021-12-04T12:12:38.227Z,1638619958.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:38.274Z,1638619958.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 262.072473 deg,
      approachRate: -0.636873 m/s,
      LOS rate: 0.314055 deg/s,
      cmd update: 0.942165 deg/s,
      cmd heading: 259.985444 deg,
      new cmd heading: 260.290813 deg.

2021-12-04T12:12:38.650Z,1638619958.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:38.671Z,1638619958.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 262.050371 deg, deltaT: 4.451059 s, deltaX: -2.579994 m, approachRate: -0.579636 m/s, LOS rate: -0.004966 deg/s, posRepo size: 4
2021-12-04T12:12:38.673Z,1638619958.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.290813 deg,
      new cmd heading: 260.649824 deg.

2021-12-04T12:12:39.064Z,1638619959.064 [Micromodem](INFO): Nmea in: $SNTTA,0.065055,,,,121238.34*4F

2021-12-04T12:12:39.065Z,1638619959.065 [Micromodem](INFO): Nmea in: $CAREV,121239,AUV,2.1.4000*20

2021-12-04T12:12:39.101Z,1638619959.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.285137 deg,
      new cmd heading: 260.278484 deg.

2021-12-04T12:12:39.449Z,1638619959.449 [Micromodem](INFO): Nmea in: $CAREV,121239,COPROC,0.20.0.39330*71

2021-12-04T12:12:39.489Z,1638619959.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.278484 deg,
      new cmd heading: 260.272705 deg.

2021-12-04T12:12:39.895Z,1638619959.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.272705 deg,
      new cmd heading: 260.266659 deg.

2021-12-04T12:12:40.275Z,1638619960.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.266659 deg,
      new cmd heading: 260.261004 deg.

2021-12-04T12:12:40.691Z,1638619960.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.261004 deg,
      new cmd heading: 260.254804 deg.

2021-12-04T12:12:41.095Z,1638619961.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.254804 deg,
      new cmd heading: 260.248792 deg.

2021-12-04T12:12:41.490Z,1638619961.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:41.521Z,1638619961.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.248792 deg,
      new cmd heading: 260.242823 deg.

2021-12-04T12:12:41.918Z,1638619961.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.242823 deg,
      new cmd heading: 260.236530 deg.

2021-12-04T12:12:42.261Z,1638619962.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:42.385Z,1638619962.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.236530 deg,
      new cmd heading: 260.229777 deg.

2021-12-04T12:12:42.679Z,1638619962.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:42.715Z,1638619962.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 262.050371 deg,
      approachRate: -0.579636 m/s,
      LOS rate: -0.004966 deg/s,
      cmd update: -0.014897 deg/s,
      cmd heading: 260.229777 deg,
      new cmd heading: 260.224651 deg.

2021-12-04T12:12:43.082Z,1638619963.082 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:43.087Z,1638619963.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 262.128180 deg, deltaT: 4.432797 s, deltaX: -2.940003 m, approachRate: -0.663239 m/s, LOS rate: 0.017553 deg/s, posRepo size: 4
2021-12-04T12:12:43.089Z,1638619963.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.224651 deg,
      new cmd heading: 260.219106 deg.

2021-12-04T12:12:43.521Z,1638619963.521 [Micromodem](INFO): Nmea in: $SNTTA,0.024889,,,,121242.78*46

2021-12-04T12:12:43.525Z,1638619963.525 [Micromodem](INFO): Nmea in: $CAREV,121243,AUV,2.1.4000*2D

2021-12-04T12:12:43.603Z,1638619963.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.244251 deg,
      new cmd heading: 260.271187 deg.

2021-12-04T12:12:43.896Z,1638619963.896 [Micromodem](INFO): Nmea in: $CAREV,121243,COPROC,0.20.0.39330*7C

2021-12-04T12:12:43.942Z,1638619963.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.271187 deg,
      new cmd heading: 260.289257 deg.

2021-12-04T12:12:44.319Z,1638619964.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.289257 deg,
      new cmd heading: 260.309117 deg.

2021-12-04T12:12:44.740Z,1638619964.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.309117 deg,
      new cmd heading: 260.331270 deg.

2021-12-04T12:12:45.127Z,1638619965.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.331270 deg,
      new cmd heading: 260.351647 deg.

2021-12-04T12:12:45.579Z,1638619965.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.351647 deg,
      new cmd heading: 260.375466 deg.

2021-12-04T12:12:45.927Z,1638619965.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:45.946Z,1638619965.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.375466 deg,
      new cmd heading: 260.393966 deg.

2021-12-04T12:12:46.338Z,1638619966.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.393966 deg,
      new cmd heading: 260.415237 deg.

2021-12-04T12:12:46.721Z,1638619966.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:46.835Z,1638619966.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.415237 deg,
      new cmd heading: 260.441377 deg.

2021-12-04T12:12:47.111Z,1638619967.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:47.155Z,1638619967.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 262.128180 deg,
      approachRate: -0.663239 m/s,
      LOS rate: 0.017553 deg/s,
      cmd update: 0.052659 deg/s,
      cmd heading: 260.441377 deg,
      new cmd heading: 260.458432 deg.

2021-12-04T12:12:47.604Z,1638619967.604 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:47.629Z,1638619967.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 263.254096 deg, deltaT: 4.521346 s, deltaX: -2.459999 m, approachRate: -0.544086 m/s, LOS rate: 0.249022 deg/s, posRepo size: 4
2021-12-04T12:12:47.635Z,1638619967.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 260.458432 deg,
      new cmd heading: 260.483406 deg.

2021-12-04T12:12:47.940Z,1638619967.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121247.24*5B

2021-12-04T12:12:47.941Z,1638619967.941 [Micromodem](INFO): Nmea in: $CAREV,121248,AUV,2.1.4000*26

2021-12-04T12:12:47.960Z,1638619967.960 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T12:12:47.961Z,1638619967.961 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T12:12:47.961Z,1638619967.961 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T12:12:47.961Z,1638619967.961 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:12:47.961Z,1638619967.961 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T12:12:47.961Z,1638619967.961 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-12-04T12:12:47.962Z,1638619967.962 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T12:12:47.962Z,1638619967.962 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T12:12:47.962Z,1638619967.962 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T12:12:47.965Z,1638619967.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 260.812740 deg,
      new cmd heading: 261.063689 deg.

2021-12-04T12:12:48.332Z,1638619968.332 [Micromodem](INFO): Nmea in: $CAREV,121248,COPROC,0.20.0.39330*77

2021-12-04T12:12:48.396Z,1638619968.396 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T121248: (41.552319, -70.708603)
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T12:12:48.397Z,1638619968.397 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T12:12:48.404Z,1638619968.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 261.063689 deg,
      new cmd heading: 261.388835 deg.

2021-12-04T12:12:48.772Z,1638619968.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 261.388835 deg,
      new cmd heading: 261.666338 deg.

2021-12-04T12:12:49.181Z,1638619969.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 261.666338 deg,
      new cmd heading: 261.972248 deg.

2021-12-04T12:12:49.623Z,1638619969.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 261.972248 deg,
      new cmd heading: 262.302065 deg.

2021-12-04T12:12:49.979Z,1638619969.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 262.302065 deg,
      new cmd heading: 262.568270 deg.

2021-12-04T12:12:50.392Z,1638619970.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:50.395Z,1638619970.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 262.568270 deg,
      new cmd heading: 262.879392 deg.

2021-12-04T12:12:50.806Z,1638619970.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 262.879392 deg,
      new cmd heading: 263.186167 deg.

2021-12-04T12:12:51.157Z,1638619971.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:51.251Z,1638619971.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 263.186167 deg,
      new cmd heading: 263.514310 deg.

2021-12-04T12:12:51.591Z,1638619971.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:51.657Z,1638619971.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 263.254096 deg,
      approachRate: -0.544086 m/s,
      LOS rate: 0.249022 deg/s,
      cmd update: 0.747067 deg/s,
      cmd heading: 263.514310 deg,
      new cmd heading: 263.822524 deg.

2021-12-04T12:12:51.970Z,1638619971.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:51.975Z,1638619971.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.819999 m, bearing: 263.960119 deg, deltaT: 4.366716 s, deltaX: -1.980001 m, approachRate: -0.453430 m/s, LOS rate: 0.161683 deg/s, posRepo size: 4
2021-12-04T12:12:51.977Z,1638619971.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 263.822524 deg,
      new cmd heading: 264.059881 deg.

2021-12-04T12:12:52.408Z,1638619972.408 [Micromodem](INFO): Nmea in: $SNTTA,0.004056,,,,121251.68*4D

2021-12-04T12:12:52.409Z,1638619972.409 [Micromodem](INFO): Nmea in: $CAREV,121252,AUV,2.1.4000*2D

2021-12-04T12:12:52.459Z,1638619972.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 263.976633 deg,
      new cmd heading: 264.199317 deg.

2021-12-04T12:12:52.780Z,1638619972.780 [Micromodem](INFO): Nmea in: $CAREV,121252,COPROC,0.20.0.39330*7C

2021-12-04T12:12:52.795Z,1638619972.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 264.199317 deg,
      new cmd heading: 264.374218 deg.

2021-12-04T12:12:53.211Z,1638619973.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 264.374218 deg,
      new cmd heading: 264.576042 deg.

2021-12-04T12:12:53.653Z,1638619973.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 2.82 m.
2021-12-04T12:12:53.654Z,1638619973.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting latch delay timer at range: 2.82 m.
2021-12-04T12:12:53.654Z,1638619973.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Cable is present.
2021-12-04T12:12:53.676Z,1638619973.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 264.576042 deg,
      new cmd heading: 264.791301 deg.

2021-12-04T12:12:54.037Z,1638619974.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 264.791301 deg,
      new cmd heading: 264.976773 deg.

2021-12-04T12:12:54.459Z,1638619974.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 264.976773 deg,
      new cmd heading: 265.181258 deg.

2021-12-04T12:12:54.844Z,1638619974.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:54.847Z,1638619974.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 265.181258 deg,
      new cmd heading: 265.369562 deg.

2021-12-04T12:12:55.236Z,1638619975.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 265.369562 deg,
      new cmd heading: 265.558486 deg.

2021-12-04T12:12:55.614Z,1638619975.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:12:55.734Z,1638619975.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 265.558486 deg,
      new cmd heading: 265.799613 deg.

2021-12-04T12:12:56.016Z,1638619976.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:12:56.047Z,1638619976.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.819999 m,
      bearing: 263.960119 deg,
      approachRate: -0.453430 m/s,
      LOS rate: 0.161683 deg/s,
      cmd update: 0.485048 deg/s,
      cmd heading: 265.799613 deg,
      new cmd heading: 265.951425 deg.

2021-12-04T12:12:56.500Z,1638619976.500 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:12:56.515Z,1638619976.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.339998 m, bearing: 266.882566 deg, deltaT: 4.529982 s, deltaX: -0.480001 m, approachRate: -0.105961 m/s, LOS rate: 0.645134 deg/s, posRepo size: 4
2021-12-04T12:12:56.517Z,1638619976.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 265.951425 deg,
      new cmd heading: 266.174879 deg.

2021-12-04T12:12:56.840Z,1638619976.840 [Micromodem](INFO): Nmea in: $SNTTA,0.008528,,,,121256.14*41

2021-12-04T12:12:56.841Z,1638619976.841 [Micromodem](INFO): Nmea in: $CAREV,121257,AUV,2.1.4000*28

2021-12-04T12:12:56.859Z,1638619976.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 266.843036 deg,
      new cmd heading: 267.523872 deg.

2021-12-04T12:12:57.228Z,1638619977.228 [Micromodem](INFO): Nmea in: $CAREV,121257,COPROC,0.20.0.39330*79

2021-12-04T12:12:57.269Z,1638619977.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 267.523872 deg,
      new cmd heading: 268.317340 deg.

2021-12-04T12:12:57.681Z,1638619977.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 268.317340 deg,
      new cmd heading: 269.114581 deg.

2021-12-04T12:12:58.061Z,1638619978.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 269.114581 deg,
      new cmd heading: 269.850086 deg.

2021-12-04T12:12:58.460Z,1638619978.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 269.850086 deg,
      new cmd heading: 270.622163 deg.

2021-12-04T12:12:58.877Z,1638619978.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 270.622163 deg,
      new cmd heading: 271.428945 deg.

2021-12-04T12:12:59.256Z,1638619979.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:12:59.275Z,1638619979.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 271.428945 deg,
      new cmd heading: 272.167936 deg.

2021-12-04T12:12:59.721Z,1638619979.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 272.167936 deg,
      new cmd heading: 273.063639 deg.

2021-12-04T12:13:00.041Z,1638619980.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:00.147Z,1638619980.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 273.063639 deg,
      new cmd heading: 273.879069 deg.

2021-12-04T12:13:00.471Z,1638619980.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:00.526Z,1638619980.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.339998 m,
      bearing: 266.882566 deg,
      approachRate: -0.105961 m/s,
      LOS rate: 0.645134 deg/s,
      cmd update: 1.935403 deg/s,
      cmd heading: 273.879069 deg,
      new cmd heading: 274.620731 deg.

2021-12-04T12:13:00.881Z,1638619980.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:13:00.886Z,1638619980.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.580000 m, bearing: 268.978095 deg, deltaT: 4.380268 s, deltaX: 0.240002 m, approachRate: 0.054792 m/s, LOS rate: 0.478402 deg/s, posRepo size: 4
2021-12-04T12:13:00.888Z,1638619980.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 274.620731 deg,
      new cmd heading: 275.318060 deg.

2021-12-04T12:13:01.288Z,1638619981.288 [Micromodem](INFO): Nmea in: $SNTTA,0.043255,,,,121300.56*47

2021-12-04T12:13:01.291Z,1638619981.291 [Micromodem](INFO): Nmea in: $CAREV,121301,AUV,2.1.4000*2A

2021-12-04T12:13:01.347Z,1638619981.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 275.137838 deg,
      new cmd heading: 275.793261 deg.

2021-12-04T12:13:01.664Z,1638619981.664 [Micromodem](INFO): Nmea in: $CAREV,121301,COPROC,0.20.0.39330*7B

2021-12-04T12:13:01.701Z,1638619981.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 275.793261 deg,
      new cmd heading: 276.306960 deg.

2021-12-04T12:13:02.111Z,1638619982.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 276.306960 deg,
      new cmd heading: 276.865531 deg.

2021-12-04T12:13:02.503Z,1638619982.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 276.865531 deg,
      new cmd heading: 277.457753 deg.

2021-12-04T12:13:02.926Z,1638619982.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 277.457753 deg,
      new cmd heading: 278.064184 deg.

2021-12-04T12:13:03.332Z,1638619983.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.580000 m,
      bearing: 268.978095 deg,
      approachRate: 0.054792 m/s,
      LOS rate: 0.478402 deg/s,
      cmd update: 1.435206 deg/s,
      cmd heading: 278.064184 deg,
      new cmd heading: 278.624742 deg.

2021-12-04T12:13:03.779Z,1638619983.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:03.781Z,1638619983.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 2.58 m. Cable present.
2021-12-04T12:13:03.781Z,1638619983.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T12:13:03.781Z,1638619983.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T12:13:03.781Z,1638619983.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-12-04T12:13:04.085Z,1638619984.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-12-04T12:13:04.086Z,1638619984.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-12-04T12:13:04.086Z,1638619984.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-12-04T12:13:04.481Z,1638619984.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:04.568Z,1638619984.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-12-04T12:13:04.570Z,1638619984.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:13:04.570Z,1638619984.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T12:13:04.575Z,1638619984.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:13:04.575Z,1638619984.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T12:13:04.575Z,1638619984.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T12:13:04.575Z,1638619984.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T12:13:04.575Z,1638619984.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:13:04.859Z,1638619984.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:04.895Z,1638619984.895 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T12:13:04.896Z,1638619984.896 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T12:13:04.896Z,1638619984.896 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T12:13:04.896Z,1638619984.896 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T12:13:04.896Z,1638619984.896 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T12:13:04.896Z,1638619984.896 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-12-04T12:13:04.897Z,1638619984.897 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T12:13:04.897Z,1638619984.897 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-12-04T12:13:04.897Z,1638619984.897 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T12:13:04.897Z,1638619984.897 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T12:13:04.897Z,1638619984.897 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T12:13:04.897Z,1638619984.897 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T12:13:04.898Z,1638619984.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T12:13:04.898Z,1638619984.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:13:04.898Z,1638619984.898 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T12:13:04.898Z,1638619984.898 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T12:13:05.303Z,1638619985.303 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-12-04T12:13:05.303Z,1638619985.303 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T12:13:05.688Z,1638619985.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121305.00*5A

2021-12-04T12:13:05.689Z,1638619985.689 [Micromodem](INFO): Nmea in: $CAREV,121306,AUV,2.1.4000*2D

2021-12-04T12:13:06.082Z,1638619986.082 [Micromodem](INFO): Nmea in: $CAREV,121306,COPROC,0.20.0.39330*7C

2021-12-04T12:13:08.127Z,1638619988.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:08.513Z,1638619988.513 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T12:13:08.513Z,1638619988.513 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T12:13:08.513Z,1638619988.513 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T12:13:08.513Z,1638619988.513 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T12:13:08.897Z,1638619988.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:08.988Z,1638619988.988 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-12-04T12:13:08.988Z,1638619988.988 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T12:13:09.002Z,1638619989.002 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T12:13:09.003Z,1638619989.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:13:09.004Z,1638619989.004 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T12:13:09.004Z,1638619989.004 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T12:13:09.004Z,1638619989.004 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T12:13:09.004Z,1638619989.004 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T12:13:09.004Z,1638619989.004 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T12:13:09.300Z,1638619989.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:09.342Z,1638619989.342 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T12:13:09.342Z,1638619989.342 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T12:13:09.342Z,1638619989.342 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T12:13:09.342Z,1638619989.342 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T12:13:09.751Z,1638619989.751 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T12:13:09.751Z,1638619989.751 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T12:13:10.128Z,1638619990.128 [Micromodem](INFO): Nmea in: $SNTTA,0.001378,,,,121309.42*43

2021-12-04T12:13:10.129Z,1638619990.129 [Micromodem](INFO): Nmea in: $CAREV,121310,AUV,2.1.4000*2A

2021-12-04T12:13:10.172Z,1638619990.172 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-12-04T12:13:10.172Z,1638619990.172 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T12:13:10.173Z,1638619990.173 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T12:13:10.173Z,1638619990.173 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T12:13:10.173Z,1638619990.173 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T12:13:10.528Z,1638619990.528 [Micromodem](INFO): Nmea in: $CAREV,121310,COPROC,0.20.0.39330*7B

2021-12-04T12:13:10.544Z,1638619990.544 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-12-04T12:13:10.544Z,1638619990.544 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T12:13:10.544Z,1638619990.544 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-12-04T12:13:10.544Z,1638619990.544 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-12-04T12:13:10.544Z,1638619990.544 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T12:13:10.545Z,1638619990.545 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-12-04T12:13:10.545Z,1638619990.545 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-12-04T12:13:12.581Z,1638619992.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:13.393Z,1638619993.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:13.795Z,1638619993.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:14.612Z,1638619994.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121313.92*56

2021-12-04T12:13:14.613Z,1638619994.613 [Micromodem](INFO): Nmea in: $CAREV,121314,AUV,2.1.4000*2E

2021-12-04T12:13:15.004Z,1638619995.004 [Micromodem](INFO): Nmea in: $CAREV,121314,COPROC,0.20.0.39330*7F

2021-12-04T12:13:17.028Z,1638619997.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:17.829Z,1638619997.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:18.235Z,1638619998.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:19.063Z,1638619999.063 [Micromodem](INFO): Nmea in: $SNTTA,0.006177,,,,121318.35*49

2021-12-04T12:13:19.064Z,1638619999.064 [Micromodem](INFO): Nmea in: $CAREV,121319,AUV,2.1.4000*23

2021-12-04T12:13:19.468Z,1638619999.468 [Micromodem](INFO): Nmea in: $CAREV,121319,COPROC,0.20.0.39330*72

2021-12-04T12:13:21.566Z,1638620001.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:22.261Z,1638620002.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:22.648Z,1638620002.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:23.487Z,1638620003.487 [Micromodem](INFO): Nmea in: $SNTTA,,0.037550,,,121322.79*4B

2021-12-04T12:13:23.495Z,1638620003.495 [Micromodem](INFO): Nmea in: $CAREV,121323,AUV,2.1.4000*2A

2021-12-04T12:13:23.871Z,1638620003.871 [Micromodem](INFO): Nmea in: $CAREV,121323,COPROC,0.20.0.39330*7B

2021-12-04T12:13:25.971Z,1638620005.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:26.705Z,1638620006.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:27.120Z,1638620007.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:27.944Z,1638620007.944 [Micromodem](INFO): Nmea in: $SNTTA,0.015131,,,,121327.23*42

2021-12-04T12:13:27.945Z,1638620007.945 [Micromodem](INFO): Nmea in: $CAREV,121328,AUV,2.1.4000*21

2021-12-04T12:13:28.340Z,1638620008.340 [Micromodem](INFO): Nmea in: $CAREV,121328,COPROC,0.20.0.39330*70

2021-12-04T12:13:30.357Z,1638620010.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:31.149Z,1638620011.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:31.614Z,1638620011.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:31.639Z,1638620011.639 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T12:13:32.407Z,1638620012.407 [Micromodem](INFO): Nmea in: $SNTTA,0.004034,,,,121331.67*41

2021-12-04T12:13:32.419Z,1638620012.419 [Micromodem](INFO): Nmea in: $CAREV,121332,AUV,2.1.4000*2A

2021-12-04T12:13:32.752Z,1638620012.752 [Micromodem](INFO): Nmea in: $CAREV,121332,COPROC,0.20.0.39330*7B

2021-12-04T12:13:34.499Z,1638620014.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:35.197Z,1638620015.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:35.615Z,1638620015.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:36.444Z,1638620016.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121335.72*5C

2021-12-04T12:13:36.445Z,1638620016.445 [Micromodem](INFO): Nmea in: $CAREV,121336,AUV,2.1.4000*2E

2021-12-04T12:13:36.824Z,1638620016.824 [Micromodem](INFO): Nmea in: $CAREV,121336,COPROC,0.20.0.39330*7F

2021-12-04T12:13:38.848Z,1638620018.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:39.639Z,1638620019.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:40.039Z,1638620020.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:40.916Z,1638620020.916 [Micromodem](INFO): Nmea in: $SNTTA,0.042433,,,,121340.16*40

2021-12-04T12:13:40.917Z,1638620020.917 [Micromodem](INFO): Nmea in: $CAREV,121341,AUV,2.1.4000*2E

2021-12-04T12:13:41.284Z,1638620021.284 [Micromodem](INFO): Nmea in: $CAREV,121341,COPROC,0.20.0.39330*7F

2021-12-04T12:13:43.301Z,1638620023.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:44.061Z,1638620024.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:44.559Z,1638620024.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:45.312Z,1638620025.312 [Micromodem](INFO): Nmea in: $SNTTA,0.051940,,,,121344.58*45

2021-12-04T12:13:45.313Z,1638620025.313 [Micromodem](INFO): Nmea in: $CAREV,121345,AUV,2.1.4000*2A

2021-12-04T12:13:45.708Z,1638620025.708 [Micromodem](INFO): Nmea in: $CAREV,121345,COPROC,0.20.0.39330*7B

2021-12-04T12:13:47.785Z,1638620027.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:48.538Z,1638620028.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:48.936Z,1638620028.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:49.760Z,1638620029.760 [Micromodem](INFO): Nmea in: $SNTTA,0.033725,0.392077,,,121349.06*5C

2021-12-04T12:13:49.761Z,1638620029.761 [Micromodem](INFO): Nmea in: $CAREV,121349,AUV,2.1.4000*26

2021-12-04T12:13:50.152Z,1638620030.152 [Micromodem](INFO): Nmea in: $CAREV,121349,COPROC,0.20.0.39330*77

2021-12-04T12:13:51.788Z,1638620031.788 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T12:13:52.177Z,1638620032.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:52.941Z,1638620032.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:53.375Z,1638620033.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:54.176Z,1638620034.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121353.46*5B

2021-12-04T12:13:54.177Z,1638620034.177 [Micromodem](INFO): Nmea in: $CAREV,121354,AUV,2.1.4000*2A

2021-12-04T12:13:54.755Z,1638620034.755 [Micromodem](INFO): Nmea in: $CAREV,121354,COPROC,0.20.0.39330*7B

2021-12-04T12:13:56.639Z,1638620036.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:13:57.441Z,1638620037.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:13:57.838Z,1638620037.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:13:58.648Z,1638620038.648 [Micromodem](INFO): Nmea in: $SNTTA,0.013743,,,,121357.96*4E

2021-12-04T12:13:58.649Z,1638620038.649 [Micromodem](INFO): Nmea in: $CAREV,121359,AUV,2.1.4000*27

2021-12-04T12:13:59.044Z,1638620039.044 [Micromodem](INFO): Nmea in: $CAREV,121359,COPROC,0.20.0.39330*76

2021-12-04T12:14:01.077Z,1638620041.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:01.563Z,1638620041.563 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T12:14:01.865Z,1638620041.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:02.279Z,1638620042.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:03.080Z,1638620043.080 [Micromodem](INFO): Nmea in: $SNTTA,0.046063,,,,121402.39*49

2021-12-04T12:14:03.081Z,1638620043.081 [Micromodem](INFO): Nmea in: $CAREV,121403,AUV,2.1.4000*2F

2021-12-04T12:14:03.495Z,1638620043.495 [Micromodem](INFO): Nmea in: $CAREV,121403,COPROC,0.20.0.39330*7E

2021-12-04T12:14:05.572Z,1638620045.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:06.309Z,1638620046.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:06.723Z,1638620046.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:07.652Z,1638620047.652 [Micromodem](INFO): Nmea in: $SNTTA,0.003874,,,,121406.83*43

2021-12-04T12:14:07.653Z,1638620047.653 [Micromodem](INFO): Nmea in: $CAREV,121407,AUV,2.1.4000*2B

2021-12-04T12:14:07.956Z,1638620047.956 [Micromodem](INFO): Nmea in: $CAREV,121407,COPROC,0.20.0.39330*7A

2021-12-04T12:14:09.640Z,1638620049.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:10.350Z,1638620050.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:10.831Z,1638620050.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:11.620Z,1638620051.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121410.87*56

2021-12-04T12:14:11.621Z,1638620051.621 [Micromodem](INFO): Nmea in: $CAREV,121411,AUV,2.1.4000*2C

2021-12-04T12:14:11.980Z,1638620051.980 [Micromodem](INFO): Nmea in: $CAREV,121411,COPROC,0.20.0.39330*7D

2021-12-04T12:14:13.965Z,1638620053.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:14.865Z,1638620054.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:15.207Z,1638620055.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:15.607Z,1638620055.607 [Micromodem](INFO): Nmea in: $SNTTA,0.006685,0.133567,,,121415.39*5E

2021-12-04T12:14:15.608Z,1638620055.608 [Micromodem](INFO): Nmea in: $CAREV,121415,AUV,2.1.4000*28

2021-12-04T12:14:16.016Z,1638620056.016 [Micromodem](INFO): Nmea in: $CAREV,121415,COPROC,0.20.0.39330*79

2021-12-04T12:14:18.464Z,1638620058.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:19.237Z,1638620059.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:19.644Z,1638620059.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:22.904Z,1638620062.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:23.691Z,1638620063.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:24.059Z,1638620064.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:24.000Z,1638620065.000 [Micromodem](INFO): Nmea in: $SNTTA,,0.011122,,,121424.21*42

2021-12-04T12:14:25.001Z,1638620065.001 [Micromodem](INFO): Nmea in: $CAREV,121425,AUV,2.1.4000*2B

2021-12-04T12:14:25.320Z,1638620065.320 [Micromodem](INFO): Nmea in: $CAREV,121425,COPROC,0.20.0.39330*7A

2021-12-04T12:14:27.332Z,1638620067.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:28.125Z,1638620068.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:28.543Z,1638620068.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:29.373Z,1638620069.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121428.65*51

2021-12-04T12:14:29.374Z,1638620069.374 [Micromodem](INFO): Nmea in: $CAREV,121429,AUV,2.1.4000*27

2021-12-04T12:14:29.752Z,1638620069.752 [Micromodem](INFO): Nmea in: $CAREV,121429,COPROC,0.20.0.39330*76

2021-12-04T12:14:31.853Z,1638620071.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:32.569Z,1638620072.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:32.983Z,1638620072.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:33.872Z,1638620073.872 [Micromodem](INFO): Nmea in: $SNTTA,0.003912,,,,121433.09*46

2021-12-04T12:14:33.873Z,1638620073.873 [Micromodem](INFO): Nmea in: $CAREV,121434,AUV,2.1.4000*2B

2021-12-04T12:14:34.172Z,1638620074.172 [Micromodem](INFO): Nmea in: $CAREV,121434,COPROC,0.20.0.39330*7A

2021-12-04T12:14:35.889Z,1638620075.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:36.617Z,1638620076.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:37.023Z,1638620077.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:37.852Z,1638620077.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121437.14*59

2021-12-04T12:14:37.853Z,1638620077.853 [Micromodem](INFO): Nmea in: $CAREV,121438,AUV,2.1.4000*27

2021-12-04T12:14:38.236Z,1638620078.236 [Micromodem](INFO): Nmea in: $CAREV,121438,COPROC,0.20.0.39330*76

2021-12-04T12:14:40.264Z,1638620080.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:41.046Z,1638620081.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:41.479Z,1638620081.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:41.867Z,1638620081.867 [Micromodem](INFO): Nmea in: $SNTTA,0.006727,0.136684,,,121441.57*55

2021-12-04T12:14:41.868Z,1638620081.868 [Micromodem](INFO): Nmea in: $CAREV,121441,AUV,2.1.4000*29

2021-12-04T12:14:42.276Z,1638620082.276 [Micromodem](INFO): Nmea in: $CAREV,121441,COPROC,0.20.0.39330*78

2021-12-04T12:14:43.919Z,1638620083.919 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T12:14:44.680Z,1638620084.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:45.508Z,1638620085.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:45.899Z,1638620085.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:46.732Z,1638620086.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121446.03*59

2021-12-04T12:14:46.733Z,1638620086.733 [Micromodem](INFO): Nmea in: $CAREV,121447,AUV,2.1.4000*2F

2021-12-04T12:14:47.188Z,1638620087.188 [Micromodem](INFO): Nmea in: $CAREV,121447,COPROC,0.20.0.39330*7E

2021-12-04T12:14:49.213Z,1638620089.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:49.949Z,1638620089.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:50.351Z,1638620090.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:51.188Z,1638620091.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121450.47*5E

2021-12-04T12:14:51.189Z,1638620091.189 [Micromodem](INFO): Nmea in: $CAREV,121451,AUV,2.1.4000*28

2021-12-04T12:14:51.628Z,1638620091.628 [Micromodem](INFO): Nmea in: $CAREV,121451,COPROC,0.20.0.39330*79

2021-12-04T12:14:53.641Z,1638620093.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:54.354Z,1638620094.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:54.776Z,1638620094.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:14:55.619Z,1638620095.619 [Micromodem](INFO): Nmea in: $SNTTA,0.003998,,,,121454.88*4C

2021-12-04T12:14:55.622Z,1638620095.622 [Micromodem](INFO): Nmea in: $CAREV,121455,AUV,2.1.4000*2C

2021-12-04T12:14:56.012Z,1638620096.012 [Micromodem](INFO): Nmea in: $CAREV,121455,COPROC,0.20.0.39330*7D

2021-12-04T12:14:58.044Z,1638620098.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:14:58.829Z,1638620098.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:14:59.236Z,1638620099.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:00.072Z,1638620100.072 [Micromodem](INFO): Nmea in: $SNTTA,0.006364,,,,121459.35*4B

2021-12-04T12:15:00.073Z,1638620100.073 [Micromodem](INFO): Nmea in: $CAREV,121500,AUV,2.1.4000*2D

2021-12-04T12:15:00.524Z,1638620100.524 [Micromodem](INFO): Nmea in: $CAREV,121500,COPROC,0.20.0.39330*7C

2021-12-04T12:15:02.581Z,1638620102.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:03.285Z,1638620103.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:03.663Z,1638620103.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:04.484Z,1638620104.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121503.81*53

2021-12-04T12:15:04.486Z,1638620104.486 [Micromodem](INFO): Nmea in: $CAREV,121504,AUV,2.1.4000*29

2021-12-04T12:15:04.872Z,1638620104.872 [Micromodem](INFO): Nmea in: $CAREV,121504,COPROC,0.20.0.39330*78

2021-12-04T12:15:06.933Z,1638620106.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:07.721Z,1638620107.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:08.123Z,1638620108.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:08.960Z,1638620108.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121508.25*56

2021-12-04T12:15:08.961Z,1638620108.961 [Micromodem](INFO): Nmea in: $CAREV,121509,AUV,2.1.4000*24

2021-12-04T12:15:09.360Z,1638620109.360 [Micromodem](INFO): Nmea in: $CAREV,121509,COPROC,0.20.0.39330*75

2021-12-04T12:15:11.405Z,1638620111.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:12.161Z,1638620112.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:12.580Z,1638620112.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:13.518Z,1638620113.518 [Micromodem](INFO): Nmea in: $SNTTA,0.019675,,,,121512.69*47

2021-12-04T12:15:13.522Z,1638620113.522 [Micromodem](INFO): Nmea in: $CAREV,121513,AUV,2.1.4000*2F

2021-12-04T12:15:13.772Z,1638620113.772 [Micromodem](INFO): Nmea in: $CAREV,121513,COPROC,0.20.0.39330*7E

2021-12-04T12:15:15.518Z,1638620115.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:16.265Z,1638620116.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:16.649Z,1638620116.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:17.449Z,1638620117.449 [Micromodem](INFO): Nmea in: $SNTTA,0.006385,,,,121516.79*46

2021-12-04T12:15:17.451Z,1638620117.451 [Micromodem](INFO): Nmea in: $CAREV,121517,AUV,2.1.4000*2B

2021-12-04T12:15:17.831Z,1638620117.831 [Micromodem](INFO): Nmea in: $CAREV,121517,COPROC,0.20.0.39330*7A

2021-12-04T12:15:19.871Z,1638620119.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:20.645Z,1638620120.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:21.051Z,1638620121.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:21.888Z,1638620121.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121521.17*5C

2021-12-04T12:15:21.889Z,1638620121.889 [Micromodem](INFO): Nmea in: $CAREV,121522,AUV,2.1.4000*2D

2021-12-04T12:15:22.272Z,1638620122.272 [Micromodem](INFO): Nmea in: $CAREV,121522,COPROC,0.20.0.39330*7C

2021-12-04T12:15:24.305Z,1638620124.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:25.057Z,1638620125.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:25.654Z,1638620125.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:26.395Z,1638620126.395 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121525.58*53

2021-12-04T12:15:26.432Z,1638620126.432 [Micromodem](INFO): Nmea in: $CAREV,121526,AUV,2.1.4000*29

2021-12-04T12:15:26.748Z,1638620126.748 [Micromodem](INFO): Nmea in: $CAREV,121526,COPROC,0.20.0.39330*78

2021-12-04T12:15:28.345Z,1638620128.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:29.145Z,1638620129.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:29.661Z,1638620129.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:30.416Z,1638620130.416 [Micromodem](INFO): Nmea in: $SNTTA,0.045167,,,,121529.67*4C

2021-12-04T12:15:30.419Z,1638620130.419 [Micromodem](INFO): Nmea in: $CAREV,121530,AUV,2.1.4000*2E

2021-12-04T12:15:30.792Z,1638620130.792 [Micromodem](INFO): Nmea in: $CAREV,121530,COPROC,0.20.0.39330*7F

2021-12-04T12:15:32.805Z,1638620132.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:33.602Z,1638620133.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:33.983Z,1638620133.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:34.805Z,1638620134.805 [Micromodem](INFO): Nmea in: $SNTTA,0.006255,,,,121534.12*47

2021-12-04T12:15:34.806Z,1638620134.806 [Micromodem](INFO): Nmea in: $CAREV,121535,AUV,2.1.4000*2B

2021-12-04T12:15:35.192Z,1638620135.192 [Micromodem](INFO): Nmea in: $CAREV,121535,COPROC,0.20.0.39330*7A

2021-12-04T12:15:37.237Z,1638620137.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:38.033Z,1638620138.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:38.468Z,1638620138.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:39.340Z,1638620139.340 [Micromodem](INFO): Nmea in: $SNTTA,0.006307,,,,121538.56*4D

2021-12-04T12:15:39.341Z,1638620139.341 [Micromodem](INFO): Nmea in: $CAREV,121539,AUV,2.1.4000*27

2021-12-04T12:15:39.664Z,1638620139.664 [Micromodem](INFO): Nmea in: $CAREV,121539,COPROC,0.20.0.39330*76

2021-12-04T12:15:41.713Z,1638620141.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:42.541Z,1638620142.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:42.899Z,1638620142.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:43.721Z,1638620143.721 [Micromodem](INFO): Nmea in: $SNTTA,0.006179,,,,121543.06*4F

2021-12-04T12:15:44.082Z,1638620144.082 [Micromodem](INFO): Nmea in: $CAREV,121544,AUV,2.1.4000*2D

2021-12-04T12:15:44.083Z,1638620144.083 [Micromodem](INFO): Nmea in: $CAREV,121544,COPROC,0.20.0.39330*7C

2021-12-04T12:15:45.834Z,1638620145.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:46.513Z,1638620146.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:46.923Z,1638620146.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:47.760Z,1638620147.760 [Micromodem](INFO): Nmea in: $SNTTA,0.038025,,,,121547.04*4C

2021-12-04T12:15:47.761Z,1638620147.761 [Micromodem](INFO): Nmea in: $CAREV,121548,AUV,2.1.4000*21

2021-12-04T12:15:48.152Z,1638620148.152 [Micromodem](INFO): Nmea in: $CAREV,121548,COPROC,0.20.0.39330*70

2021-12-04T12:15:50.165Z,1638620150.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:50.965Z,1638620150.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:51.363Z,1638620151.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:52.196Z,1638620152.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121551.49*50

2021-12-04T12:15:52.197Z,1638620152.197 [Micromodem](INFO): Nmea in: $CAREV,121552,AUV,2.1.4000*2A

2021-12-04T12:15:52.600Z,1638620152.600 [Micromodem](INFO): Nmea in: $CAREV,121552,COPROC,0.20.0.39330*7B

2021-12-04T12:15:54.618Z,1638620154.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:55.381Z,1638620155.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:15:55.888Z,1638620155.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:15:56.688Z,1638620156.688 [Micromodem](INFO): Nmea in: $SNTTA,0.060848,,,,121555.90*4C

2021-12-04T12:15:56.689Z,1638620156.689 [Micromodem](INFO): Nmea in: $CAREV,121556,AUV,2.1.4000*2E

2021-12-04T12:15:57.040Z,1638620157.040 [Micromodem](INFO): Nmea in: $CAREV,121556,COPROC,0.20.0.39330*7F

2021-12-04T12:15:59.059Z,1638620159.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:15:59.851Z,1638620159.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:00.264Z,1638620160.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:01.091Z,1638620161.091 [Micromodem](INFO): Nmea in: $SNTTA,0.046356,,,,121600.38*4D

2021-12-04T12:16:01.092Z,1638620161.092 [Micromodem](INFO): Nmea in: $CAREV,121601,AUV,2.1.4000*2F

2021-12-04T12:16:01.492Z,1638620161.492 [Micromodem](INFO): Nmea in: $CAREV,121601,COPROC,0.20.0.39330*7E

2021-12-04T12:16:03.571Z,1638620163.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:04.266Z,1638620164.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:04.700Z,1638620164.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:05.495Z,1638620165.495 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121604.79*50

2021-12-04T12:16:05.499Z,1638620165.499 [Micromodem](INFO): Nmea in: $CAREV,121605,AUV,2.1.4000*2B

2021-12-04T12:16:06.000Z,1638620166.000 [Micromodem](INFO): Nmea in: $CAREV,121605,COPROC,0.20.0.39330*7A

2021-12-04T12:16:07.599Z,1638620167.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:08.337Z,1638620168.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:08.744Z,1638620168.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:09.657Z,1638620169.657 [Micromodem](INFO): Nmea in: $SNTTA,0.028390,,,,121608.86*42

2021-12-04T12:16:09.659Z,1638620169.659 [Micromodem](INFO): Nmea in: $CAREV,121609,AUV,2.1.4000*27

2021-12-04T12:16:09.976Z,1638620169.976 [Micromodem](INFO): Nmea in: $CAREV,121609,COPROC,0.20.0.39330*76

2021-12-04T12:16:11.688Z,1638620171.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:12.373Z,1638620172.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:12.786Z,1638620172.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:13.616Z,1638620173.616 [Micromodem](INFO): Nmea in: $SNTTA,0.006223,,,,121612.90*4B

2021-12-04T12:16:13.617Z,1638620173.617 [Micromodem](INFO): Nmea in: $CAREV,121613,AUV,2.1.4000*2C

2021-12-04T12:16:13.000Z,1638620174.000 [Micromodem](INFO): Nmea in: $CAREV,121613,COPROC,0.20.0.39330*7D

2021-12-04T12:16:16.093Z,1638620176.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:16.817Z,1638620176.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:17.224Z,1638620177.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:18.056Z,1638620178.056 [Micromodem](INFO): Nmea in: $SNTTA,0.019542,,,,121617.34*4E

2021-12-04T12:16:18.057Z,1638620178.057 [Micromodem](INFO): Nmea in: $CAREV,121618,AUV,2.1.4000*27

2021-12-04T12:16:18.472Z,1638620178.472 [Micromodem](INFO): Nmea in: $CAREV,121618,COPROC,0.20.0.39330*76

2021-12-04T12:16:20.509Z,1638620180.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:21.269Z,1638620181.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:21.688Z,1638620181.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:22.504Z,1638620182.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121621.79*57

2021-12-04T12:16:22.505Z,1638620182.505 [Micromodem](INFO): Nmea in: $CAREV,121622,AUV,2.1.4000*2E

2021-12-04T12:16:22.952Z,1638620182.952 [Micromodem](INFO): Nmea in: $CAREV,121622,COPROC,0.20.0.39330*7F

2021-12-04T12:16:24.916Z,1638620184.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:25.673Z,1638620185.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:26.192Z,1638620186.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:26.932Z,1638620186.932 [Micromodem](INFO): Nmea in: $SNTTA,0.006814,,,,121626.20*49

2021-12-04T12:16:26.933Z,1638620186.933 [Micromodem](INFO): Nmea in: $CAREV,121627,AUV,2.1.4000*2B

2021-12-04T12:16:27.340Z,1638620187.340 [Micromodem](INFO): Nmea in: $CAREV,121627,COPROC,0.20.0.39330*7A

2021-12-04T12:16:29.353Z,1638620189.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:30.151Z,1638620190.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:30.565Z,1638620190.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:31.392Z,1638620191.392 [Micromodem](INFO): Nmea in: $SNTTA,0.006585,,,,121630.67*48

2021-12-04T12:16:31.394Z,1638620191.394 [Micromodem](INFO): Nmea in: $CAREV,121631,AUV,2.1.4000*2C

2021-12-04T12:16:31.776Z,1638620191.776 [Micromodem](INFO): Nmea in: $CAREV,121631,COPROC,0.20.0.39330*7D

2021-12-04T12:16:33.569Z,1638620193.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:34.201Z,1638620194.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:34.580Z,1638620194.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:35.403Z,1638620195.403 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121634.73*59

2021-12-04T12:16:35.408Z,1638620195.408 [Micromodem](INFO): Nmea in: $CAREV,121635,AUV,2.1.4000*28

2021-12-04T12:16:35.794Z,1638620195.794 [Micromodem](INFO): Nmea in: $CAREV,121635,COPROC,0.20.0.39330*79

2021-12-04T12:16:37.865Z,1638620197.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:38.633Z,1638620198.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:39.052Z,1638620199.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:39.871Z,1638620199.871 [Micromodem](INFO): Nmea in: $SNTTA,0.006577,,,,121639.16*4A

2021-12-04T12:16:39.872Z,1638620199.872 [Micromodem](INFO): Nmea in: $CAREV,121640,AUV,2.1.4000*2A

2021-12-04T12:16:40.268Z,1638620200.268 [Micromodem](INFO): Nmea in: $CAREV,121640,COPROC,0.20.0.39330*7B

2021-12-04T12:16:42.292Z,1638620202.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:43.090Z,1638620203.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:43.490Z,1638620203.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:44.320Z,1638620204.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121643.62*59

2021-12-04T12:16:44.321Z,1638620204.321 [Micromodem](INFO): Nmea in: $CAREV,121644,AUV,2.1.4000*2E

2021-12-04T12:16:44.677Z,1638620204.677 [Micromodem](INFO): Nmea in: $CAREV,121644,COPROC,0.20.0.39330*7F

2021-12-04T12:16:46.805Z,1638620206.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:47.541Z,1638620207.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:47.953Z,1638620207.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:48.757Z,1638620208.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121648.07*51

2021-12-04T12:16:48.774Z,1638620208.774 [Micromodem](INFO): Nmea in: $CAREV,121649,AUV,2.1.4000*23

2021-12-04T12:16:49.148Z,1638620209.148 [Micromodem](INFO): Nmea in: $CAREV,121649,COPROC,0.20.0.39330*72

2021-12-04T12:16:51.181Z,1638620211.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:51.969Z,1638620211.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:52.368Z,1638620212.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:53.208Z,1638620213.208 [Micromodem](INFO): Nmea in: $SNTTA,0.061583,,,,121652.50*4F

2021-12-04T12:16:53.209Z,1638620213.209 [Micromodem](INFO): Nmea in: $CAREV,121653,AUV,2.1.4000*28

2021-12-04T12:16:53.616Z,1638620213.616 [Micromodem](INFO): Nmea in: $CAREV,121653,COPROC,0.20.0.39330*79

2021-12-04T12:16:55.624Z,1638620215.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:16:56.478Z,1638620216.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:16:56.819Z,1638620216.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:16:58.036Z,1638620218.036 [Micromodem](INFO): Nmea in: $SNTTA,0.015740,,,,121657.00*41

2021-12-04T12:16:58.037Z,1638620218.037 [Micromodem](INFO): Nmea in: $CAREV,121658,AUV,2.1.4000*23

2021-12-04T12:16:58.472Z,1638620218.472 [Micromodem](INFO): Nmea in: $CAREV,121658,COPROC,0.20.0.39330*72

2021-12-04T12:17:00.121Z,1638620220.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:00.865Z,1638620220.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:01.267Z,1638620221.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:02.088Z,1638620222.088 [Micromodem](INFO): Nmea in: $SNTTA,0.036967,,,,121701.39*43

2021-12-04T12:17:02.089Z,1638620222.089 [Micromodem](INFO): Nmea in: $CAREV,121702,AUV,2.1.4000*2D

2021-12-04T12:17:02.484Z,1638620222.484 [Micromodem](INFO): Nmea in: $CAREV,121702,COPROC,0.20.0.39330*7C

2021-12-04T12:17:04.516Z,1638620224.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:05.301Z,1638620225.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:05.671Z,1638620225.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:06.605Z,1638620226.605 [Micromodem](INFO): Nmea in: $SNTTA,0.017555,,,,121705.83*48

2021-12-04T12:17:06.607Z,1638620226.607 [Micromodem](INFO): Nmea in: $CAREV,121706,AUV,2.1.4000*29

2021-12-04T12:17:06.920Z,1638620226.920 [Micromodem](INFO): Nmea in: $CAREV,121706,COPROC,0.20.0.39330*78

2021-12-04T12:17:08.956Z,1638620228.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:09.742Z,1638620229.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:10.151Z,1638620230.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:10.988Z,1638620230.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121710.27*5F

2021-12-04T12:17:10.989Z,1638620230.989 [Micromodem](INFO): Nmea in: $CAREV,121711,AUV,2.1.4000*2F

2021-12-04T12:17:11.371Z,1638620231.371 [Micromodem](INFO): Nmea in: $CAREV,121711,COPROC,0.20.0.39330*7E

2021-12-04T12:17:13.443Z,1638620233.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:14.193Z,1638620234.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:14.599Z,1638620234.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:15.430Z,1638620235.430 [Micromodem](INFO): Nmea in: $SNTTA,0.006245,,,,121714.72*40

2021-12-04T12:17:15.431Z,1638620235.431 [Micromodem](INFO): Nmea in: $CAREV,121715,AUV,2.1.4000*2B

2021-12-04T12:17:15.787Z,1638620235.787 [Micromodem](INFO): Nmea in: $CAREV,121715,COPROC,0.20.0.39330*7A

2021-12-04T12:17:17.881Z,1638620237.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:18.629Z,1638620238.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:19.040Z,1638620239.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:22.285Z,1638620242.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:23.089Z,1638620243.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:23.511Z,1638620243.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:24.320Z,1638620244.320 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121723.62*5E

2021-12-04T12:17:24.321Z,1638620244.321 [Micromodem](INFO): Nmea in: $CAREV,121724,AUV,2.1.4000*29

2021-12-04T12:17:24.719Z,1638620244.719 [Micromodem](INFO): Nmea in: $CAREV,121724,COPROC,0.20.0.39330*78

2021-12-04T12:17:26.831Z,1638620246.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:27.577Z,1638620247.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:27.951Z,1638620247.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:28.772Z,1638620248.772 [Micromodem](INFO): Nmea in: $SNTTA,0.006084,,,,121728.10*44

2021-12-04T12:17:28.775Z,1638620248.775 [Micromodem](INFO): Nmea in: $CAREV,121729,AUV,2.1.4000*24

2021-12-04T12:17:29.156Z,1638620249.156 [Micromodem](INFO): Nmea in: $CAREV,121729,COPROC,0.20.0.39330*75

2021-12-04T12:17:31.229Z,1638620251.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:31.971Z,1638620251.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:32.389Z,1638620252.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:33.212Z,1638620253.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121732.50*5F

2021-12-04T12:17:33.213Z,1638620253.213 [Micromodem](INFO): Nmea in: $CAREV,121733,AUV,2.1.4000*2F

2021-12-04T12:17:33.612Z,1638620253.612 [Micromodem](INFO): Nmea in: $CAREV,121733,COPROC,0.20.0.39330*7E

2021-12-04T12:17:35.649Z,1638620255.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:36.412Z,1638620256.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:36.885Z,1638620256.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:37.653Z,1638620257.653 [Micromodem](INFO): Nmea in: $SNTTA,0.078682,,,,121736.94*4E

2021-12-04T12:17:37.654Z,1638620257.654 [Micromodem](INFO): Nmea in: $CAREV,121737,AUV,2.1.4000*2B

2021-12-04T12:17:38.040Z,1638620258.040 [Micromodem](INFO): Nmea in: $CAREV,121737,COPROC,0.20.0.39330*7A

2021-12-04T12:17:40.065Z,1638620260.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:40.869Z,1638620260.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:41.271Z,1638620261.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:41.682Z,1638620261.682 [Micromodem](INFO): Nmea in: $SNTTA,0.025169,0.262587,,,121741.39*51

2021-12-04T12:17:41.683Z,1638620261.683 [Micromodem](INFO): Nmea in: $CAREV,121741,AUV,2.1.4000*2A

2021-12-04T12:17:42.080Z,1638620262.080 [Micromodem](INFO): Nmea in: $CAREV,121741,COPROC,0.20.0.39330*7B

2021-12-04T12:17:44.517Z,1638620264.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:45.273Z,1638620265.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:45.705Z,1638620265.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:46.496Z,1638620266.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121745.80*52

2021-12-04T12:17:46.497Z,1638620266.497 [Micromodem](INFO): Nmea in: $CAREV,121746,AUV,2.1.4000*2D

2021-12-04T12:17:46.000Z,1638620267.000 [Micromodem](INFO): Nmea in: $CAREV,121746,COPROC,0.20.0.39330*7C

2021-12-04T12:17:48.577Z,1638620268.577 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T12:17:48.577Z,1638620268.577 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T12:17:48.577Z,1638620268.577 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T12:17:48.577Z,1638620268.577 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:17:48.577Z,1638620268.577 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T12:17:48.578Z,1638620268.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 2.819999 m 
2021-12-04T12:17:48.578Z,1638620268.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T12:17:48.578Z,1638620268.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T12:17:48.579Z,1638620268.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T12:17:48.948Z,1638620268.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:48.951Z,1638620268.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T121748: (41.552319, -70.708603)
2021-12-04T12:17:48.951Z,1638620268.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T12:17:48.951Z,1638620268.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T12:17:48.951Z,1638620268.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:17:48.951Z,1638620268.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T12:17:48.951Z,1638620268.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:17:48.952Z,1638620268.952 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T12:17:48.952Z,1638620268.952 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T12:17:48.952Z,1638620268.952 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T12:17:49.742Z,1638620269.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:50.152Z,1638620270.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:50.992Z,1638620270.992 [Micromodem](INFO): Nmea in: $SNTTA,0.020114,,,,121750.27*43

2021-12-04T12:17:50.993Z,1638620270.993 [Micromodem](INFO): Nmea in: $CAREV,121751,AUV,2.1.4000*2B

2021-12-04T12:17:51.401Z,1638620271.401 [Micromodem](INFO): Nmea in: $CAREV,121751,COPROC,0.20.0.39330*7A

2021-12-04T12:17:53.436Z,1638620273.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:54.197Z,1638620274.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:54.611Z,1638620274.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:55.411Z,1638620275.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121754.72*5F

2021-12-04T12:17:55.429Z,1638620275.429 [Micromodem](INFO): Nmea in: $CAREV,121755,AUV,2.1.4000*2F

2021-12-04T12:17:55.816Z,1638620275.816 [Micromodem](INFO): Nmea in: $CAREV,121755,COPROC,0.20.0.39330*7E

2021-12-04T12:17:57.570Z,1638620277.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:17:58.240Z,1638620278.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:17:58.656Z,1638620278.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:17:59.463Z,1638620279.463 [Micromodem](INFO): Nmea in: $SNTTA,0.003965,,,,121758.77*41

2021-12-04T12:17:59.467Z,1638620279.467 [Micromodem](INFO): Nmea in: $CAREV,121759,AUV,2.1.4000*23

2021-12-04T12:17:59.856Z,1638620279.856 [Micromodem](INFO): Nmea in: $CAREV,121759,COPROC,0.20.0.39330*72

2021-12-04T12:18:01.953Z,1638620281.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:02.669Z,1638620282.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:03.092Z,1638620283.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:03.911Z,1638620283.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121803.19*5F

2021-12-04T12:18:03.912Z,1638620283.912 [Micromodem](INFO): Nmea in: $CAREV,121804,AUV,2.1.4000*24

2021-12-04T12:18:04.300Z,1638620284.300 [Micromodem](INFO): Nmea in: $CAREV,121804,COPROC,0.20.0.39330*75

2021-12-04T12:18:06.293Z,1638620286.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:07.189Z,1638620287.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:07.635Z,1638620287.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:08.765Z,1638620288.765 [Micromodem](INFO): Nmea in: $SNTTA,0.021717,,,,121807.72*4A

2021-12-04T12:18:08.766Z,1638620288.766 [Micromodem](INFO): Nmea in: $CAREV,121808,AUV,2.1.4000*28

2021-12-04T12:18:09.156Z,1638620289.156 [Micromodem](INFO): Nmea in: $CAREV,121808,COPROC,0.20.0.39330*79

2021-12-04T12:18:10.839Z,1638620290.839 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-12-04T12:13:10.5Z
2021-12-04T12:18:10.839Z,1638620290.839 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-12-04T12:18:10.840Z,1638620290.840 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-12-04T12:18:10.840Z,1638620290.840 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T12:18:10.840Z,1638620290.840 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-12-04T12:18:10.840Z,1638620290.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:11.159Z,1638620291.159 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.759999 m .
2021-12-04T12:18:11.159Z,1638620291.159 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-12-04T12:18:11.160Z,1638620291.160 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-12-04T12:18:11.160Z,1638620291.160 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-12-04T12:18:11.160Z,1638620291.160 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T12:18:11.601Z,1638620291.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:11.959Z,1638620291.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:12.864Z,1638620292.864 [Micromodem](INFO): Nmea in: $SNTTA,0.025212,,,,121812.13*4D

2021-12-04T12:18:12.865Z,1638620292.865 [Micromodem](INFO): Nmea in: $CAREV,121813,AUV,2.1.4000*22

2021-12-04T12:18:13.192Z,1638620293.192 [Micromodem](INFO): Nmea in: $CAREV,121813,COPROC,0.20.0.39330*73

2021-12-04T12:18:14.521Z,1638620294.521 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-12-04T12:18:14.815Z,1638620294.815 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T12:18:15.238Z,1638620295.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:16.021Z,1638620296.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:16.423Z,1638620296.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:17.240Z,1638620297.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121816.55*53

2021-12-04T12:18:17.241Z,1638620297.241 [Micromodem](INFO): Nmea in: $CAREV,121817,AUV,2.1.4000*26

2021-12-04T12:18:17.648Z,1638620297.648 [Micromodem](INFO): Nmea in: $CAREV,121817,COPROC,0.20.0.39330*77

2021-12-04T12:18:18.485Z,1638620298.485 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:18:19.696Z,1638620299.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:20.457Z,1638620300.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:20.947Z,1638620300.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:21.732Z,1638620301.732 [Micromodem](INFO): Nmea in: $SNTTA,0.018709,,,,121820.98*4E

2021-12-04T12:18:21.743Z,1638620301.743 [Micromodem](INFO): Nmea in: $CAREV,121822,AUV,2.1.4000*20

2021-12-04T12:18:22.084Z,1638620302.084 [Micromodem](INFO): Nmea in: $CAREV,121822,COPROC,0.20.0.39330*71

2021-12-04T12:18:23.812Z,1638620303.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:24.501Z,1638620304.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:24.903Z,1638620304.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:24.966Z,1638620304.966 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-12-04T12:18:25.742Z,1638620305.742 [Micromodem](INFO): Nmea in: $SNTTA,0.018603,,,,121825.03*42

2021-12-04T12:18:25.745Z,1638620305.745 [Micromodem](INFO): Nmea in: $CAREV,121826,AUV,2.1.4000*24

2021-12-04T12:18:26.124Z,1638620306.124 [Micromodem](INFO): Nmea in: $CAREV,121826,COPROC,0.20.0.39330*75

2021-12-04T12:18:28.136Z,1638620308.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:28.929Z,1638620308.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:29.346Z,1638620309.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:30.180Z,1638620310.180 [Micromodem](INFO): Nmea in: $SNTTA,0.061098,,,,121829.46*45

2021-12-04T12:18:30.181Z,1638620310.181 [Micromodem](INFO): Nmea in: $CAREV,121830,AUV,2.1.4000*23

2021-12-04T12:18:30.560Z,1638620310.560 [Micromodem](INFO): Nmea in: $CAREV,121830,COPROC,0.20.0.39330*72

2021-12-04T12:18:32.598Z,1638620312.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:33.377Z,1638620313.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:33.789Z,1638620313.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:34.640Z,1638620314.640 [Micromodem](INFO): Nmea in: $SNTTA,0.073132,,,,121833.91*46

2021-12-04T12:18:34.641Z,1638620314.641 [Micromodem](INFO): Nmea in: $CAREV,121834,AUV,2.1.4000*27

2021-12-04T12:18:35.016Z,1638620315.016 [Micromodem](INFO): Nmea in: $CAREV,121834,COPROC,0.20.0.39330*76

2021-12-04T12:18:37.025Z,1638620317.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:37.554Z,1638620317.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:37.851Z,1638620317.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:39.048Z,1638620319.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121838.08*57

2021-12-04T12:18:39.049Z,1638620319.049 [Micromodem](INFO): Nmea in: $CAREV,121839,AUV,2.1.4000*2A

2021-12-04T12:18:39.476Z,1638620319.476 [Micromodem](INFO): Nmea in: $CAREV,121839,COPROC,0.20.0.39330*7B

2021-12-04T12:18:41.065Z,1638620321.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:41.861Z,1638620321.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:42.272Z,1638620322.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:43.107Z,1638620323.107 [Micromodem](INFO): Nmea in: $SNTTA,0.032421,,,,121842.39*40

2021-12-04T12:18:43.108Z,1638620323.108 [Micromodem](INFO): Nmea in: $CAREV,121843,AUV,2.1.4000*27

2021-12-04T12:18:43.491Z,1638620323.491 [Micromodem](INFO): Nmea in: $CAREV,121843,COPROC,0.20.0.39330*76

2021-12-04T12:18:45.570Z,1638620325.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:46.305Z,1638620326.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:46.715Z,1638620326.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:47.656Z,1638620327.656 [Micromodem](INFO): Nmea in: $SNTTA,0.038440,,,,121846.83*48

2021-12-04T12:18:47.657Z,1638620327.657 [Micromodem](INFO): Nmea in: $CAREV,121847,AUV,2.1.4000*23

2021-12-04T12:18:47.944Z,1638620327.944 [Micromodem](INFO): Nmea in: $CAREV,121847,COPROC,0.20.0.39330*72

2021-12-04T12:18:49.654Z,1638620329.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:50.341Z,1638620330.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:50.759Z,1638620330.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:51.616Z,1638620331.616 [Micromodem](INFO): Nmea in: $SNTTA,0.047774,,,,121850.87*47

2021-12-04T12:18:51.617Z,1638620331.617 [Micromodem](INFO): Nmea in: $CAREV,121851,AUV,2.1.4000*24

2021-12-04T12:18:51.000Z,1638620332.000 [Micromodem](INFO): Nmea in: $CAREV,121851,COPROC,0.20.0.39330*75

2021-12-04T12:18:53.000Z,1638620334.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:54.789Z,1638620334.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:55.202Z,1638620335.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:56.036Z,1638620336.036 [Micromodem](INFO): Nmea in: $SNTTA,0.044209,,,,121855.31*43

2021-12-04T12:18:56.037Z,1638620336.037 [Micromodem](INFO): Nmea in: $CAREV,121856,AUV,2.1.4000*23

2021-12-04T12:18:56.428Z,1638620336.428 [Micromodem](INFO): Nmea in: $CAREV,121856,COPROC,0.20.0.39330*72

2021-12-04T12:18:58.471Z,1638620338.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:18:59.245Z,1638620339.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:18:59.642Z,1638620339.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:18:59.700Z,1638620339.700 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:19:00.496Z,1638620340.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121859.77*58

2021-12-04T12:19:00.497Z,1638620340.497 [Micromodem](INFO): Nmea in: $CAREV,121900,AUV,2.1.4000*21

2021-12-04T12:19:00.892Z,1638620340.892 [Micromodem](INFO): Nmea in: $CAREV,121900,COPROC,0.20.0.39330*70

2021-12-04T12:19:02.889Z,1638620342.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:03.677Z,1638620343.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:04.086Z,1638620344.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:04.992Z,1638620344.992 [Micromodem](INFO): Nmea in: $SNTTA,0.047239,,,,121904.21*47

2021-12-04T12:19:04.993Z,1638620344.993 [Micromodem](INFO): Nmea in: $CAREV,121905,AUV,2.1.4000*24

2021-12-04T12:19:05.308Z,1638620345.308 [Micromodem](INFO): Nmea in: $CAREV,121905,COPROC,0.20.0.39330*75

2021-12-04T12:19:07.333Z,1638620347.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:08.121Z,1638620348.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:08.537Z,1638620348.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:09.356Z,1638620349.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121908.65*5E

2021-12-04T12:19:09.357Z,1638620349.357 [Micromodem](INFO): Nmea in: $CAREV,121909,AUV,2.1.4000*28

2021-12-04T12:19:09.748Z,1638620349.748 [Micromodem](INFO): Nmea in: $CAREV,121909,COPROC,0.20.0.39330*79

2021-12-04T12:19:11.845Z,1638620351.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:12.565Z,1638620352.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:12.974Z,1638620352.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:13.807Z,1638620353.807 [Micromodem](INFO): Nmea in: $SNTTA,0.053582,,,,121913.09*49

2021-12-04T12:19:13.808Z,1638620353.808 [Micromodem](INFO): Nmea in: $CAREV,121914,AUV,2.1.4000*24

2021-12-04T12:19:14.188Z,1638620354.188 [Micromodem](INFO): Nmea in: $CAREV,121914,COPROC,0.20.0.39330*75

2021-12-04T12:19:16.220Z,1638620356.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:17.017Z,1638620357.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:17.438Z,1638620357.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:18.320Z,1638620358.320 [Micromodem](INFO): Nmea in: $SNTTA,0.128388,,,,121917.54*44

2021-12-04T12:19:18.321Z,1638620358.321 [Micromodem](INFO): Nmea in: $CAREV,121918,AUV,2.1.4000*28

2021-12-04T12:19:18.364Z,1638620358.364 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T12:19:18.648Z,1638620358.648 [Micromodem](INFO): Nmea in: $CAREV,121918,COPROC,0.20.0.39330*79

2021-12-04T12:19:20.671Z,1638620360.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:21.477Z,1638620361.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:21.867Z,1638620361.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:22.684Z,1638620362.684 [Micromodem](INFO): Nmea in: $SNTTA,0.024153,,,,121922.00*4A

2021-12-04T12:19:22.685Z,1638620362.685 [Micromodem](INFO): Nmea in: $CAREV,121923,AUV,2.1.4000*20

2021-12-04T12:19:23.076Z,1638620363.076 [Micromodem](INFO): Nmea in: $CAREV,121923,COPROC,0.20.0.39330*71

2021-12-04T12:19:25.109Z,1638620365.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:25.897Z,1638620365.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:26.303Z,1638620366.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:27.144Z,1638620367.144 [Micromodem](INFO): Nmea in: $SNTTA,0.052667,,,,121926.42*49

2021-12-04T12:19:27.145Z,1638620367.145 [Micromodem](INFO): Nmea in: $CAREV,121927,AUV,2.1.4000*24

2021-12-04T12:19:27.548Z,1638620367.548 [Micromodem](INFO): Nmea in: $CAREV,121927,COPROC,0.20.0.39330*75

2021-12-04T12:19:29.625Z,1638620369.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:30.341Z,1638620370.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:30.744Z,1638620370.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:31.664Z,1638620371.664 [Micromodem](INFO): Nmea in: $SNTTA,0.033253,,,,121930.87*43

2021-12-04T12:19:31.665Z,1638620371.665 [Micromodem](INFO): Nmea in: $CAREV,121931,AUV,2.1.4000*23

2021-12-04T12:19:31.980Z,1638620371.980 [Micromodem](INFO): Nmea in: $CAREV,121931,COPROC,0.20.0.39330*72

2021-12-04T12:19:34.008Z,1638620374.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:34.785Z,1638620374.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:35.199Z,1638620375.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:36.028Z,1638620376.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121935.31*51

2021-12-04T12:19:36.029Z,1638620376.029 [Micromodem](INFO): Nmea in: $CAREV,121936,AUV,2.1.4000*24

2021-12-04T12:19:36.440Z,1638620376.440 [Micromodem](INFO): Nmea in: $CAREV,121936,COPROC,0.20.0.39330*75

2021-12-04T12:19:38.456Z,1638620378.456 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 11.64 m. Transitioning DDM to standby.
2021-12-04T12:19:38.457Z,1638620378.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:39.229Z,1638620379.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:39.638Z,1638620379.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:40.512Z,1638620380.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121939.76*5E

2021-12-04T12:19:40.513Z,1638620380.513 [Micromodem](INFO): Nmea in: $CAREV,121940,AUV,2.1.4000*25

2021-12-04T12:19:40.551Z,1638620380.551 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-12-04T12:19:40.856Z,1638620380.856 [Micromodem](INFO): Nmea in: $CAREV,121940,COPROC,0.20.0.39330*74

2021-12-04T12:19:40.872Z,1638620380.872 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T12:19:40.872Z,1638620380.872 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-12-04T12:19:40.872Z,1638620380.872 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-12-04T12:19:40.872Z,1638620380.872 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap] Stopped
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T12:19:40.873Z,1638620380.873 [lineCaptureDepth:Lap](INFO): Running loop #4
2021-12-04T12:19:40.874Z,1638620380.874 [lineCaptureDepth:Lap] Running Loop=4
2021-12-04T12:19:40.874Z,1638620380.874 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T12:19:40.874Z,1638620380.874 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T12:19:41.308Z,1638620381.308 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T12:19:41.308Z,1638620381.308 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T12:19:41.308Z,1638620381.308 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T12:19:41.721Z,1638620381.721 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T12:19:41.721Z,1638620381.721 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T12:19:41.721Z,1638620381.721 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T12:19:41.722Z,1638620381.722 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T12:19:41.723Z,1638620381.723 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T12:19:41.724Z,1638620381.724 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:19:41.724Z,1638620381.724 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T12:19:41.724Z,1638620381.724 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T12:19:41.724Z,1638620381.724 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T12:19:41.724Z,1638620381.724 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T12:19:41.724Z,1638620381.724 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T12:19:41.725Z,1638620381.725 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T12:19:41.725Z,1638620381.725 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T12:19:42.069Z,1638620382.069 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T12:19:42.069Z,1638620382.069 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T12:19:42.510Z,1638620382.510 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T12:19:42.510Z,1638620382.510 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T12:19:42.843Z,1638620382.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:42.844Z,1638620382.844 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T12:19:42.844Z,1638620382.844 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T12:19:43.265Z,1638620383.265 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T12:19:43.265Z,1638620383.265 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T12:19:43.265Z,1638620383.265 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T12:19:43.266Z,1638620383.266 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T12:19:43.266Z,1638620383.266 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T12:19:43.266Z,1638620383.266 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T12:19:43.266Z,1638620383.266 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T12:19:43.266Z,1638620383.266 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T12:19:43.266Z,1638620383.266 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T12:19:43.267Z,1638620383.267 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T12:19:43.267Z,1638620383.267 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T12:19:43.267Z,1638620383.267 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:19:43.267Z,1638620383.267 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T12:19:43.267Z,1638620383.267 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:19:43.268Z,1638620383.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T12:19:43.269Z,1638620383.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T12:19:43.269Z,1638620383.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T12:19:43.269Z,1638620383.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T12:19:43.269Z,1638620383.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T12:19:43.647Z,1638620383.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:43.770Z,1638620383.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T12:19:43.770Z,1638620383.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:19:43.770Z,1638620383.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T12:19:43.770Z,1638620383.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:19:43.770Z,1638620383.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T12:19:43.770Z,1638620383.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T12:19:43.771Z,1638620383.771 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T12:19:44.066Z,1638620384.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:44.972Z,1638620384.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121944.17*53

2021-12-04T12:19:44.973Z,1638620384.973 [Micromodem](INFO): Nmea in: $CAREV,121945,AUV,2.1.4000*20

2021-12-04T12:19:45.320Z,1638620385.320 [Micromodem](INFO): Nmea in: $CAREV,121945,COPROC,0.20.0.39330*71

2021-12-04T12:19:46.569Z,1638620386.569 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T12:19:46.936Z,1638620386.936 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T12:19:47.329Z,1638620387.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:47.331Z,1638620387.331 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T12:19:47.787Z,1638620387.787 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T12:19:48.145Z,1638620388.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:48.535Z,1638620388.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:49.356Z,1638620389.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121948.67*58

2021-12-04T12:19:49.357Z,1638620389.357 [Micromodem](INFO): Nmea in: $CAREV,121949,AUV,2.1.4000*2C

2021-12-04T12:19:49.757Z,1638620389.757 [Micromodem](INFO): Nmea in: $CAREV,121949,COPROC,0.20.0.39330*7D

2021-12-04T12:19:51.849Z,1638620391.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:52.561Z,1638620392.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:52.969Z,1638620392.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:53.801Z,1638620393.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121953.09*5A

2021-12-04T12:19:53.802Z,1638620393.802 [Micromodem](INFO): Nmea in: $CAREV,121954,AUV,2.1.4000*20

2021-12-04T12:19:54.196Z,1638620394.196 [Micromodem](INFO): Nmea in: $CAREV,121954,COPROC,0.20.0.39330*71

2021-12-04T12:19:56.227Z,1638620396.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:19:57.006Z,1638620397.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:19:57.513Z,1638620397.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:19:57.785Z,1638620397.785 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T12:19:57.788Z,1638620397.788 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T12:19:58.240Z,1638620398.240 [Micromodem](INFO): Nmea in: $SNTTA,0.106069,,,,121957.53*47

2021-12-04T12:19:58.241Z,1638620398.241 [Micromodem](INFO): Nmea in: $CAREV,121958,AUV,2.1.4000*2C

2021-12-04T12:19:58.632Z,1638620398.632 [Micromodem](INFO): Nmea in: $CAREV,121958,COPROC,0.20.0.39330*7D

2021-12-04T12:20:00.679Z,1638620400.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:01.473Z,1638620401.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:01.887Z,1638620401.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:02.681Z,1638620402.681 [Micromodem](INFO): Nmea in: $SNTTA,0.063437,,,,122002.00*46

2021-12-04T12:20:02.682Z,1638620402.682 [Micromodem](INFO): Nmea in: $CAREV,122003,AUV,2.1.4000*28

2021-12-04T12:20:03.080Z,1638620403.080 [Micromodem](INFO): Nmea in: $CAREV,122003,COPROC,0.20.0.39330*79

2021-12-04T12:20:05.109Z,1638620405.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:05.908Z,1638620405.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:06.296Z,1638620406.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:07.128Z,1638620407.128 [Micromodem](INFO): Nmea in: $SNTTA,0.028503,,,,122006.44*4B

2021-12-04T12:20:07.129Z,1638620407.129 [Micromodem](INFO): Nmea in: $CAREV,122007,AUV,2.1.4000*2C

2021-12-04T12:20:07.545Z,1638620407.545 [Micromodem](INFO): Nmea in: $CAREV,122007,COPROC,0.20.0.39330*7D

2021-12-04T12:20:07.945Z,1638620407.945 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 14.34 m. Transitioning DDM to standby.
2021-12-04T12:20:09.626Z,1638620409.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:09.991Z,1638620409.991 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T12:20:10.361Z,1638620410.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:10.467Z,1638620410.467 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T12:20:10.467Z,1638620410.467 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T12:20:10.467Z,1638620410.467 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T12:20:10.720Z,1638620410.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:10.757Z,1638620410.757 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T12:20:10.757Z,1638620410.757 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T12:20:10.757Z,1638620410.757 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T12:20:11.157Z,1638620411.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T12:20:11.157Z,1638620411.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T12:20:11.157Z,1638620411.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T12:20:11.157Z,1638620411.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T12:20:11.157Z,1638620411.157 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T12:20:11.576Z,1638620411.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122010.89*5F

2021-12-04T12:20:11.577Z,1638620411.577 [Micromodem](INFO): Nmea in: $CAREV,122011,AUV,2.1.4000*2B

2021-12-04T12:20:11.635Z,1638620411.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T12:20:11.635Z,1638620411.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:20:11.635Z,1638620411.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T12:20:11.635Z,1638620411.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:20:11.635Z,1638620411.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T12:20:11.635Z,1638620411.635 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T12:20:11.636Z,1638620411.636 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T12:20:11.636Z,1638620411.636 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T12:20:11.636Z,1638620411.636 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T12:20:11.637Z,1638620411.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T12:20:11.637Z,1638620411.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T12:20:11.637Z,1638620411.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T12:20:11.637Z,1638620411.637 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 14.339997 m 
2021-12-04T12:20:11.638Z,1638620411.638 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T12:20:11.638Z,1638620411.638 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T12:20:11.639Z,1638620411.639 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T12:20:11.639Z,1638620411.639 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T12:20:11.639Z,1638620411.639 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T12:20:11.639Z,1638620411.639 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T12:20:11.932Z,1638620411.932 [Micromodem](INFO): Nmea in: $CAREV,122011,COPROC,0.20.0.39330*7A

2021-12-04T12:20:11.950Z,1638620411.950 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T12:20:11.950Z,1638620411.950 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T12:20:11.950Z,1638620411.950 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T12:20:11.950Z,1638620411.950 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T12:20:11.950Z,1638620411.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T12:20:11.951Z,1638620411.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:20:11.951Z,1638620411.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T12:20:11.951Z,1638620411.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T12:20:11.951Z,1638620411.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T12:20:11.951Z,1638620411.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T12:20:11.951Z,1638620411.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T12:20:12.356Z,1638620412.356 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T12:20:12.356Z,1638620412.356 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T12:20:12.356Z,1638620412.356 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T12:20:12.356Z,1638620412.356 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:20:12.357Z,1638620412.357 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T12:20:12.358Z,1638620412.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 14.339997 m (mode 0 count ).
2021-12-04T12:20:12.358Z,1638620412.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T12:20:12.358Z,1638620412.358 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T12:20:12.360Z,1638620412.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T12:20:12.361Z,1638620412.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T12:20:12.361Z,1638620412.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T12:20:12.361Z,1638620412.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T12:20:12.362Z,1638620412.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T12:20:12.362Z,1638620412.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T12:20:12.362Z,1638620412.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T12:20:12.363Z,1638620412.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T12:20:12.363Z,1638620412.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T12:20:12.363Z,1638620412.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T12:20:12.363Z,1638620412.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:20:12.363Z,1638620412.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T12:20:12.364Z,1638620412.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:20:12.364Z,1638620412.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T12:20:12.364Z,1638620412.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T12:20:12.364Z,1638620412.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T12:20:12.364Z,1638620412.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T12:20:12.364Z,1638620412.364 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T12:20:12.769Z,1638620412.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T12:20:12.770Z,1638620412.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:20:12.770Z,1638620412.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T12:20:12.770Z,1638620412.770 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:20:12.773Z,1638620412.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 273.640191 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T12:20:12.773Z,1638620412.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 14.34 m.
2021-12-04T12:20:12.774Z,1638620412.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 273.640191deg and heading rate command to 0 deg/s.
2021-12-04T12:20:13.720Z,1638620413.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:14.412Z,1638620414.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:14.813Z,1638620414.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:15.219Z,1638620415.219 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:15.244Z,1638620415.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 270.474016 deg, deltaT: 4.064975 s, deltaX: 0.240002 m, approachRate: 0.059041 m/s, LOS rate: -0.778892 deg/s, posRepo size: 2
2021-12-04T12:20:15.244Z,1638620415.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 14.58 m.
2021-12-04T12:20:15.246Z,1638620415.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.579999 m,
      bearing: 270.474016 deg,
      approachRate: 0.059041 m/s,
      LOS rate: -0.778892 deg/s,
      cmd update: -2.336675 deg/s,
      cmd heading: 273.640191 deg,
      new cmd heading: 273.640191 deg.

2021-12-04T12:20:15.620Z,1638620415.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122014.94*57

2021-12-04T12:20:15.621Z,1638620415.621 [Micromodem](INFO): Nmea in: $CAREV,122015,AUV,2.1.4000*2F

2021-12-04T12:20:16.004Z,1638620416.004 [Micromodem](INFO): Nmea in: $CAREV,122015,COPROC,0.20.0.39330*7E

2021-12-04T12:20:18.030Z,1638620418.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:18.821Z,1638620418.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:19.230Z,1638620419.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:19.684Z,1638620419.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:19.689Z,1638620419.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 267.346062 deg, deltaT: 4.465418 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.700484 deg/s, posRepo size: 3
2021-12-04T12:20:19.689Z,1638620419.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 14.58 m.
2021-12-04T12:20:19.692Z,1638620419.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.579999 m,
      bearing: 267.346062 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.700484 deg/s,
      cmd update: -2.101452 deg/s,
      cmd heading: 263.348874 deg,
      new cmd heading: 262.343896 deg.

2021-12-04T12:20:20.068Z,1638620420.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122019.35*51

2021-12-04T12:20:20.069Z,1638620420.069 [Micromodem](INFO): Nmea in: $CAREV,122020,AUV,2.1.4000*29

2021-12-04T12:20:20.476Z,1638620420.476 [Micromodem](INFO): Nmea in: $CAREV,122020,COPROC,0.20.0.39330*78

2021-12-04T12:20:22.499Z,1638620422.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:23.269Z,1638620423.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:23.667Z,1638620423.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:24.107Z,1638620424.107 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:24.116Z,1638620424.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 249.670079 deg, deltaT: 4.423001 s, deltaX: -0.719999 m, approachRate: -0.162785 m/s, LOS rate: -3.996378 deg/s, posRepo size: 4
2021-12-04T12:20:24.116Z,1638620424.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 13.86 m.
2021-12-04T12:20:24.117Z,1638620424.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 13.86 m.
2021-12-04T12:20:24.117Z,1638620424.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T12:20:24.120Z,1638620424.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 253.910210 deg,
      new cmd heading: 253.150919 deg.

2021-12-04T12:20:24.508Z,1638620424.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122023.80*56

2021-12-04T12:20:24.509Z,1638620424.509 [Micromodem](INFO): Nmea in: $CAREV,122024,AUV,2.1.4000*2D

2021-12-04T12:20:24.550Z,1638620424.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 249.578332 deg,
      new cmd heading: 244.327187 deg.

2021-12-04T12:20:24.888Z,1638620424.888 [Micromodem](INFO): Nmea in: $CAREV,122024,COPROC,0.20.0.39330*7C

2021-12-04T12:20:24.904Z,1638620424.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 244.327187 deg,
      new cmd heading: 240.091606 deg.

2021-12-04T12:20:25.316Z,1638620425.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 240.091606 deg,
      new cmd heading: 235.145729 deg.

2021-12-04T12:20:25.759Z,1638620425.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 235.145729 deg,
      new cmd heading: 229.831845 deg.

2021-12-04T12:20:26.123Z,1638620426.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 229.831845 deg,
      new cmd heading: 225.465379 deg.

2021-12-04T12:20:26.546Z,1638620426.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 225.465379 deg,
      new cmd heading: 220.393124 deg.

2021-12-04T12:20:26.913Z,1638620426.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:26.916Z,1638620426.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 220.393124 deg,
      new cmd heading: 215.962660 deg.

2021-12-04T12:20:27.342Z,1638620427.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 215.962660 deg,
      new cmd heading: 210.887804 deg.

2021-12-04T12:20:27.717Z,1638620427.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:27.845Z,1638620427.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 210.887804 deg,
      new cmd heading: 204.823400 deg.

2021-12-04T12:20:28.111Z,1638620428.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:28.150Z,1638620428.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 249.670079 deg,
      approachRate: -0.162785 m/s,
      LOS rate: -3.996378 deg/s,
      cmd update: -11.989134 deg/s,
      cmd heading: 204.823400 deg,
      new cmd heading: 201.163849 deg.

2021-12-04T12:20:28.540Z,1638620428.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:28.561Z,1638620428.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 258.433950 deg, deltaT: 4.433491 s, deltaX: -1.020000 m, approachRate: -0.230067 m/s, LOS rate: 1.976743 deg/s, posRepo size: 4
2021-12-04T12:20:28.562Z,1638620428.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.84 m.
2021-12-04T12:20:28.568Z,1638620428.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 201.163849 deg,
      new cmd heading: 196.229997 deg.

2021-12-04T12:20:28.948Z,1638620428.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122028.25*52

2021-12-04T12:20:28.949Z,1638620428.949 [Micromodem](INFO): Nmea in: $CAREV,122029,AUV,2.1.4000*20

2021-12-04T12:20:28.989Z,1638620428.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 203.604298 deg,
      new cmd heading: 206.132597 deg.

2021-12-04T12:20:29.334Z,1638620429.334 [Micromodem](INFO): Nmea in: $CAREV,122029,COPROC,0.20.0.39330*71

2021-12-04T12:20:29.349Z,1638620429.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 206.132597 deg,
      new cmd heading: 208.271772 deg.

2021-12-04T12:20:29.789Z,1638620429.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.84 m.
2021-12-04T12:20:29.791Z,1638620429.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 208.271772 deg,
      new cmd heading: 210.889499 deg.

2021-12-04T12:20:30.161Z,1638620430.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.84 m.
2021-12-04T12:20:30.163Z,1638620430.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 210.889499 deg,
      new cmd heading: 213.098675 deg.

2021-12-04T12:20:30.581Z,1638620430.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 213.098675 deg,
      new cmd heading: 215.581472 deg.

2021-12-04T12:20:30.975Z,1638620430.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 215.581472 deg,
      new cmd heading: 217.916956 deg.

2021-12-04T12:20:31.368Z,1638620431.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:31.372Z,1638620431.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 217.916956 deg,
      new cmd heading: 220.266476 deg.

2021-12-04T12:20:31.797Z,1638620431.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.84 m.
2021-12-04T12:20:31.799Z,1638620431.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 220.266476 deg,
      new cmd heading: 222.799128 deg.

2021-12-04T12:20:32.169Z,1638620432.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:32.261Z,1638620432.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.84 m.
2021-12-04T12:20:32.270Z,1638620432.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 222.799128 deg,
      new cmd heading: 225.511442 deg.

2021-12-04T12:20:32.559Z,1638620432.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:32.607Z,1638620432.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 258.433950 deg,
      approachRate: -0.230067 m/s,
      LOS rate: 1.976743 deg/s,
      cmd update: 5.930228 deg/s,
      cmd heading: 225.511442 deg,
      new cmd heading: 227.592116 deg.

2021-12-04T12:20:32.982Z,1638620432.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:32.988Z,1638620432.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 267.611019 deg, deltaT: 4.442044 s, deltaX: -1.680002 m, approachRate: -0.378205 m/s, LOS rate: 2.065957 deg/s, posRepo size: 4
2021-12-04T12:20:32.989Z,1638620432.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 227.592116 deg,
      new cmd heading: 229.850418 deg.

2021-12-04T12:20:33.407Z,1638620433.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122032.70*59

2021-12-04T12:20:33.411Z,1638620433.411 [Micromodem](INFO): Nmea in: $CAREV,122033,AUV,2.1.4000*2B

2021-12-04T12:20:33.478Z,1638620433.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 229.952339 deg,
      new cmd heading: 232.991347 deg.

2021-12-04T12:20:33.788Z,1638620433.788 [Micromodem](INFO): Nmea in: $CAREV,122033,COPROC,0.20.0.39330*7A

2021-12-04T12:20:33.851Z,1638620433.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.16 m.
2021-12-04T12:20:33.853Z,1638620433.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 232.991347 deg,
      new cmd heading: 235.313974 deg.

2021-12-04T12:20:34.205Z,1638620434.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.16 m.
2021-12-04T12:20:34.207Z,1638620434.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 235.313974 deg,
      new cmd heading: 237.506582 deg.

2021-12-04T12:20:34.628Z,1638620434.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 237.506582 deg,
      new cmd heading: 240.116926 deg.

2021-12-04T12:20:35.002Z,1638620435.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 240.116926 deg,
      new cmd heading: 242.439591 deg.

2021-12-04T12:20:35.478Z,1638620435.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 242.439591 deg,
      new cmd heading: 245.386795 deg.

2021-12-04T12:20:35.859Z,1638620435.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:35.860Z,1638620435.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.16 m.
2021-12-04T12:20:35.862Z,1638620435.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 245.386795 deg,
      new cmd heading: 247.768172 deg.

2021-12-04T12:20:36.228Z,1638620436.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.16 m.
2021-12-04T12:20:36.229Z,1638620436.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 247.768172 deg,
      new cmd heading: 250.044891 deg.

2021-12-04T12:20:36.597Z,1638620436.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:36.715Z,1638620436.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 250.044891 deg,
      new cmd heading: 253.027164 deg.

2021-12-04T12:20:37.009Z,1638620437.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:37.068Z,1638620437.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 267.611019 deg,
      approachRate: -0.378205 m/s,
      LOS rate: 2.065957 deg/s,
      cmd update: 6.197870 deg/s,
      cmd heading: 253.027164 deg,
      new cmd heading: 255.215508 deg.

2021-12-04T12:20:37.460Z,1638620437.460 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:37.475Z,1638620437.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 256.866503 deg, deltaT: 4.477784 s, deltaX: -1.680001 m, approachRate: -0.375186 m/s, LOS rate: -2.399516 deg/s, posRepo size: 4
2021-12-04T12:20:37.476Z,1638620437.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.48 m.
2021-12-04T12:20:37.477Z,1638620437.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 255.215508 deg,
      new cmd heading: 257.742014 deg.

2021-12-04T12:20:37.837Z,1638620437.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122037.13*59

2021-12-04T12:20:37.838Z,1638620437.838 [Micromodem](INFO): Nmea in: $CAREV,122038,AUV,2.1.4000*20

2021-12-04T12:20:37.934Z,1638620437.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 252.281084 deg,
      new cmd heading: 248.970572 deg.

2021-12-04T12:20:38.224Z,1638620438.224 [Micromodem](INFO): Nmea in: $CAREV,122038,COPROC,0.20.0.39330*71

2021-12-04T12:20:38.239Z,1638620438.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 248.970572 deg,
      new cmd heading: 246.755723 deg.

2021-12-04T12:20:38.675Z,1638620438.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 246.755723 deg,
      new cmd heading: 243.614859 deg.

2021-12-04T12:20:39.069Z,1638620439.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 243.614859 deg,
      new cmd heading: 240.776716 deg.

2021-12-04T12:20:39.558Z,1638620439.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 240.776716 deg,
      new cmd heading: 237.259238 deg.

2021-12-04T12:20:39.878Z,1638620439.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 237.259238 deg,
      new cmd heading: 234.956912 deg.

2021-12-04T12:20:40.270Z,1638620440.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:40.278Z,1638620440.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 234.956912 deg,
      new cmd heading: 232.081445 deg.

2021-12-04T12:20:40.689Z,1638620440.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 232.081445 deg,
      new cmd heading: 229.252170 deg.

2021-12-04T12:20:41.033Z,1638620441.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:41.139Z,1638620441.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 229.252170 deg,
      new cmd heading: 225.919184 deg.

2021-12-04T12:20:41.475Z,1638620441.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:41.573Z,1638620441.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 256.866503 deg,
      approachRate: -0.375186 m/s,
      LOS rate: -2.399516 deg/s,
      cmd update: -7.198549 deg/s,
      cmd heading: 225.919184 deg,
      new cmd heading: 222.749807 deg.

2021-12-04T12:20:41.942Z,1638620441.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:41.951Z,1638620441.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 244.986017 deg, deltaT: 4.481929 s, deltaX: -1.979998 m, approachRate: -0.441774 m/s, LOS rate: -2.650753 deg/s, posRepo size: 4
2021-12-04T12:20:41.953Z,1638620441.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 222.749807 deg,
      new cmd heading: 220.060523 deg.

2021-12-04T12:20:42.268Z,1638620442.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122041.56*59

2021-12-04T12:20:42.269Z,1638620442.269 [Micromodem](INFO): Nmea in: $CAREV,122042,AUV,2.1.4000*2D

2021-12-04T12:20:42.292Z,1638620442.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 219.778947 deg,
      new cmd heading: 217.046003 deg.

2021-12-04T12:20:42.668Z,1638620442.668 [Micromodem](INFO): Nmea in: $CAREV,122042,COPROC,0.20.0.39330*7C

2021-12-04T12:20:42.716Z,1638620442.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 217.046003 deg,
      new cmd heading: 213.679526 deg.

2021-12-04T12:20:43.108Z,1638620443.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 213.679526 deg,
      new cmd heading: 210.544229 deg.

2021-12-04T12:20:43.579Z,1638620443.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 210.544229 deg,
      new cmd heading: 206.805395 deg.

2021-12-04T12:20:43.915Z,1638620443.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 206.805395 deg,
      new cmd heading: 204.134518 deg.

2021-12-04T12:20:44.320Z,1638620444.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 204.134518 deg,
      new cmd heading: 200.916390 deg.

2021-12-04T12:20:44.703Z,1638620444.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:44.706Z,1638620444.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 200.916390 deg,
      new cmd heading: 197.839153 deg.

2021-12-04T12:20:45.123Z,1638620445.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 197.839153 deg,
      new cmd heading: 194.530894 deg.

2021-12-04T12:20:45.492Z,1638620445.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:45.612Z,1638620445.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 194.530894 deg,
      new cmd heading: 190.671354 deg.

2021-12-04T12:20:45.896Z,1638620445.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:45.974Z,1638620445.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 244.986017 deg,
      approachRate: -0.441774 m/s,
      LOS rate: -2.650753 deg/s,
      cmd update: -7.952258 deg/s,
      cmd heading: 190.671354 deg,
      new cmd heading: 187.758124 deg.

2021-12-04T12:20:46.321Z,1638620446.321 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:46.327Z,1638620446.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 235.032656 deg, deltaT: 4.379195 s, deltaX: -1.979999 m, approachRate: -0.452138 m/s, LOS rate: -2.272875 deg/s, posRepo size: 4
2021-12-04T12:20:46.329Z,1638620446.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 187.758124 deg,
      new cmd heading: 184.949593 deg.

2021-12-04T12:20:46.724Z,1638620446.724 [Micromodem](INFO): Nmea in: $SNTTA,0.045777,,,,122046.02*47

2021-12-04T12:20:46.725Z,1638620446.725 [Micromodem](INFO): Nmea in: $CAREV,122047,AUV,2.1.4000*28

2021-12-04T12:20:46.799Z,1638620446.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 185.349963 deg,
      new cmd heading: 182.160810 deg.

2021-12-04T12:20:47.108Z,1638620447.108 [Micromodem](INFO): Nmea in: $CAREV,122047,COPROC,0.20.0.39330*79

2021-12-04T12:20:47.127Z,1638620447.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 182.160810 deg,
      new cmd heading: 179.895861 deg.

2021-12-04T12:20:47.631Z,1638620447.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 179.895861 deg,
      new cmd heading: 176.485594 deg.

2021-12-04T12:20:47.935Z,1638620447.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 176.485594 deg,
      new cmd heading: 174.386740 deg.

2021-12-04T12:20:48.343Z,1638620448.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 174.386740 deg,
      new cmd heading: 171.605750 deg.

2021-12-04T12:20:48.744Z,1638620448.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 171.605750 deg,
      new cmd heading: 168.865972 deg.

2021-12-04T12:20:49.141Z,1638620449.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:49.144Z,1638620449.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 168.865972 deg,
      new cmd heading: 166.143787 deg.

2021-12-04T12:20:49.625Z,1638620449.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 166.143787 deg,
      new cmd heading: 162.859501 deg.

2021-12-04T12:20:49.932Z,1638620449.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:50.021Z,1638620450.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 162.859501 deg,
      new cmd heading: 160.204806 deg.

2021-12-04T12:20:50.331Z,1638620450.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:50.387Z,1638620450.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 235.032656 deg,
      approachRate: -0.452138 m/s,
      LOS rate: -2.272875 deg/s,
      cmd update: -6.818624 deg/s,
      cmd heading: 160.204806 deg,
      new cmd heading: 157.695143 deg.

2021-12-04T12:20:50.798Z,1638620450.798 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:50.803Z,1638620450.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 229.507880 deg, deltaT: 4.476612 s, deltaX: -1.200001 m, approachRate: -0.268060 m/s, LOS rate: -1.234142 deg/s, posRepo size: 4
2021-12-04T12:20:50.805Z,1638620450.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 157.695143 deg,
      new cmd heading: 154.829820 deg.

2021-12-04T12:20:51.164Z,1638620451.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122050.46*58

2021-12-04T12:20:51.165Z,1638620451.165 [Micromodem](INFO): Nmea in: $CAREV,122051,AUV,2.1.4000*2F

2021-12-04T12:20:51.219Z,1638620451.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 156.139309 deg,
      new cmd heading: 154.598685 deg.

2021-12-04T12:20:51.588Z,1638620451.588 [Micromodem](INFO): Nmea in: $CAREV,122051,COPROC,0.20.0.39330*7E

2021-12-04T12:20:51.652Z,1638620451.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 154.598685 deg,
      new cmd heading: 153.000550 deg.

2021-12-04T12:20:51.979Z,1638620451.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 153.000550 deg,
      new cmd heading: 151.785199 deg.

2021-12-04T12:20:52.426Z,1638620452.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.32 m.
2021-12-04T12:20:52.431Z,1638620452.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting latch delay timer at range: 4.32 m.
2021-12-04T12:20:52.431Z,1638620452.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Cable is present.
2021-12-04T12:20:52.432Z,1638620452.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 151.785199 deg,
      new cmd heading: 150.124172 deg.

2021-12-04T12:20:52.792Z,1638620452.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 150.124172 deg,
      new cmd heading: 148.777373 deg.

2021-12-04T12:20:53.205Z,1638620453.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 148.777373 deg,
      new cmd heading: 147.246053 deg.

2021-12-04T12:20:53.632Z,1638620453.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:53.635Z,1638620453.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 147.246053 deg,
      new cmd heading: 145.654924 deg.

2021-12-04T12:20:54.002Z,1638620454.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 145.654924 deg,
      new cmd heading: 144.295760 deg.

2021-12-04T12:20:54.377Z,1638620454.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:54.483Z,1638620454.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 144.295760 deg,
      new cmd heading: 142.586793 deg.

2021-12-04T12:20:54.784Z,1638620454.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:54.835Z,1638620454.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 229.507880 deg,
      approachRate: -0.268060 m/s,
      LOS rate: -1.234142 deg/s,
      cmd update: -3.702427 deg/s,
      cmd heading: 142.586793 deg,
      new cmd heading: 141.213108 deg.

2021-12-04T12:20:55.198Z,1638620455.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:55.203Z,1638620455.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.959999 m, bearing: 214.414268 deg, deltaT: 4.400097 s, deltaX: -0.360000 m, approachRate: -0.081816 m/s, LOS rate: -3.430291 deg/s, posRepo size: 4
2021-12-04T12:20:55.205Z,1638620455.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 141.213108 deg,
      new cmd heading: 139.848212 deg.

2021-12-04T12:20:55.628Z,1638620455.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122054.90*57

2021-12-04T12:20:55.629Z,1638620455.629 [Micromodem](INFO): Nmea in: $CAREV,122055,AUV,2.1.4000*2B

2021-12-04T12:20:55.696Z,1638620455.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 137.419388 deg,
      new cmd heading: 132.342808 deg.

2021-12-04T12:20:56.004Z,1638620456.004 [Micromodem](INFO): Nmea in: $CAREV,122055,COPROC,0.20.0.39330*7A

2021-12-04T12:20:56.023Z,1638620456.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 132.342808 deg,
      new cmd heading: 128.985247 deg.

2021-12-04T12:20:56.468Z,1638620456.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 128.985247 deg,
      new cmd heading: 124.572161 deg.

2021-12-04T12:20:56.836Z,1638620456.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 124.572161 deg,
      new cmd heading: 120.621752 deg.

2021-12-04T12:20:57.227Z,1638620457.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 120.621752 deg,
      new cmd heading: 116.592979 deg.

2021-12-04T12:20:57.675Z,1638620457.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 116.592979 deg,
      new cmd heading: 112.192654 deg.

2021-12-04T12:20:58.020Z,1638620458.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:20:58.023Z,1638620458.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 112.192654 deg,
      new cmd heading: 108.396711 deg.

2021-12-04T12:20:58.485Z,1638620458.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 108.396711 deg,
      new cmd heading: 103.649223 deg.

2021-12-04T12:20:58.817Z,1638620458.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:20:58.916Z,1638620458.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 103.649223 deg,
      new cmd heading: 99.278680 deg.

2021-12-04T12:20:59.227Z,1638620459.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:20:59.273Z,1638620459.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 214.414268 deg,
      approachRate: -0.081816 m/s,
      LOS rate: -3.430291 deg/s,
      cmd update: -10.290872 deg/s,
      cmd heading: 99.278680 deg,
      new cmd heading: 95.537413 deg.

2021-12-04T12:20:59.687Z,1638620459.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:20:59.696Z,1638620459.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 220.127667 deg, deltaT: 4.489261 s, deltaX: 0.120001 m, approachRate: 0.026731 m/s, LOS rate: 1.272681 deg/s, posRepo size: 4
2021-12-04T12:20:59.703Z,1638620459.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 95.537413 deg,
      new cmd heading: 91.177438 deg.

2021-12-04T12:21:00.064Z,1638620460.064 [Micromodem](INFO): Nmea in: $SNTTA,0.099528,,,,122059.34*45

2021-12-04T12:21:00.065Z,1638620460.065 [Micromodem](INFO): Nmea in: $CAREV,122100,AUV,2.1.4000*2A

2021-12-04T12:21:00.087Z,1638620460.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 97.155019 deg,
      new cmd heading: 98.645091 deg.

2021-12-04T12:21:00.476Z,1638620460.476 [Micromodem](INFO): Nmea in: $CAREV,122100,COPROC,0.20.0.39330*7B

2021-12-04T12:21:00.501Z,1638620460.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 98.645091 deg,
      new cmd heading: 100.226311 deg.

2021-12-04T12:21:00.868Z,1638620460.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 100.226311 deg,
      new cmd heading: 101.625654 deg.

2021-12-04T12:21:01.274Z,1638620461.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 101.625654 deg,
      new cmd heading: 103.177014 deg.

2021-12-04T12:21:01.705Z,1638620461.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 103.177014 deg,
      new cmd heading: 104.823312 deg.

2021-12-04T12:21:02.075Z,1638620462.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 104.823312 deg,
      new cmd heading: 106.236275 deg.

2021-12-04T12:21:02.524Z,1638620462.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:02.527Z,1638620462.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 106.236275 deg,
      new cmd heading: 107.960362 deg.

2021-12-04T12:21:02.891Z,1638620462.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 107.960362 deg,
      new cmd heading: 109.352433 deg.

2021-12-04T12:21:03.261Z,1638620463.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:03.354Z,1638620463.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 109.352433 deg,
      new cmd heading: 111.092957 deg.

2021-12-04T12:21:03.677Z,1638620463.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:03.749Z,1638620463.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 220.127667 deg,
      approachRate: 0.026731 m/s,
      LOS rate: 1.272681 deg/s,
      cmd update: 3.818044 deg/s,
      cmd heading: 111.092957 deg,
      new cmd heading: 112.628105 deg.

2021-12-04T12:21:04.078Z,1638620464.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:21:04.083Z,1638620464.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.080000 m, bearing: 222.731704 deg, deltaT: 4.390861 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.593058 deg/s, posRepo size: 4
2021-12-04T12:21:04.085Z,1638620464.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 222.731704 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.593058 deg/s,
      cmd update: 1.779175 deg/s,
      cmd heading: 112.628105 deg,
      new cmd heading: 113.903297 deg.

2021-12-04T12:21:04.496Z,1638620464.496 [Micromodem](INFO): Nmea in: $SNTTA,0.484521,0.484396,,,122103.79*59

2021-12-04T12:21:04.497Z,1638620464.497 [Micromodem](INFO): Nmea in: $CAREV,122104,AUV,2.1.4000*2E

2021-12-04T12:21:04.534Z,1638620464.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.08 m. Cable present.
2021-12-04T12:21:04.535Z,1638620464.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T12:21:04.535Z,1638620464.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T12:21:04.535Z,1638620464.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-12-04T12:21:04.856Z,1638620464.856 [Micromodem](INFO): Nmea in: $CAREV,122104,COPROC,0.20.0.39330*7F

2021-12-04T12:21:04.893Z,1638620464.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-12-04T12:21:04.894Z,1638620464.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-12-04T12:21:04.894Z,1638620464.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-12-04T12:21:05.317Z,1638620465.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-12-04T12:21:05.318Z,1638620465.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:21:05.318Z,1638620465.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T12:21:05.318Z,1638620465.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:21:05.318Z,1638620465.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T12:21:05.318Z,1638620465.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T12:21:05.318Z,1638620465.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T12:21:05.319Z,1638620465.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:21:05.705Z,1638620465.705 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T12:21:05.705Z,1638620465.705 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T12:21:05.705Z,1638620465.705 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T12:21:05.705Z,1638620465.705 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T12:21:05.705Z,1638620465.705 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T12:21:05.705Z,1638620465.705 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-12-04T12:21:05.706Z,1638620465.706 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T12:21:05.706Z,1638620465.706 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-12-04T12:21:05.722Z,1638620465.722 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T12:21:05.723Z,1638620465.723 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T12:21:06.087Z,1638620466.087 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-12-04T12:21:06.087Z,1638620466.087 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T12:21:06.907Z,1638620466.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:07.673Z,1638620467.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:08.086Z,1638620468.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:08.910Z,1638620468.910 [Micromodem](INFO): Nmea in: $SNTTA,0.026491,,,,122108.20*42

2021-12-04T12:21:08.911Z,1638620468.911 [Micromodem](INFO): Nmea in: $CAREV,122109,AUV,2.1.4000*23

2021-12-04T12:21:09.300Z,1638620469.300 [Micromodem](INFO): Nmea in: $CAREV,122109,COPROC,0.20.0.39330*72

2021-12-04T12:21:09.316Z,1638620469.316 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T12:21:09.317Z,1638620469.317 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T12:21:09.317Z,1638620469.317 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T12:21:09.317Z,1638620469.317 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T12:21:09.765Z,1638620469.765 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-12-04T12:21:09.765Z,1638620469.765 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T12:21:09.767Z,1638620469.767 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T12:21:09.767Z,1638620469.767 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T12:21:09.767Z,1638620469.767 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T12:21:09.768Z,1638620469.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T12:21:09.769Z,1638620469.769 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T12:21:10.128Z,1638620470.128 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T12:21:10.128Z,1638620470.128 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T12:21:10.128Z,1638620470.128 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T12:21:10.128Z,1638620470.128 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T12:21:10.548Z,1638620470.548 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T12:21:10.548Z,1638620470.548 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T12:21:10.932Z,1638620470.932 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-12-04T12:21:10.932Z,1638620470.932 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T12:21:10.932Z,1638620470.932 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T12:21:10.932Z,1638620470.932 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T12:21:10.932Z,1638620470.932 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T12:21:11.328Z,1638620471.328 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-12-04T12:21:11.328Z,1638620471.328 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T12:21:11.329Z,1638620471.329 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-12-04T12:21:11.329Z,1638620471.329 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-12-04T12:21:11.329Z,1638620471.329 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T12:21:11.329Z,1638620471.329 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-12-04T12:21:11.329Z,1638620471.329 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-12-04T12:21:11.330Z,1638620471.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:12.121Z,1638620472.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:12.638Z,1638620472.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:13.376Z,1638620473.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122112.65*5E

2021-12-04T12:21:13.377Z,1638620473.377 [Micromodem](INFO): Nmea in: $CAREV,122113,AUV,2.1.4000*28

2021-12-04T12:21:13.777Z,1638620473.777 [Micromodem](INFO): Nmea in: $CAREV,122113,COPROC,0.20.0.39330*79

2021-12-04T12:21:15.821Z,1638620475.821 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:21:15.832Z,1638620475.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:16.596Z,1638620476.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:17.006Z,1638620477.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:17.840Z,1638620477.840 [Micromodem](INFO): Nmea in: $SNTTA,0.046002,,,,122117.12*45

2021-12-04T12:21:17.841Z,1638620477.841 [Micromodem](INFO): Nmea in: $CAREV,122118,AUV,2.1.4000*23

2021-12-04T12:21:18.232Z,1638620478.232 [Micromodem](INFO): Nmea in: $CAREV,122118,COPROC,0.20.0.39330*72

2021-12-04T12:21:20.253Z,1638620480.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:21.045Z,1638620481.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:21.475Z,1638620481.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:22.281Z,1638620482.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122121.57*5F

2021-12-04T12:21:22.282Z,1638620482.282 [Micromodem](INFO): Nmea in: $CAREV,122122,AUV,2.1.4000*2A

2021-12-04T12:21:22.676Z,1638620482.676 [Micromodem](INFO): Nmea in: $CAREV,122122,COPROC,0.20.0.39330*7B

2021-12-04T12:21:24.661Z,1638620484.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:25.491Z,1638620485.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:25.904Z,1638620485.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:26.727Z,1638620486.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122126.02*58

2021-12-04T12:21:26.729Z,1638620486.729 [Micromodem](INFO): Nmea in: $CAREV,122127,AUV,2.1.4000*2F

2021-12-04T12:21:27.108Z,1638620487.108 [Micromodem](INFO): Nmea in: $CAREV,122127,COPROC,0.20.0.39330*7E

2021-12-04T12:21:29.209Z,1638620489.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:29.939Z,1638620489.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:30.339Z,1638620490.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:31.176Z,1638620491.176 [Micromodem](INFO): Nmea in: $SNTTA,0.049818,,,,122130.47*4C

2021-12-04T12:21:31.178Z,1638620491.178 [Micromodem](INFO): Nmea in: $CAREV,122131,AUV,2.1.4000*28

2021-12-04T12:21:31.589Z,1638620491.589 [Micromodem](INFO): Nmea in: $CAREV,122131,COPROC,0.20.0.39330*79

2021-12-04T12:21:33.600Z,1638620493.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:34.339Z,1638620494.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:34.742Z,1638620494.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:35.604Z,1638620495.604 [Micromodem](INFO): Nmea in: $SNTTA,0.484426,0.026967,,,122134.87*52

2021-12-04T12:21:35.606Z,1638620495.606 [Micromodem](INFO): Nmea in: $CAREV,122135,AUV,2.1.4000*2C

2021-12-04T12:21:35.996Z,1638620495.996 [Micromodem](INFO): Nmea in: $CAREV,122135,COPROC,0.20.0.39330*7D

2021-12-04T12:21:38.024Z,1638620498.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:38.821Z,1638620498.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:39.219Z,1638620499.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:40.048Z,1638620500.048 [Micromodem](INFO): Nmea in: $SNTTA,0.035316,,,,122139.35*4E

2021-12-04T12:21:40.049Z,1638620500.049 [Micromodem](INFO): Nmea in: $CAREV,122140,AUV,2.1.4000*2E

2021-12-04T12:21:40.468Z,1638620500.468 [Micromodem](INFO): Nmea in: $CAREV,122140,COPROC,0.20.0.39330*7F

2021-12-04T12:21:42.497Z,1638620502.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:43.260Z,1638620503.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:43.632Z,1638620503.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:44.469Z,1638620504.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122143.82*53

2021-12-04T12:21:44.472Z,1638620504.472 [Micromodem](INFO): Nmea in: $CAREV,122144,AUV,2.1.4000*2A

2021-12-04T12:21:44.856Z,1638620504.856 [Micromodem](INFO): Nmea in: $CAREV,122144,COPROC,0.20.0.39330*7B

2021-12-04T12:21:46.940Z,1638620506.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:47.701Z,1638620507.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:48.111Z,1638620508.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:48.935Z,1638620508.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122148.23*53

2021-12-04T12:21:48.936Z,1638620508.936 [Micromodem](INFO): Nmea in: $CAREV,122149,AUV,2.1.4000*27

2021-12-04T12:21:49.328Z,1638620509.328 [Micromodem](INFO): Nmea in: $CAREV,122149,COPROC,0.20.0.39330*76

2021-12-04T12:21:51.345Z,1638620511.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:52.148Z,1638620512.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:52.551Z,1638620512.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:53.411Z,1638620513.411 [Micromodem](INFO): Nmea in: $SNTTA,0.020853,,,,122152.68*45

2021-12-04T12:21:53.415Z,1638620513.415 [Micromodem](INFO): Nmea in: $CAREV,122153,AUV,2.1.4000*2C

2021-12-04T12:21:53.758Z,1638620513.758 [Micromodem](INFO): Nmea in: $CAREV,122153,COPROC,0.20.0.39330*7D

2021-12-04T12:21:55.516Z,1638620515.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:21:56.181Z,1638620516.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:21:56.591Z,1638620516.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:21:57.444Z,1638620517.444 [Micromodem](INFO): Nmea in: $SNTTA,0.052020,,,,122156.71*40

2021-12-04T12:21:57.445Z,1638620517.445 [Micromodem](INFO): Nmea in: $CAREV,122157,AUV,2.1.4000*28

2021-12-04T12:21:57.804Z,1638620517.804 [Micromodem](INFO): Nmea in: $CAREV,122157,COPROC,0.20.0.39330*79

2021-12-04T12:21:59.853Z,1638620519.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:00.629Z,1638620520.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:01.035Z,1638620521.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:01.864Z,1638620521.864 [Micromodem](INFO): Nmea in: $SNTTA,0.021974,0.485582,,,122201.16*54

2021-12-04T12:22:01.865Z,1638620521.865 [Micromodem](INFO): Nmea in: $CAREV,122202,AUV,2.1.4000*2B

2021-12-04T12:22:02.252Z,1638620522.252 [Micromodem](INFO): Nmea in: $CAREV,122202,COPROC,0.20.0.39330*7A

2021-12-04T12:22:04.276Z,1638620524.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:05.040Z,1638620525.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:05.556Z,1638620525.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:06.292Z,1638620526.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122205.57*5A

2021-12-04T12:22:06.293Z,1638620526.293 [Micromodem](INFO): Nmea in: $CAREV,122206,AUV,2.1.4000*2F

2021-12-04T12:22:06.708Z,1638620526.708 [Micromodem](INFO): Nmea in: $CAREV,122206,COPROC,0.20.0.39330*7E

2021-12-04T12:22:08.747Z,1638620528.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:09.536Z,1638620529.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:09.940Z,1638620529.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:10.756Z,1638620530.756 [Micromodem](INFO): Nmea in: $SNTTA,0.007233,,,,122210.07*40

2021-12-04T12:22:10.757Z,1638620530.757 [Micromodem](INFO): Nmea in: $CAREV,122211,AUV,2.1.4000*29

2021-12-04T12:22:11.136Z,1638620531.136 [Micromodem](INFO): Nmea in: $CAREV,122211,COPROC,0.20.0.39330*78

2021-12-04T12:22:13.183Z,1638620533.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:13.936Z,1638620533.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:14.367Z,1638620534.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:15.160Z,1638620535.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122214.46*5A

2021-12-04T12:22:15.161Z,1638620535.161 [Micromodem](INFO): Nmea in: $CAREV,122215,AUV,2.1.4000*2D

2021-12-04T12:22:15.676Z,1638620535.676 [Micromodem](INFO): Nmea in: $CAREV,122215,COPROC,0.20.0.39330*7C

2021-12-04T12:22:17.662Z,1638620537.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:18.417Z,1638620538.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:18.812Z,1638620538.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:19.648Z,1638620539.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122218.95*58

2021-12-04T12:22:19.649Z,1638620539.649 [Micromodem](INFO): Nmea in: $CAREV,122220,AUV,2.1.4000*2B

2021-12-04T12:22:20.039Z,1638620540.039 [Micromodem](INFO): Nmea in: $CAREV,122220,COPROC,0.20.0.39330*7A

2021-12-04T12:22:22.052Z,1638620542.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:22.841Z,1638620542.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:23.256Z,1638620543.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:24.068Z,1638620544.068 [Micromodem](INFO): Nmea in: $SNTTA,0.005249,,,,122223.37*4C

2021-12-04T12:22:24.069Z,1638620544.069 [Micromodem](INFO): Nmea in: $CAREV,122224,AUV,2.1.4000*2F

2021-12-04T12:22:24.488Z,1638620544.488 [Micromodem](INFO): Nmea in: $CAREV,122224,COPROC,0.20.0.39330*7E

2021-12-04T12:22:26.520Z,1638620546.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:27.293Z,1638620547.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:27.707Z,1638620547.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:28.540Z,1638620548.540 [Micromodem](INFO): Nmea in: $SNTTA,0.018295,,,,122227.82*4B

2021-12-04T12:22:28.541Z,1638620548.541 [Micromodem](INFO): Nmea in: $CAREV,122228,AUV,2.1.4000*23

2021-12-04T12:22:28.924Z,1638620548.924 [Micromodem](INFO): Nmea in: $CAREV,122228,COPROC,0.20.0.39330*72

2021-12-04T12:22:30.952Z,1638620550.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:31.734Z,1638620551.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:32.143Z,1638620552.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:32.972Z,1638620552.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122232.27*59

2021-12-04T12:22:32.973Z,1638620552.973 [Micromodem](INFO): Nmea in: $CAREV,122233,AUV,2.1.4000*29

2021-12-04T12:22:33.365Z,1638620553.365 [Micromodem](INFO): Nmea in: $CAREV,122233,COPROC,0.20.0.39330*78

2021-12-04T12:22:35.354Z,1638620555.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:36.181Z,1638620556.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:36.594Z,1638620556.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:37.428Z,1638620557.428 [Micromodem](INFO): Nmea in: $SNTTA,0.007041,,,,122236.71*42

2021-12-04T12:22:37.429Z,1638620557.429 [Micromodem](INFO): Nmea in: $CAREV,122237,AUV,2.1.4000*2D

2021-12-04T12:22:37.808Z,1638620557.808 [Micromodem](INFO): Nmea in: $CAREV,122237,COPROC,0.20.0.39330*7C

2021-12-04T12:22:39.854Z,1638620559.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:40.617Z,1638620560.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:41.036Z,1638620561.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:41.864Z,1638620561.864 [Micromodem](INFO): Nmea in: $SNTTA,0.008722,,,,122241.15*4D

2021-12-04T12:22:41.865Z,1638620561.865 [Micromodem](INFO): Nmea in: $CAREV,122242,AUV,2.1.4000*2F

2021-12-04T12:22:42.248Z,1638620562.248 [Micromodem](INFO): Nmea in: $CAREV,122242,COPROC,0.20.0.39330*7E

2021-12-04T12:22:44.241Z,1638620564.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:45.041Z,1638620565.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:45.445Z,1638620565.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:46.293Z,1638620566.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122245.57*5E

2021-12-04T12:22:46.294Z,1638620566.294 [Micromodem](INFO): Nmea in: $CAREV,122246,AUV,2.1.4000*2B

2021-12-04T12:22:46.696Z,1638620566.696 [Micromodem](INFO): Nmea in: $CAREV,122246,COPROC,0.20.0.39330*7A

2021-12-04T12:22:48.727Z,1638620568.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:49.132Z,1638620569.132 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T12:22:49.132Z,1638620569.132 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T12:22:49.133Z,1638620569.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T12:22:49.133Z,1638620569.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:22:49.133Z,1638620569.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T12:22:49.133Z,1638620569.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-12-04T12:22:49.134Z,1638620569.134 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T12:22:49.134Z,1638620569.134 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T12:22:49.134Z,1638620569.134 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T12:22:49.544Z,1638620569.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:49.666Z,1638620569.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T122249: (41.552319, -70.708603)
2021-12-04T12:22:49.666Z,1638620569.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T12:22:49.666Z,1638620569.666 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T12:22:49.667Z,1638620569.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:22:49.667Z,1638620569.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T12:22:49.667Z,1638620569.667 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T12:22:49.667Z,1638620569.667 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T12:22:49.667Z,1638620569.667 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T12:22:49.667Z,1638620569.667 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T12:22:49.932Z,1638620569.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:50.760Z,1638620570.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122250.07*5F

2021-12-04T12:22:50.761Z,1638620570.761 [Micromodem](INFO): Nmea in: $CAREV,122251,AUV,2.1.4000*2D

2021-12-04T12:22:51.156Z,1638620571.156 [Micromodem](INFO): Nmea in: $CAREV,122251,COPROC,0.20.0.39330*7C

2021-12-04T12:22:53.183Z,1638620573.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:53.969Z,1638620573.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:54.345Z,1638620574.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:55.184Z,1638620575.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122254.50*59

2021-12-04T12:22:55.185Z,1638620575.185 [Micromodem](INFO): Nmea in: $CAREV,122255,AUV,2.1.4000*29

2021-12-04T12:22:55.572Z,1638620575.572 [Micromodem](INFO): Nmea in: $CAREV,122255,COPROC,0.20.0.39330*78

2021-12-04T12:22:57.681Z,1638620577.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:22:58.426Z,1638620578.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:22:58.831Z,1638620578.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:22:59.664Z,1638620579.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122258.95*5C

2021-12-04T12:22:59.665Z,1638620579.665 [Micromodem](INFO): Nmea in: $CAREV,122300,AUV,2.1.4000*28

2021-12-04T12:23:00.044Z,1638620580.044 [Micromodem](INFO): Nmea in: $CAREV,122300,COPROC,0.20.0.39330*79

2021-12-04T12:23:02.081Z,1638620582.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:02.861Z,1638620582.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:03.271Z,1638620583.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:04.105Z,1638620584.105 [Micromodem](INFO): Nmea in: $SNTTA,0.007321,,,,122303.39*4C

2021-12-04T12:23:04.106Z,1638620584.106 [Micromodem](INFO): Nmea in: $CAREV,122304,AUV,2.1.4000*2C

2021-12-04T12:23:04.460Z,1638620584.460 [Micromodem](INFO): Nmea in: $CAREV,122304,COPROC,0.20.0.39330*7D

2021-12-04T12:23:06.529Z,1638620586.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:07.301Z,1638620587.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:07.714Z,1638620587.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:08.552Z,1638620588.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122307.83*50

2021-12-04T12:23:08.553Z,1638620588.553 [Micromodem](INFO): Nmea in: $CAREV,122308,AUV,2.1.4000*20

2021-12-04T12:23:08.932Z,1638620588.932 [Micromodem](INFO): Nmea in: $CAREV,122308,COPROC,0.20.0.39330*71

2021-12-04T12:23:10.965Z,1638620590.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:11.751Z,1638620591.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:12.147Z,1638620592.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:12.984Z,1638620592.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122312.28*55

2021-12-04T12:23:12.985Z,1638620592.985 [Micromodem](INFO): Nmea in: $CAREV,122313,AUV,2.1.4000*2A

2021-12-04T12:23:13.381Z,1638620593.381 [Micromodem](INFO): Nmea in: $CAREV,122313,COPROC,0.20.0.39330*7B

2021-12-04T12:23:15.418Z,1638620595.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:16.261Z,1638620596.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:16.607Z,1638620596.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:17.433Z,1638620597.433 [Micromodem](INFO): Nmea in: $SNTTA,0.006978,,,,122316.79*4B

2021-12-04T12:23:17.824Z,1638620597.824 [Micromodem](INFO): Nmea in: $CAREV,122317,AUV,2.1.4000*2E

2021-12-04T12:23:17.825Z,1638620597.825 [Micromodem](INFO): Nmea in: $CAREV,122317,COPROC,0.20.0.39330*7F

2021-12-04T12:23:19.867Z,1638620599.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:20.637Z,1638620600.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:21.051Z,1638620601.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:21.868Z,1638620601.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122321.17*59

2021-12-04T12:23:21.869Z,1638620601.869 [Micromodem](INFO): Nmea in: $CAREV,122322,AUV,2.1.4000*28

2021-12-04T12:23:22.271Z,1638620602.271 [Micromodem](INFO): Nmea in: $CAREV,122322,COPROC,0.20.0.39330*79

2021-12-04T12:23:24.284Z,1638620604.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:25.073Z,1638620605.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:25.453Z,1638620605.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:26.392Z,1638620606.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122325.61*5C

2021-12-04T12:23:26.396Z,1638620606.396 [Micromodem](INFO): Nmea in: $CAREV,122326,AUV,2.1.4000*2C

2021-12-04T12:23:26.704Z,1638620606.704 [Micromodem](INFO): Nmea in: $CAREV,122326,COPROC,0.20.0.39330*7D

2021-12-04T12:23:28.736Z,1638620608.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:29.553Z,1638620609.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:29.931Z,1638620609.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:30.758Z,1638620610.758 [Micromodem](INFO): Nmea in: $SNTTA,0.007021,,,,122330.08*4D

2021-12-04T12:23:30.759Z,1638620610.759 [Micromodem](INFO): Nmea in: $CAREV,122331,AUV,2.1.4000*2A

2021-12-04T12:23:31.161Z,1638620611.161 [Micromodem](INFO): Nmea in: $CAREV,122331,COPROC,0.20.0.39330*7B

2021-12-04T12:23:33.192Z,1638620613.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:33.974Z,1638620613.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:34.383Z,1638620614.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:35.209Z,1638620615.209 [Micromodem](INFO): Nmea in: $SNTTA,0.025741,,,,122334.50*45

2021-12-04T12:23:35.210Z,1638620615.210 [Micromodem](INFO): Nmea in: $CAREV,122335,AUV,2.1.4000*2E

2021-12-04T12:23:35.576Z,1638620615.576 [Micromodem](INFO): Nmea in: $CAREV,122335,COPROC,0.20.0.39330*7F

2021-12-04T12:23:37.665Z,1638620617.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:38.424Z,1638620618.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:38.822Z,1638620618.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:39.647Z,1638620619.647 [Micromodem](INFO): Nmea in: $SNTTA,0.018609,,,,122338.96*40

2021-12-04T12:23:39.649Z,1638620619.649 [Micromodem](INFO): Nmea in: $CAREV,122340,AUV,2.1.4000*2C

2021-12-04T12:23:40.040Z,1638620620.040 [Micromodem](INFO): Nmea in: $CAREV,122340,COPROC,0.20.0.39330*7D

2021-12-04T12:23:42.069Z,1638620622.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:42.857Z,1638620622.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:43.259Z,1638620623.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:44.104Z,1638620624.104 [Micromodem](INFO): Nmea in: $SNTTA,0.044193,,,,122343.39*44

2021-12-04T12:23:44.105Z,1638620624.105 [Micromodem](INFO): Nmea in: $CAREV,122344,AUV,2.1.4000*28

2021-12-04T12:23:44.492Z,1638620624.492 [Micromodem](INFO): Nmea in: $CAREV,122344,COPROC,0.20.0.39330*79

2021-12-04T12:23:46.590Z,1638620626.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:47.297Z,1638620627.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:47.707Z,1638620627.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:48.536Z,1638620628.536 [Micromodem](INFO): Nmea in: $SNTTA,0.025519,,,,122347.83*40

2021-12-04T12:23:48.537Z,1638620628.537 [Micromodem](INFO): Nmea in: $CAREV,122348,AUV,2.1.4000*24

2021-12-04T12:23:48.928Z,1638620628.928 [Micromodem](INFO): Nmea in: $CAREV,122348,COPROC,0.20.0.39330*75

2021-12-04T12:23:50.956Z,1638620630.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:51.743Z,1638620631.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:52.156Z,1638620632.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:52.988Z,1638620632.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122352.27*5E

2021-12-04T12:23:52.989Z,1638620632.989 [Micromodem](INFO): Nmea in: $CAREV,122353,AUV,2.1.4000*2E

2021-12-04T12:23:53.372Z,1638620633.372 [Micromodem](INFO): Nmea in: $CAREV,122353,COPROC,0.20.0.39330*7F

2021-12-04T12:23:55.423Z,1638620635.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:23:56.161Z,1638620636.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:23:56.672Z,1638620636.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:23:57.465Z,1638620637.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122356.69*50

2021-12-04T12:23:57.467Z,1638620637.467 [Micromodem](INFO): Nmea in: $CAREV,122357,AUV,2.1.4000*2A

2021-12-04T12:23:57.817Z,1638620637.817 [Micromodem](INFO): Nmea in: $CAREV,122357,COPROC,0.20.0.39330*7B

2021-12-04T12:23:59.875Z,1638620639.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:00.642Z,1638620640.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:01.048Z,1638620641.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:01.880Z,1638620641.880 [Micromodem](INFO): Nmea in: $SNTTA,0.022910,,,,122401.17*4A

2021-12-04T12:24:01.881Z,1638620641.881 [Micromodem](INFO): Nmea in: $CAREV,122402,AUV,2.1.4000*2D

2021-12-04T12:24:02.265Z,1638620642.265 [Micromodem](INFO): Nmea in: $CAREV,122402,COPROC,0.20.0.39330*7C

2021-12-04T12:24:04.289Z,1638620644.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:05.043Z,1638620645.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:05.478Z,1638620645.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:06.272Z,1638620646.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122405.57*5C

2021-12-04T12:24:06.273Z,1638620646.273 [Micromodem](INFO): Nmea in: $CAREV,122406,AUV,2.1.4000*29

2021-12-04T12:24:06.780Z,1638620646.780 [Micromodem](INFO): Nmea in: $CAREV,122406,COPROC,0.20.0.39330*78

2021-12-04T12:24:08.757Z,1638620648.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:09.545Z,1638620649.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:09.927Z,1638620649.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:10.756Z,1638620650.756 [Micromodem](INFO): Nmea in: $SNTTA,0.101685,,,,122410.08*47

2021-12-04T12:24:10.757Z,1638620650.757 [Micromodem](INFO): Nmea in: $CAREV,122411,AUV,2.1.4000*2F

2021-12-04T12:24:11.152Z,1638620651.152 [Micromodem](INFO): Nmea in: $CAREV,122411,COPROC,0.20.0.39330*7E

2021-12-04T12:24:13.166Z,1638620653.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:13.965Z,1638620653.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:14.384Z,1638620654.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:15.176Z,1638620655.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122414.49*53

2021-12-04T12:24:15.177Z,1638620655.177 [Micromodem](INFO): Nmea in: $CAREV,122415,AUV,2.1.4000*2B

2021-12-04T12:24:15.604Z,1638620655.604 [Micromodem](INFO): Nmea in: $CAREV,122415,COPROC,0.20.0.39330*7A

2021-12-04T12:24:17.644Z,1638620657.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:18.422Z,1638620658.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:18.814Z,1638620658.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:19.652Z,1638620659.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122418.95*5E

2021-12-04T12:24:19.653Z,1638620659.653 [Micromodem](INFO): Nmea in: $CAREV,122420,AUV,2.1.4000*2D

2021-12-04T12:24:20.036Z,1638620660.036 [Micromodem](INFO): Nmea in: $CAREV,122420,COPROC,0.20.0.39330*7C

2021-12-04T12:24:22.074Z,1638620662.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:22.849Z,1638620662.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:23.263Z,1638620663.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:24.084Z,1638620664.084 [Micromodem](INFO): Nmea in: $SNTTA,0.031925,,,,122423.38*43

2021-12-04T12:24:24.085Z,1638620664.085 [Micromodem](INFO): Nmea in: $CAREV,122424,AUV,2.1.4000*29

2021-12-04T12:24:24.484Z,1638620664.484 [Micromodem](INFO): Nmea in: $CAREV,122424,COPROC,0.20.0.39330*78

2021-12-04T12:24:26.483Z,1638620666.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:27.289Z,1638620667.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:27.708Z,1638620667.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:28.540Z,1638620668.540 [Micromodem](INFO): Nmea in: $SNTTA,0.016500,,,,122427.82*48

2021-12-04T12:24:28.541Z,1638620668.541 [Micromodem](INFO): Nmea in: $CAREV,122428,AUV,2.1.4000*25

2021-12-04T12:24:28.920Z,1638620668.920 [Micromodem](INFO): Nmea in: $CAREV,122428,COPROC,0.20.0.39330*74

2021-12-04T12:24:30.952Z,1638620670.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:31.742Z,1638620671.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:32.147Z,1638620672.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:32.988Z,1638620672.988 [Micromodem](INFO): Nmea in: $SNTTA,0.015703,,,,122432.27*41

2021-12-04T12:24:32.989Z,1638620672.989 [Micromodem](INFO): Nmea in: $CAREV,122433,AUV,2.1.4000*2F

2021-12-04T12:24:33.368Z,1638620673.368 [Micromodem](INFO): Nmea in: $CAREV,122433,COPROC,0.20.0.39330*7E

2021-12-04T12:24:35.412Z,1638620675.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:36.161Z,1638620676.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:36.563Z,1638620676.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:37.432Z,1638620677.432 [Micromodem](INFO): Nmea in: $SNTTA,0.013402,,,,122436.69*4B

2021-12-04T12:24:37.433Z,1638620677.433 [Micromodem](INFO): Nmea in: $CAREV,122437,AUV,2.1.4000*2B

2021-12-04T12:24:37.808Z,1638620677.808 [Micromodem](INFO): Nmea in: $CAREV,122437,COPROC,0.20.0.39330*7A

2021-12-04T12:24:39.853Z,1638620679.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:40.625Z,1638620680.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:41.031Z,1638620681.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:41.864Z,1638620681.864 [Micromodem](INFO): Nmea in: $SNTTA,0.039714,,,,122441.16*4F

2021-12-04T12:24:41.865Z,1638620681.865 [Micromodem](INFO): Nmea in: $CAREV,122442,AUV,2.1.4000*29

2021-12-04T12:24:42.252Z,1638620682.252 [Micromodem](INFO): Nmea in: $CAREV,122442,COPROC,0.20.0.39330*78

2021-12-04T12:24:44.287Z,1638620684.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:45.073Z,1638620685.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:45.456Z,1638620685.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:46.280Z,1638620686.280 [Micromodem](INFO): Nmea in: $SNTTA,0.038345,,,,122445.60*4B

2021-12-04T12:24:46.281Z,1638620686.281 [Micromodem](INFO): Nmea in: $CAREV,122446,AUV,2.1.4000*2D

2021-12-04T12:24:46.670Z,1638620686.670 [Micromodem](INFO): Nmea in: $CAREV,122446,COPROC,0.20.0.39330*7C

2021-12-04T12:24:48.735Z,1638620688.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:49.553Z,1638620689.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:49.923Z,1638620689.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:50.737Z,1638620690.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122450.08*56

2021-12-04T12:24:50.744Z,1638620690.744 [Micromodem](INFO): Nmea in: $CAREV,122451,AUV,2.1.4000*2B

2021-12-04T12:24:51.156Z,1638620691.156 [Micromodem](INFO): Nmea in: $CAREV,122451,COPROC,0.20.0.39330*7A

2021-12-04T12:24:53.165Z,1638620693.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:53.953Z,1638620693.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:54.372Z,1638620694.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:24:55.201Z,1638620695.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122454.48*56

2021-12-04T12:24:55.202Z,1638620695.202 [Micromodem](INFO): Nmea in: $CAREV,122455,AUV,2.1.4000*2F

2021-12-04T12:24:55.568Z,1638620695.568 [Micromodem](INFO): Nmea in: $CAREV,122455,COPROC,0.20.0.39330*7E

2021-12-04T12:24:57.661Z,1638620697.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:24:58.424Z,1638620698.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:24:58.812Z,1638620698.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:02.083Z,1638620702.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:02.849Z,1638620702.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:03.260Z,1638620703.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:04.091Z,1638620704.091 [Micromodem](INFO): Nmea in: $SNTTA,0.135801,,,,122503.38*42

2021-12-04T12:25:04.092Z,1638620704.092 [Micromodem](INFO): Nmea in: $CAREV,122504,AUV,2.1.4000*2A

2021-12-04T12:25:04.476Z,1638620704.476 [Micromodem](INFO): Nmea in: $CAREV,122504,COPROC,0.20.0.39330*7B

2021-12-04T12:25:06.501Z,1638620706.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:07.367Z,1638620707.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:07.688Z,1638620707.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:08.920Z,1638620708.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122507.90*54

2021-12-04T12:25:08.921Z,1638620708.921 [Micromodem](INFO): Nmea in: $CAREV,122508,AUV,2.1.4000*26

2021-12-04T12:25:09.324Z,1638620709.324 [Micromodem](INFO): Nmea in: $CAREV,122508,COPROC,0.20.0.39330*77

2021-12-04T12:25:10.958Z,1638620710.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:11.733Z,1638620711.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:12.152Z,1638620712.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:12.980Z,1638620712.980 [Micromodem](INFO): Nmea in: $SNTTA,0.006638,,,,122512.27*49

2021-12-04T12:25:12.981Z,1638620712.981 [Micromodem](INFO): Nmea in: $CAREV,122513,AUV,2.1.4000*2C

2021-12-04T12:25:13.364Z,1638620713.364 [Micromodem](INFO): Nmea in: $CAREV,122513,COPROC,0.20.0.39330*7D

2021-12-04T12:25:15.436Z,1638620715.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:16.173Z,1638620716.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:16.559Z,1638620716.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:17.507Z,1638620717.507 [Micromodem](INFO): Nmea in: $SNTTA,0.006355,,,,122516.71*40

2021-12-04T12:25:17.532Z,1638620717.532 [Micromodem](INFO): Nmea in: $CAREV,122517,AUV,2.1.4000*28

2021-12-04T12:25:17.808Z,1638620717.808 [Micromodem](INFO): Nmea in: $CAREV,122517,COPROC,0.20.0.39330*79

2021-12-04T12:25:19.848Z,1638620719.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:20.629Z,1638620720.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:21.040Z,1638620721.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:21.869Z,1638620721.869 [Micromodem](INFO): Nmea in: $SNTTA,0.029938,,,,122521.16*49

2021-12-04T12:25:21.870Z,1638620721.870 [Micromodem](INFO): Nmea in: $CAREV,122522,AUV,2.1.4000*2E

2021-12-04T12:25:22.256Z,1638620722.256 [Micromodem](INFO): Nmea in: $CAREV,122522,COPROC,0.20.0.39330*7F

2021-12-04T12:25:24.289Z,1638620724.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:25.069Z,1638620725.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:25.486Z,1638620725.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:26.300Z,1638620726.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122525.60*5B

2021-12-04T12:25:26.301Z,1638620726.301 [Micromodem](INFO): Nmea in: $CAREV,122526,AUV,2.1.4000*2A

2021-12-04T12:25:26.664Z,1638620726.664 [Micromodem](INFO): Nmea in: $CAREV,122526,COPROC,0.20.0.39330*7B

2021-12-04T12:25:28.738Z,1638620728.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:29.536Z,1638620729.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:29.921Z,1638620729.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:33.162Z,1638620733.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:33.957Z,1638620733.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:34.373Z,1638620734.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:35.200Z,1638620735.200 [Micromodem](INFO): Nmea in: $SNTTA,0.038579,,,,122534.49*4E

2021-12-04T12:25:35.201Z,1638620735.201 [Micromodem](INFO): Nmea in: $CAREV,122535,AUV,2.1.4000*28

2021-12-04T12:25:35.600Z,1638620735.600 [Micromodem](INFO): Nmea in: $CAREV,122535,COPROC,0.20.0.39330*79

2021-12-04T12:25:37.717Z,1638620737.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:38.419Z,1638620738.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:38.810Z,1638620738.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:39.632Z,1638620739.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122538.95*5D

2021-12-04T12:25:39.633Z,1638620739.633 [Micromodem](INFO): Nmea in: $CAREV,122540,AUV,2.1.4000*2A

2021-12-04T12:25:40.040Z,1638620740.040 [Micromodem](INFO): Nmea in: $CAREV,122540,COPROC,0.20.0.39330*7B

2021-12-04T12:25:42.052Z,1638620742.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:42.837Z,1638620742.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:43.259Z,1638620743.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:44.085Z,1638620744.085 [Micromodem](INFO): Nmea in: $SNTTA,0.006166,,,,122543.37*40

2021-12-04T12:25:44.086Z,1638620744.086 [Micromodem](INFO): Nmea in: $CAREV,122544,AUV,2.1.4000*2E

2021-12-04T12:25:44.472Z,1638620744.472 [Micromodem](INFO): Nmea in: $CAREV,122544,COPROC,0.20.0.39330*7F

2021-12-04T12:25:46.533Z,1638620746.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:47.257Z,1638620747.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:47.763Z,1638620747.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:48.516Z,1638620748.516 [Micromodem](INFO): Nmea in: $SNTTA,0.085686,,,,122547.79*4C

2021-12-04T12:25:48.517Z,1638620748.517 [Micromodem](INFO): Nmea in: $CAREV,122548,AUV,2.1.4000*22

2021-12-04T12:25:48.920Z,1638620748.920 [Micromodem](INFO): Nmea in: $CAREV,122548,COPROC,0.20.0.39330*73

2021-12-04T12:25:50.941Z,1638620750.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:51.733Z,1638620751.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:52.146Z,1638620752.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:52.960Z,1638620752.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122552.26*59

2021-12-04T12:25:52.961Z,1638620752.961 [Micromodem](INFO): Nmea in: $CAREV,122553,AUV,2.1.4000*28

2021-12-04T12:25:53.364Z,1638620753.364 [Micromodem](INFO): Nmea in: $CAREV,122553,COPROC,0.20.0.39330*79

2021-12-04T12:25:55.428Z,1638620755.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:25:56.149Z,1638620756.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:25:56.579Z,1638620756.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:25:57.388Z,1638620757.388 [Micromodem](INFO): Nmea in: $SNTTA,0.057038,,,,122556.68*40

2021-12-04T12:25:57.400Z,1638620757.400 [Micromodem](INFO): Nmea in: $CAREV,122557,AUV,2.1.4000*2C

2021-12-04T12:25:57.872Z,1638620757.872 [Micromodem](INFO): Nmea in: $CAREV,122557,COPROC,0.20.0.39330*7D

2021-12-04T12:25:59.516Z,1638620759.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:00.242Z,1638620760.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:00.627Z,1638620760.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:01.483Z,1638620761.483 [Micromodem](INFO): Nmea in: $SNTTA,0.006183,,,,122600.78*44

2021-12-04T12:26:01.487Z,1638620761.487 [Micromodem](INFO): Nmea in: $CAREV,122601,AUV,2.1.4000*2C

2021-12-04T12:26:01.840Z,1638620761.840 [Micromodem](INFO): Nmea in: $CAREV,122601,COPROC,0.20.0.39330*7D

2021-12-04T12:26:03.558Z,1638620763.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:04.257Z,1638620764.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:04.670Z,1638620764.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:05.512Z,1638620765.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122604.79*53

2021-12-04T12:26:05.519Z,1638620765.519 [Micromodem](INFO): Nmea in: $CAREV,122605,AUV,2.1.4000*28

2021-12-04T12:26:05.888Z,1638620765.888 [Micromodem](INFO): Nmea in: $CAREV,122605,COPROC,0.20.0.39330*79

2021-12-04T12:26:08.000Z,1638620768.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:08.701Z,1638620768.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:09.107Z,1638620769.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:09.936Z,1638620769.936 [Micromodem](INFO): Nmea in: $SNTTA,0.030453,,,,122609.23*4E

2021-12-04T12:26:09.937Z,1638620769.937 [Micromodem](INFO): Nmea in: $CAREV,122610,AUV,2.1.4000*2C

2021-12-04T12:26:10.332Z,1638620770.332 [Micromodem](INFO): Nmea in: $CAREV,122610,COPROC,0.20.0.39330*7D

2021-12-04T12:26:11.616Z,1638620771.616 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-12-04T12:21:11.3Z
2021-12-04T12:26:11.616Z,1638620771.616 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-12-04T12:26:11.616Z,1638620771.616 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-12-04T12:26:11.617Z,1638620771.617 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T12:26:11.617Z,1638620771.617 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-12-04T12:26:11.923Z,1638620771.923 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 2.699998 m .
2021-12-04T12:26:11.923Z,1638620771.923 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-12-04T12:26:11.923Z,1638620771.923 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-12-04T12:26:11.923Z,1638620771.923 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-12-04T12:26:11.923Z,1638620771.923 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T12:26:12.345Z,1638620772.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:13.111Z,1638620773.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:13.651Z,1638620773.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:14.371Z,1638620774.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122613.64*59

2021-12-04T12:26:14.372Z,1638620774.372 [Micromodem](INFO): Nmea in: $CAREV,122614,AUV,2.1.4000*28

2021-12-04T12:26:14.780Z,1638620774.780 [Micromodem](INFO): Nmea in: $CAREV,122614,COPROC,0.20.0.39330*79

2021-12-04T12:26:15.216Z,1638620775.216 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-12-04T12:26:15.643Z,1638620775.643 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T12:26:16.809Z,1638620776.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:17.589Z,1638620777.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:17.991Z,1638620777.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:18.832Z,1638620778.832 [Micromodem](INFO): Nmea in: $SNTTA,0.003858,,,,122618.12*4B

2021-12-04T12:26:18.833Z,1638620778.833 [Micromodem](INFO): Nmea in: $CAREV,122619,AUV,2.1.4000*25

2021-12-04T12:26:19.217Z,1638620779.217 [Micromodem](INFO): Nmea in: $CAREV,122619,COPROC,0.20.0.39330*74

2021-12-04T12:26:21.237Z,1638620781.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:22.032Z,1638620782.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:22.463Z,1638620782.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:23.285Z,1638620783.285 [Micromodem](INFO): Nmea in: $SNTTA,0.015541,,,,122622.56*40

2021-12-04T12:26:23.286Z,1638620783.286 [Micromodem](INFO): Nmea in: $CAREV,122623,AUV,2.1.4000*2C

2021-12-04T12:26:23.660Z,1638620783.660 [Micromodem](INFO): Nmea in: $CAREV,122623,COPROC,0.20.0.39330*7D

2021-12-04T12:26:25.725Z,1638620785.725 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-12-04T12:26:25.726Z,1638620785.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:26.491Z,1638620786.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:26.878Z,1638620786.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:27.712Z,1638620787.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122627.03*5F

2021-12-04T12:26:27.713Z,1638620787.713 [Micromodem](INFO): Nmea in: $CAREV,122628,AUV,2.1.4000*27

2021-12-04T12:26:28.116Z,1638620788.116 [Micromodem](INFO): Nmea in: $CAREV,122628,COPROC,0.20.0.39330*76

2021-12-04T12:26:30.142Z,1638620790.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:30.921Z,1638620790.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:31.341Z,1638620791.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:32.180Z,1638620792.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122631.45*5A

2021-12-04T12:26:32.181Z,1638620792.181 [Micromodem](INFO): Nmea in: $CAREV,122632,AUV,2.1.4000*2C

2021-12-04T12:26:32.548Z,1638620792.548 [Micromodem](INFO): Nmea in: $CAREV,122632,COPROC,0.20.0.39330*7D

2021-12-04T12:26:34.601Z,1638620794.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:35.365Z,1638620795.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:35.776Z,1638620795.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:36.611Z,1638620796.611 [Micromodem](INFO): Nmea in: $SNTTA,0.017510,,,,122635.90*4A

2021-12-04T12:26:36.612Z,1638620796.612 [Micromodem](INFO): Nmea in: $CAREV,122636,AUV,2.1.4000*28

2021-12-04T12:26:36.997Z,1638620796.997 [Micromodem](INFO): Nmea in: $CAREV,122636,COPROC,0.20.0.39330*79

2021-12-04T12:26:39.023Z,1638620799.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:39.809Z,1638620799.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:40.215Z,1638620800.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:41.053Z,1638620801.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122640.34*5A

2021-12-04T12:26:41.055Z,1638620801.055 [Micromodem](INFO): Nmea in: $CAREV,122641,AUV,2.1.4000*28

2021-12-04T12:26:41.468Z,1638620801.468 [Micromodem](INFO): Nmea in: $CAREV,122641,COPROC,0.20.0.39330*79

2021-12-04T12:26:43.544Z,1638620803.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:44.257Z,1638620804.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:44.659Z,1638620804.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:45.520Z,1638620805.520 [Micromodem](INFO): Nmea in: $SNTTA,0.061181,,,,122644.79*46

2021-12-04T12:26:45.525Z,1638620805.525 [Micromodem](INFO): Nmea in: $CAREV,122645,AUV,2.1.4000*2C

2021-12-04T12:26:45.876Z,1638620805.876 [Micromodem](INFO): Nmea in: $CAREV,122645,COPROC,0.20.0.39330*7D

2021-12-04T12:26:47.933Z,1638620807.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:48.700Z,1638620808.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:49.103Z,1638620809.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:49.936Z,1638620809.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122649.23*55

2021-12-04T12:26:49.937Z,1638620809.937 [Micromodem](INFO): Nmea in: $CAREV,122650,AUV,2.1.4000*28

2021-12-04T12:26:50.321Z,1638620810.321 [Micromodem](INFO): Nmea in: $CAREV,122650,COPROC,0.20.0.39330*79

2021-12-04T12:26:52.344Z,1638620812.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:53.148Z,1638620813.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:53.583Z,1638620813.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:54.403Z,1638620814.403 [Micromodem](INFO): Nmea in: $SNTTA,0.039364,,,,122653.68*44

2021-12-04T12:26:54.415Z,1638620814.415 [Micromodem](INFO): Nmea in: $CAREV,122654,AUV,2.1.4000*2C

2021-12-04T12:26:54.780Z,1638620814.780 [Micromodem](INFO): Nmea in: $CAREV,122654,COPROC,0.20.0.39330*7D

2021-12-04T12:26:56.814Z,1638620816.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:26:57.589Z,1638620817.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:26:57.998Z,1638620817.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:26:58.844Z,1638620818.844 [Micromodem](INFO): Nmea in: $SNTTA,0.051447,,,,122658.12*4A

2021-12-04T12:26:58.845Z,1638620818.845 [Micromodem](INFO): Nmea in: $CAREV,122659,AUV,2.1.4000*21

2021-12-04T12:26:59.212Z,1638620819.212 [Micromodem](INFO): Nmea in: $CAREV,122659,COPROC,0.20.0.39330*70

2021-12-04T12:27:01.241Z,1638620821.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:02.025Z,1638620822.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:02.467Z,1638620822.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:03.280Z,1638620823.280 [Micromodem](INFO): Nmea in: $SNTTA,0.044082,,,,122702.56*4D

2021-12-04T12:27:03.281Z,1638620823.281 [Micromodem](INFO): Nmea in: $CAREV,122703,AUV,2.1.4000*2F

2021-12-04T12:27:03.664Z,1638620823.664 [Micromodem](INFO): Nmea in: $CAREV,122703,COPROC,0.20.0.39330*7E

2021-12-04T12:27:05.730Z,1638620825.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:06.473Z,1638620826.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:06.871Z,1638620826.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:07.708Z,1638620827.708 [Micromodem](INFO): Nmea in: $SNTTA,0.078402,,,,122707.00*48

2021-12-04T12:27:07.709Z,1638620827.709 [Micromodem](INFO): Nmea in: $CAREV,122708,AUV,2.1.4000*24

2021-12-04T12:27:08.100Z,1638620828.100 [Micromodem](INFO): Nmea in: $CAREV,122708,COPROC,0.20.0.39330*75

2021-12-04T12:27:10.121Z,1638620830.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:10.913Z,1638620830.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:11.330Z,1638620831.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:12.160Z,1638620832.160 [Micromodem](INFO): Nmea in: $SNTTA,0.022772,,,,122711.44*44

2021-12-04T12:27:12.161Z,1638620832.161 [Micromodem](INFO): Nmea in: $CAREV,122712,AUV,2.1.4000*2F

2021-12-04T12:27:12.540Z,1638620832.540 [Micromodem](INFO): Nmea in: $CAREV,122712,COPROC,0.20.0.39330*7E

2021-12-04T12:27:14.584Z,1638620834.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:15.365Z,1638620835.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:15.767Z,1638620835.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:16.604Z,1638620836.604 [Micromodem](INFO): Nmea in: $SNTTA,0.028352,,,,122715.90*45

2021-12-04T12:27:16.605Z,1638620836.605 [Micromodem](INFO): Nmea in: $CAREV,122716,AUV,2.1.4000*2B

2021-12-04T12:27:17.004Z,1638620837.004 [Micromodem](INFO): Nmea in: $CAREV,122716,COPROC,0.20.0.39330*7A

2021-12-04T12:27:19.009Z,1638620839.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:19.801Z,1638620839.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:20.210Z,1638620840.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:21.056Z,1638620841.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122720.33*5A

2021-12-04T12:27:21.058Z,1638620841.058 [Micromodem](INFO): Nmea in: $CAREV,122721,AUV,2.1.4000*2F

2021-12-04T12:27:21.444Z,1638620841.444 [Micromodem](INFO): Nmea in: $CAREV,122721,COPROC,0.20.0.39330*7E

2021-12-04T12:27:23.554Z,1638620843.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:24.245Z,1638620844.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:24.659Z,1638620844.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:25.503Z,1638620845.503 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122724.78*51

2021-12-04T12:27:25.516Z,1638620845.516 [Micromodem](INFO): Nmea in: $CAREV,122725,AUV,2.1.4000*2B

2021-12-04T12:27:25.876Z,1638620845.876 [Micromodem](INFO): Nmea in: $CAREV,122725,COPROC,0.20.0.39330*7A

2021-12-04T12:27:27.924Z,1638620847.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:28.705Z,1638620848.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:29.104Z,1638620849.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:29.928Z,1638620849.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122729.24*55

2021-12-04T12:27:29.929Z,1638620849.929 [Micromodem](INFO): Nmea in: $CAREV,122730,AUV,2.1.4000*2F

2021-12-04T12:27:29.941Z,1638620849.941 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T12:27:30.320Z,1638620850.320 [Micromodem](INFO): Nmea in: $CAREV,122730,COPROC,0.20.0.39330*7E

2021-12-04T12:27:32.349Z,1638620852.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:33.137Z,1638620853.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:33.575Z,1638620853.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:34.391Z,1638620854.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122733.67*59

2021-12-04T12:27:34.394Z,1638620854.394 [Micromodem](INFO): Nmea in: $CAREV,122734,AUV,2.1.4000*2B

2021-12-04T12:27:34.764Z,1638620854.764 [Micromodem](INFO): Nmea in: $CAREV,122734,COPROC,0.20.0.39330*7A

2021-12-04T12:27:36.794Z,1638620856.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:37.600Z,1638620857.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:37.988Z,1638620857.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:38.824Z,1638620858.824 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122738.13*51

2021-12-04T12:27:38.825Z,1638620858.825 [Micromodem](INFO): Nmea in: $CAREV,122739,AUV,2.1.4000*26

2021-12-04T12:27:39.216Z,1638620859.216 [Micromodem](INFO): Nmea in: $CAREV,122739,COPROC,0.20.0.39330*77

2021-12-04T12:27:41.232Z,1638620861.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:42.033Z,1638620862.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:42.455Z,1638620862.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:43.268Z,1638620863.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122742.56*5D

2021-12-04T12:27:43.269Z,1638620863.269 [Micromodem](INFO): Nmea in: $CAREV,122743,AUV,2.1.4000*2B

2021-12-04T12:27:43.660Z,1638620863.660 [Micromodem](INFO): Nmea in: $CAREV,122743,COPROC,0.20.0.39330*7A

2021-12-04T12:27:45.715Z,1638620865.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:46.477Z,1638620866.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:46.885Z,1638620866.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:47.704Z,1638620867.704 [Micromodem](INFO): Nmea in: $SNTTA,0.035332,,,,122747.01*40

2021-12-04T12:27:47.705Z,1638620867.705 [Micromodem](INFO): Nmea in: $CAREV,122748,AUV,2.1.4000*20

2021-12-04T12:27:48.096Z,1638620868.096 [Micromodem](INFO): Nmea in: $CAREV,122748,COPROC,0.20.0.39330*71

2021-12-04T12:27:50.124Z,1638620870.124 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 11.64 m. Transitioning DDM to standby.
2021-12-04T12:27:50.125Z,1638620870.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:50.913Z,1638620870.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:51.316Z,1638620871.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:52.176Z,1638620872.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122751.44*5C

2021-12-04T12:27:52.177Z,1638620872.177 [Micromodem](INFO): Nmea in: $CAREV,122752,AUV,2.1.4000*2B

2021-12-04T12:27:52.235Z,1638620872.235 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-12-04T12:27:52.532Z,1638620872.532 [Micromodem](INFO): Nmea in: $CAREV,122752,COPROC,0.20.0.39330*7A

2021-12-04T12:27:52.570Z,1638620872.570 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T12:27:52.570Z,1638620872.570 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap] Stopped
2021-12-04T12:27:52.571Z,1638620872.571 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T12:27:52.572Z,1638620872.572 [lineCaptureDepth:Lap](INFO): Running loop #5
2021-12-04T12:27:52.572Z,1638620872.572 [lineCaptureDepth:Lap] Running Loop=5
2021-12-04T12:27:52.572Z,1638620872.572 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T12:27:52.572Z,1638620872.572 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T12:27:52.935Z,1638620872.935 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T12:27:52.935Z,1638620872.935 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T12:27:52.936Z,1638620872.936 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T12:27:53.376Z,1638620873.376 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T12:27:53.376Z,1638620873.376 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T12:27:53.376Z,1638620873.376 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T12:27:53.376Z,1638620873.376 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T12:27:53.376Z,1638620873.376 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T12:27:53.376Z,1638620873.376 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T12:27:53.377Z,1638620873.377 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T12:27:53.378Z,1638620873.378 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T12:27:53.379Z,1638620873.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T12:27:53.380Z,1638620873.380 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T12:27:53.380Z,1638620873.380 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T12:27:53.783Z,1638620873.783 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T12:27:53.783Z,1638620873.783 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T12:27:54.149Z,1638620874.149 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T12:27:54.149Z,1638620874.149 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T12:27:54.536Z,1638620874.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:54.537Z,1638620874.537 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T12:27:54.537Z,1638620874.537 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T12:27:54.943Z,1638620874.943 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T12:27:54.944Z,1638620874.944 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T12:27:54.945Z,1638620874.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T12:27:54.946Z,1638620874.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T12:27:54.946Z,1638620874.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T12:27:55.329Z,1638620875.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:27:55.430Z,1638620875.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T12:27:55.430Z,1638620875.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:27:55.430Z,1638620875.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T12:27:55.435Z,1638620875.435 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T12:27:55.436Z,1638620875.436 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T12:27:55.436Z,1638620875.436 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T12:27:55.737Z,1638620875.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:27:56.584Z,1638620876.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122755.86*56

2021-12-04T12:27:56.585Z,1638620876.585 [Micromodem](INFO): Nmea in: $CAREV,122756,AUV,2.1.4000*2F

2021-12-04T12:27:56.984Z,1638620876.984 [Micromodem](INFO): Nmea in: $CAREV,122756,COPROC,0.20.0.39330*7E

2021-12-04T12:27:57.851Z,1638620877.851 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T12:27:58.209Z,1638620878.209 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T12:27:58.629Z,1638620878.629 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T12:27:59.004Z,1638620879.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:27:59.005Z,1638620879.005 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T12:27:59.809Z,1638620879.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:00.211Z,1638620880.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:01.044Z,1638620881.044 [Micromodem](INFO): Nmea in: $SNTTA,0.007611,,,,122800.34*4F

2021-12-04T12:28:01.045Z,1638620881.045 [Micromodem](INFO): Nmea in: $CAREV,122801,AUV,2.1.4000*22

2021-12-04T12:28:01.448Z,1638620881.448 [Micromodem](INFO): Nmea in: $CAREV,122801,COPROC,0.20.0.39330*73

2021-12-04T12:28:03.544Z,1638620883.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:04.258Z,1638620884.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:04.654Z,1638620884.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:05.524Z,1638620885.524 [Micromodem](INFO): Nmea in: $SNTTA,0.067223,,,,122804.79*41

2021-12-04T12:28:05.527Z,1638620885.527 [Micromodem](INFO): Nmea in: $CAREV,122805,AUV,2.1.4000*26

2021-12-04T12:28:05.880Z,1638620885.880 [Micromodem](INFO): Nmea in: $CAREV,122805,COPROC,0.20.0.39330*77

2021-12-04T12:28:07.920Z,1638620887.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:08.689Z,1638620888.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:09.109Z,1638620889.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:09.941Z,1638620889.941 [Micromodem](INFO): Nmea in: $SNTTA,0.023989,,,,122809.22*49

2021-12-04T12:28:09.942Z,1638620889.942 [Micromodem](INFO): Nmea in: $CAREV,122810,AUV,2.1.4000*22

2021-12-04T12:28:10.316Z,1638620890.316 [Micromodem](INFO): Nmea in: $CAREV,122810,COPROC,0.20.0.39330*73

2021-12-04T12:28:12.341Z,1638620892.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:13.137Z,1638620893.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:13.580Z,1638620893.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:14.378Z,1638620894.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122813.67*54

2021-12-04T12:28:14.379Z,1638620894.379 [Micromodem](INFO): Nmea in: $CAREV,122814,AUV,2.1.4000*26

2021-12-04T12:28:14.752Z,1638620894.752 [Micromodem](INFO): Nmea in: $CAREV,122814,COPROC,0.20.0.39330*77

2021-12-04T12:28:16.806Z,1638620896.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:17.589Z,1638620897.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:17.993Z,1638620897.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:18.823Z,1638620898.823 [Micromodem](INFO): Nmea in: $SNTTA,0.021377,,,,122818.12*43

2021-12-04T12:28:18.824Z,1638620898.824 [Micromodem](INFO): Nmea in: $CAREV,122819,AUV,2.1.4000*2B

2021-12-04T12:28:19.204Z,1638620899.204 [Micromodem](INFO): Nmea in: $CAREV,122819,COPROC,0.20.0.39330*7A

2021-12-04T12:28:19.217Z,1638620899.217 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.96 m. Transitioning DDM to standby.
2021-12-04T12:28:21.248Z,1638620901.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:21.249Z,1638620901.249 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T12:28:21.675Z,1638620901.675 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T12:28:21.675Z,1638620901.675 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T12:28:21.675Z,1638620901.675 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T12:28:21.993Z,1638620901.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:22.078Z,1638620902.078 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T12:28:22.083Z,1638620902.083 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T12:28:22.083Z,1638620902.083 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T12:28:22.446Z,1638620902.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:22.485Z,1638620902.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T12:28:22.485Z,1638620902.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T12:28:22.485Z,1638620902.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T12:28:22.485Z,1638620902.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T12:28:22.485Z,1638620902.485 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T12:28:22.828Z,1638620902.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T12:28:22.829Z,1638620902.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T12:28:22.830Z,1638620902.830 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T12:28:22.831Z,1638620902.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T12:28:22.831Z,1638620902.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T12:28:22.831Z,1638620902.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 12.960001 m 
2021-12-04T12:28:22.831Z,1638620902.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T12:28:22.831Z,1638620902.831 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T12:28:22.832Z,1638620902.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T12:28:22.832Z,1638620902.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T12:28:22.832Z,1638620902.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T12:28:22.832Z,1638620902.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T12:28:23.240Z,1638620903.240 [Micromodem](INFO): Nmea in: $SNTTA,0.043359,,,,122822.52*46

2021-12-04T12:28:23.241Z,1638620903.241 [Micromodem](INFO): Nmea in: $CAREV,122823,AUV,2.1.4000*22

2021-12-04T12:28:23.262Z,1638620903.262 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T12:28:23.262Z,1638620903.262 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T12:28:23.262Z,1638620903.262 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T12:28:23.262Z,1638620903.262 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T12:28:23.262Z,1638620903.262 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T12:28:23.263Z,1638620903.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:28:23.263Z,1638620903.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T12:28:23.263Z,1638620903.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T12:28:23.263Z,1638620903.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T12:28:23.263Z,1638620903.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T12:28:23.263Z,1638620903.263 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T12:28:23.632Z,1638620903.632 [Micromodem](INFO): Nmea in: $CAREV,122823,COPROC,0.20.0.39330*73

2021-12-04T12:28:23.680Z,1638620903.680 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T12:28:23.681Z,1638620903.681 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T12:28:23.681Z,1638620903.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T12:28:23.681Z,1638620903.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:28:23.681Z,1638620903.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T12:28:23.683Z,1638620903.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 13.080002 m (mode 0 count ).
2021-12-04T12:28:23.683Z,1638620903.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T12:28:23.683Z,1638620903.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T12:28:23.684Z,1638620903.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T12:28:23.684Z,1638620903.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T12:28:23.684Z,1638620903.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T12:28:23.684Z,1638620903.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T12:28:23.684Z,1638620903.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T12:28:23.684Z,1638620903.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T12:28:23.685Z,1638620903.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T12:28:23.685Z,1638620903.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T12:28:23.685Z,1638620903.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T12:28:23.686Z,1638620903.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T12:28:23.686Z,1638620903.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T12:28:23.686Z,1638620903.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T12:28:23.686Z,1638620903.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T12:28:23.686Z,1638620903.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T12:28:23.686Z,1638620903.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T12:28:23.687Z,1638620903.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T12:28:23.687Z,1638620903.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T12:28:23.688Z,1638620903.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T12:28:24.036Z,1638620904.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T12:28:24.036Z,1638620904.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:28:24.036Z,1638620904.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T12:28:24.036Z,1638620904.036 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:28:24.065Z,1638620904.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.080002 m, bearing: 261.160670 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T12:28:24.065Z,1638620904.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 13.08 m.
2021-12-04T12:28:24.066Z,1638620904.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 261.160670deg and heading rate command to 0 deg/s.
2021-12-04T12:28:25.783Z,1638620905.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:26.496Z,1638620906.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:26.872Z,1638620906.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:27.297Z,1638620907.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:28:27.302Z,1638620907.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 250.821321 deg, deltaT: 4.471788 s, deltaX: 0.299999 m, approachRate: 0.067087 m/s, LOS rate: -2.312129 deg/s, posRepo size: 2
2021-12-04T12:28:27.303Z,1638620907.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 13.38 m.
2021-12-04T12:28:27.305Z,1638620907.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.380001 m,
      bearing: 250.821321 deg,
      approachRate: 0.067087 m/s,
      LOS rate: -2.312129 deg/s,
      cmd update: -6.936386 deg/s,
      cmd heading: 261.160670 deg,
      new cmd heading: 261.160670 deg.

2021-12-04T12:28:27.694Z,1638620907.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122827.03*51

2021-12-04T12:28:27.708Z,1638620907.708 [Micromodem](INFO): Nmea in: $CAREV,122828,AUV,2.1.4000*29

2021-12-04T12:28:28.088Z,1638620908.088 [Micromodem](INFO): Nmea in: $CAREV,122828,COPROC,0.20.0.39330*78

2021-12-04T12:28:30.120Z,1638620910.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:30.901Z,1638620910.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:31.315Z,1638620911.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:31.789Z,1638620911.789 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:28:31.802Z,1638620911.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 260.931313 deg, deltaT: 4.492143 s, deltaX: 0.059998 m, approachRate: 0.013356 m/s, LOS rate: 2.250594 deg/s, posRepo size: 3
2021-12-04T12:28:31.803Z,1638620911.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 13.44 m.
2021-12-04T12:28:31.805Z,1638620911.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 260.931313 deg,
      approachRate: 0.013356 m/s,
      LOS rate: 2.250594 deg/s,
      cmd update: 6.751783 deg/s,
      cmd heading: 230.337936 deg,
      new cmd heading: 227.203446 deg.

2021-12-04T12:28:32.172Z,1638620912.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122831.43*52

2021-12-04T12:28:32.173Z,1638620912.173 [Micromodem](INFO): Nmea in: $CAREV,122832,AUV,2.1.4000*22

2021-12-04T12:28:32.536Z,1638620912.536 [Micromodem](INFO): Nmea in: $CAREV,122832,COPROC,0.20.0.39330*73

2021-12-04T12:28:34.568Z,1638620914.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:35.353Z,1638620915.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:35.759Z,1638620915.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:36.179Z,1638620916.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:28:36.184Z,1638620916.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 304.434072 deg, deltaT: 4.389586 s, deltaX: -0.599998 m, approachRate: -0.136687 m/s, LOS rate: 9.910447 deg/s, posRepo size: 4
2021-12-04T12:28:36.184Z,1638620916.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 12.84 m.
2021-12-04T12:28:36.185Z,1638620916.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 12.84 m.
2021-12-04T12:28:36.185Z,1638620916.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T12:28:36.207Z,1638620916.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 260.729048 deg,
      new cmd heading: 262.997620 deg.

2021-12-04T12:28:36.592Z,1638620916.592 [Micromodem](INFO): Nmea in: $SNTTA,0.035717,,,,122835.89*49

2021-12-04T12:28:36.593Z,1638620916.593 [Micromodem](INFO): Nmea in: $CAREV,122836,AUV,2.1.4000*26

2021-12-04T12:28:36.642Z,1638620916.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 264.761000 deg,
      new cmd heading: 270.257108 deg.

2021-12-04T12:28:36.992Z,1638620916.992 [Micromodem](INFO): Nmea in: $CAREV,122836,COPROC,0.20.0.39330*77

2021-12-04T12:28:37.011Z,1638620917.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 270.257108 deg,
      new cmd heading: 274.686536 deg.

2021-12-04T12:28:37.433Z,1638620917.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 274.686536 deg,
      new cmd heading: 279.751833 deg.

2021-12-04T12:28:37.843Z,1638620917.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 279.751833 deg,
      new cmd heading: 284.669061 deg.

2021-12-04T12:28:38.219Z,1638620918.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 284.669061 deg,
      new cmd heading: 289.182585 deg.

2021-12-04T12:28:38.619Z,1638620918.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 289.182585 deg,
      new cmd heading: 293.988369 deg.

2021-12-04T12:28:39.004Z,1638620919.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:39.008Z,1638620919.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.988369 deg,
      new cmd heading: 298.644657 deg.

2021-12-04T12:28:39.460Z,1638620919.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 298.644657 deg,
      new cmd heading: 304.064517 deg.

2021-12-04T12:28:39.797Z,1638620919.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:39.933Z,1638620919.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 304.064517 deg,
      new cmd heading: 309.754785 deg.

2021-12-04T12:28:40.209Z,1638620920.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:40.243Z,1638620920.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 309.754785 deg,
      new cmd heading: 313.469613 deg.

2021-12-04T12:28:40.637Z,1638620920.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 313.469613 deg,
      new cmd heading: 318.196846 deg.

2021-12-04T12:28:41.036Z,1638620921.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122840.33*53

2021-12-04T12:28:41.037Z,1638620921.037 [Micromodem](INFO): Nmea in: $CAREV,122841,AUV,2.1.4000*26

2021-12-04T12:28:41.057Z,1638620921.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 318.196846 deg,
      new cmd heading: 323.247502 deg.

2021-12-04T12:28:41.429Z,1638620921.429 [Micromodem](INFO): Nmea in: $CAREV,122841,COPROC,0.20.0.39330*77

2021-12-04T12:28:41.528Z,1638620921.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.247502 deg,
      new cmd heading: 328.723150 deg.

2021-12-04T12:28:41.871Z,1638620921.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:41.874Z,1638620921.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.723150 deg,
      new cmd heading: 333.045370 deg.

2021-12-04T12:28:42.231Z,1638620922.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 333.045370 deg,
      new cmd heading: 337.329478 deg.

2021-12-04T12:28:42.667Z,1638620922.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.329478 deg,
      new cmd heading: 342.362410 deg.

2021-12-04T12:28:43.056Z,1638620923.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.362410 deg,
      new cmd heading: 347.219578 deg.

2021-12-04T12:28:43.452Z,1638620923.452 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:28:43.545Z,1638620923.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 347.219578 deg,
      new cmd heading: 353.092103 deg.

2021-12-04T12:28:43.887Z,1638620923.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 353.092103 deg,
      new cmd heading: 357.004175 deg.

2021-12-04T12:28:44.268Z,1638620924.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.004175 deg,
      new cmd heading: 1.764827 deg.

2021-12-04T12:28:44.681Z,1638620924.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:44.685Z,1638620924.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.764827 deg,
      new cmd heading: 6.772835 deg.

2021-12-04T12:28:45.095Z,1638620925.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 6.772835 deg,
      new cmd heading: 11.651915 deg.

2021-12-04T12:28:45.480Z,1638620925.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:45.591Z,1638620925.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 11.651915 deg,
      new cmd heading: 17.642783 deg.

2021-12-04T12:28:45.869Z,1638620925.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:45.940Z,1638620925.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 304.434072 deg,
      approachRate: -0.136687 m/s,
      LOS rate: 9.910447 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 17.642783 deg,
      new cmd heading: 21.783359 deg.

2021-12-04T12:28:46.267Z,1638620926.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:28:46.272Z,1638620926.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 279.966613 deg, deltaT: 10.088352 s, deltaX: -2.759999 m, approachRate: -0.273583 m/s, LOS rate: -2.425318 deg/s, posRepo size: 4
2021-12-04T12:28:46.273Z,1638620926.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.08 m.
2021-12-04T12:28:46.274Z,1638620926.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 21.783359 deg,
      new cmd heading: 25.823459 deg.

2021-12-04T12:28:46.692Z,1638620926.692 [Micromodem](INFO): Nmea in: $SNTTA,,0.030787,,,122846.01*41

2021-12-04T12:28:46.693Z,1638620926.693 [Micromodem](INFO): Nmea in: $CAREV,122847,AUV,2.1.4000*20

2021-12-04T12:28:46.752Z,1638620926.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 19.333728 deg,
      new cmd heading: 15.880110 deg.

2021-12-04T12:28:47.088Z,1638620927.088 [Micromodem](INFO): Nmea in: $CAREV,122847,COPROC,0.20.0.39330*71

2021-12-04T12:28:47.107Z,1638620927.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 15.880110 deg,
      new cmd heading: 13.260650 deg.

2021-12-04T12:28:47.564Z,1638620927.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 13.260650 deg,
      new cmd heading: 9.937344 deg.

2021-12-04T12:28:47.931Z,1638620927.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.08 m.
2021-12-04T12:28:47.933Z,1638620927.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 9.937344 deg,
      new cmd heading: 7.252772 deg.

2021-12-04T12:28:48.323Z,1638620928.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.08 m.
2021-12-04T12:28:48.324Z,1638620928.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 7.252772 deg,
      new cmd heading: 4.406419 deg.

2021-12-04T12:28:48.736Z,1638620928.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 4.406419 deg,
      new cmd heading: 1.409585 deg.

2021-12-04T12:28:49.105Z,1638620929.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:49.108Z,1638620929.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 1.409585 deg,
      new cmd heading: 358.701294 deg.

2021-12-04T12:28:49.581Z,1638620929.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.08 m.
2021-12-04T12:28:49.583Z,1638620929.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 358.701294 deg,
      new cmd heading: 355.248396 deg.

2021-12-04T12:28:49.906Z,1638620929.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:50.002Z,1638620930.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 10.08 m.
2021-12-04T12:28:50.008Z,1638620930.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 355.248396 deg,
      new cmd heading: 352.190138 deg.

2021-12-04T12:28:50.303Z,1638620930.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:50.332Z,1638620930.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 279.966613 deg,
      approachRate: -0.273583 m/s,
      LOS rate: -2.425318 deg/s,
      cmd update: -7.275953 deg/s,
      cmd heading: 352.190138 deg,
      new cmd heading: 349.796349 deg.

2021-12-04T12:28:50.901Z,1638620930.901 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:28:50.906Z,1638620930.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 272.912885 deg, deltaT: 4.633715 s, deltaX: -0.540001 m, approachRate: -0.116537 m/s, LOS rate: -1.522262 deg/s, posRepo size: 4
2021-12-04T12:28:50.911Z,1638620930.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 349.796349 deg,
      new cmd heading: 345.618716 deg.

2021-12-04T12:28:51.132Z,1638620931.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122850.44*52

2021-12-04T12:28:51.133Z,1638620931.133 [Micromodem](INFO): Nmea in: $CAREV,122851,AUV,2.1.4000*27

2021-12-04T12:28:51.183Z,1638620931.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 347.174238 deg,
      new cmd heading: 345.927638 deg.

2021-12-04T12:28:51.560Z,1638620931.560 [Micromodem](INFO): Nmea in: $CAREV,122851,COPROC,0.20.0.39330*76

2021-12-04T12:28:51.612Z,1638620931.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.54 m.
2021-12-04T12:28:51.614Z,1638620931.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 345.927638 deg,
      new cmd heading: 343.941835 deg.

2021-12-04T12:28:51.949Z,1638620931.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.54 m.
2021-12-04T12:28:51.951Z,1638620931.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 343.941835 deg,
      new cmd heading: 342.402194 deg.

2021-12-04T12:28:52.432Z,1638620932.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 342.402194 deg,
      new cmd heading: 340.224887 deg.

2021-12-04T12:28:52.763Z,1638620932.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 340.224887 deg,
      new cmd heading: 338.694119 deg.

2021-12-04T12:28:53.181Z,1638620933.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 338.694119 deg,
      new cmd heading: 336.785655 deg.

2021-12-04T12:28:53.623Z,1638620933.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:53.624Z,1638620933.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.54 m.
2021-12-04T12:28:53.626Z,1638620933.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 336.785655 deg,
      new cmd heading: 334.753179 deg.

2021-12-04T12:28:53.984Z,1638620933.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.54 m.
2021-12-04T12:28:53.985Z,1638620933.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 334.753179 deg,
      new cmd heading: 333.111881 deg.

2021-12-04T12:28:54.399Z,1638620934.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:28:54.515Z,1638620934.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 333.111881 deg,
      new cmd heading: 330.693046 deg.

2021-12-04T12:28:54.753Z,1638620934.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:28:54.805Z,1638620934.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 330.693046 deg,
      new cmd heading: 329.369469 deg.

2021-12-04T12:28:55.171Z,1638620935.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 329.369469 deg,
      new cmd heading: 327.697902 deg.

2021-12-04T12:28:55.592Z,1638620935.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122854.94*5B

2021-12-04T12:28:55.594Z,1638620935.594 [Micromodem](INFO): Nmea in: $CAREV,122855,AUV,2.1.4000*23

2021-12-04T12:28:55.658Z,1638620935.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.54 m.
2021-12-04T12:28:55.660Z,1638620935.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 327.697902 deg,
      new cmd heading: 325.466388 deg.

2021-12-04T12:28:55.953Z,1638620935.953 [Micromodem](INFO): Nmea in: $CAREV,122855,COPROC,0.20.0.39330*72

2021-12-04T12:28:55.967Z,1638620935.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.54 m.
2021-12-04T12:28:55.968Z,1638620935.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 325.466388 deg,
      new cmd heading: 324.055749 deg.

2021-12-04T12:28:56.431Z,1638620936.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:28:56.440Z,1638620936.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 771.780090 m, bearing: 269.062243 deg, deltaT: 5.530201 s, deltaX: 762.240112 m, approachRate: 137.832260 m/s, posRepo size: 4
2021-12-04T12:28:56.442Z,1638620936.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 324.055749 deg,
      new cmd heading: 321.920137 deg.

2021-12-04T12:28:56.804Z,1638620936.804 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T12:28:56.804Z,1638620936.804 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T12:28:56.804Z,1638620936.804 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T12:28:56.806Z,1638620936.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 771.780090 m (mode 2 count ).
2021-12-04T12:28:56.806Z,1638620936.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T12:28:56.806Z,1638620936.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T12:28:56.809Z,1638620936.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 321.920137 deg,
      new cmd heading: 320.216680 deg.

2021-12-04T12:28:57.215Z,1638620937.215 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T12:28:57.215Z,1638620937.215 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T12:28:57.216Z,1638620937.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T12:28:57.216Z,1638620937.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T12:28:57.219Z,1638620937.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 320.216680 deg,
      new cmd heading: 318.345609 deg.

2021-12-04T12:28:57.651Z,1638620937.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.54 m.
2021-12-04T12:28:57.653Z,1638620937.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 318.345609 deg,
      new cmd heading: 316.363414 deg.

2021-12-04T12:28:58.016Z,1638620938.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.54 m.
2021-12-04T12:28:58.017Z,1638620938.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 316.363414 deg,
      new cmd heading: 314.698829 deg.

2021-12-04T12:28:58.434Z,1638620938.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 314.698829 deg,
      new cmd heading: 312.794288 deg.

2021-12-04T12:28:58.852Z,1638620938.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 312.794288 deg,
      new cmd heading: 310.888477 deg.

2021-12-04T12:28:59.220Z,1638620939.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:28:59.223Z,1638620939.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 310.888477 deg,
      new cmd heading: 309.191774 deg.

2021-12-04T12:28:59.663Z,1638620939.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 9.54 m.
2021-12-04T12:28:59.665Z,1638620939.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 309.191774 deg,
      new cmd heading: 307.176744 deg.

2021-12-04T12:28:59.997Z,1638620939.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:00.072Z,1638620940.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 9.54 m.
2021-12-04T12:29:00.096Z,1638620940.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 307.176744 deg,
      new cmd heading: 305.311217 deg.

2021-12-04T12:29:00.429Z,1638620940.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:00.493Z,1638620940.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 272.912885 deg,
      approachRate: -0.116537 m/s,
      LOS rate: -1.522262 deg/s,
      cmd update: -4.566786 deg/s,
      cmd heading: 305.311217 deg,
      new cmd heading: 303.390660 deg.

2021-12-04T12:29:00.823Z,1638620940.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 305.921659 deg, deltaT: 9.917447 s, deltaX: 5.219997 m, approachRate: 0.526345 m/s, LOS rate: 3.328354 deg/s, posRepo size: 4
2021-12-04T12:29:00.825Z,1638620940.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 303.390660 deg,
      new cmd heading: 301.884442 deg.

2021-12-04T12:29:01.244Z,1638620941.244 [Micromodem](INFO): Nmea in: $SNTTA,0.030321,,,,122900.53*4D

2021-12-04T12:29:01.246Z,1638620941.246 [Micromodem](INFO): Nmea in: $CAREV,122901,AUV,2.1.4000*23

2021-12-04T12:29:01.294Z,1638620941.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T12:29:01.294Z,1638620941.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:29:01.295Z,1638620941.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T12:29:01.296Z,1638620941.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 14.759997 m (mode 2 count ).
2021-12-04T12:29:01.296Z,1638620941.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T12:29:01.296Z,1638620941.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T12:29:01.303Z,1638620941.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 306.683933 deg,
      new cmd heading: 311.435364 deg.

2021-12-04T12:29:01.624Z,1638620941.624 [Micromodem](INFO): Nmea in: $CAREV,122901,COPROC,0.20.0.39330*72

2021-12-04T12:29:01.683Z,1638620941.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T12:29:01.683Z,1638620941.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:29:01.683Z,1638620941.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T12:29:01.683Z,1638620941.683 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T12:29:01.684Z,1638620941.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 14.76 m.
2021-12-04T12:29:01.686Z,1638620941.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 311.435364 deg,
      new cmd heading: 315.297916 deg.

2021-12-04T12:29:02.061Z,1638620942.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 14.76 m.
2021-12-04T12:29:02.064Z,1638620942.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 315.297916 deg,
      new cmd heading: 319.050822 deg.

2021-12-04T12:29:02.480Z,1638620942.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 319.050822 deg,
      new cmd heading: 323.224328 deg.

2021-12-04T12:29:02.891Z,1638620942.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 323.224328 deg,
      new cmd heading: 327.319831 deg.

2021-12-04T12:29:03.267Z,1638620943.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 327.319831 deg,
      new cmd heading: 331.082771 deg.

2021-12-04T12:29:03.719Z,1638620943.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:03.720Z,1638620943.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 14.76 m.
2021-12-04T12:29:03.722Z,1638620943.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 331.082771 deg,
      new cmd heading: 335.626544 deg.

2021-12-04T12:29:04.081Z,1638620944.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 14.76 m.
2021-12-04T12:29:04.084Z,1638620944.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 335.626544 deg,
      new cmd heading: 339.232040 deg.

2021-12-04T12:29:04.468Z,1638620944.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:04.574Z,1638620944.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 339.232040 deg,
      new cmd heading: 344.137012 deg.

2021-12-04T12:29:04.855Z,1638620944.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:04.907Z,1638620944.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 305.921659 deg,
      approachRate: 0.526345 m/s,
      LOS rate: 3.328354 deg/s,
      cmd update: 9.985062 deg/s,
      cmd heading: 344.137012 deg,
      new cmd heading: 347.258093 deg.

2021-12-04T12:29:05.259Z,1638620945.259 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:29:05.264Z,1638620945.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 293.524101 deg, deltaT: 4.440429 s, deltaX: 1.860002 m, approachRate: 0.418879 m/s, LOS rate: -2.791973 deg/s, posRepo size: 4
2021-12-04T12:29:05.266Z,1638620945.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 347.258093 deg,
      new cmd heading: 351.021872 deg.

2021-12-04T12:29:05.672Z,1638620945.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122905.00*53

2021-12-04T12:29:05.673Z,1638620945.673 [Micromodem](INFO): Nmea in: $CAREV,122906,AUV,2.1.4000*24

2021-12-04T12:29:05.818Z,1638620945.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 16.62 m.
2021-12-04T12:29:05.825Z,1638620945.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 344.100865 deg,
      new cmd heading: 339.447942 deg.

2021-12-04T12:29:06.068Z,1638620946.068 [Micromodem](INFO): Nmea in: $CAREV,122906,COPROC,0.20.0.39330*75

2021-12-04T12:29:06.102Z,1638620946.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 16.62 m.
2021-12-04T12:29:06.105Z,1638620946.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 339.447942 deg,
      new cmd heading: 337.071124 deg.

2021-12-04T12:29:06.500Z,1638620946.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 337.071124 deg,
      new cmd heading: 333.740331 deg.

2021-12-04T12:29:06.899Z,1638620946.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 333.740331 deg,
      new cmd heading: 330.408164 deg.

2021-12-04T12:29:07.333Z,1638620947.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 330.408164 deg,
      new cmd heading: 326.764447 deg.

2021-12-04T12:29:07.755Z,1638620947.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 16.62 m.
2021-12-04T12:29:07.757Z,1638620947.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 326.764447 deg,
      new cmd heading: 323.362207 deg.

2021-12-04T12:29:08.089Z,1638620948.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:08.091Z,1638620948.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 16.62 m.
2021-12-04T12:29:08.093Z,1638620948.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 323.362207 deg,
      new cmd heading: 320.403112 deg.

2021-12-04T12:29:08.523Z,1638620948.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 320.403112 deg,
      new cmd heading: 316.799214 deg.

2021-12-04T12:29:08.881Z,1638620948.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:08.957Z,1638620948.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 316.799214 deg,
      new cmd heading: 313.226457 deg.

2021-12-04T12:29:09.288Z,1638620949.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:09.315Z,1638620949.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 293.524101 deg,
      approachRate: 0.418879 m/s,
      LOS rate: -2.791973 deg/s,
      cmd update: -8.375919 deg/s,
      cmd heading: 313.226457 deg,
      new cmd heading: 310.165561 deg.

2021-12-04T12:29:09.759Z,1638620949.759 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:29:09.768Z,1638620949.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 289.840990 deg, deltaT: 4.500447 s, deltaX: 0.780003 m, approachRate: 0.173317 m/s, LOS rate: -0.818388 deg/s, posRepo size: 4
2021-12-04T12:29:09.769Z,1638620949.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 17.40 m.
2021-12-04T12:29:09.774Z,1638620949.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 310.165561 deg,
      new cmd heading: 306.370123 deg.

2021-12-04T12:29:10.132Z,1638620950.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122909.41*5A

2021-12-04T12:29:10.133Z,1638620950.133 [Micromodem](INFO): Nmea in: $CAREV,122910,AUV,2.1.4000*23

2021-12-04T12:29:10.155Z,1638620950.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 309.053036 deg,
      new cmd heading: 308.104039 deg.

2021-12-04T12:29:10.504Z,1638620950.504 [Micromodem](INFO): Nmea in: $CAREV,122910,COPROC,0.20.0.39330*72

2021-12-04T12:29:10.529Z,1638620950.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 308.104039 deg,
      new cmd heading: 307.185489 deg.

2021-12-04T12:29:10.931Z,1638620950.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 307.185489 deg,
      new cmd heading: 306.200180 deg.

2021-12-04T12:29:11.353Z,1638620951.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 306.200180 deg,
      new cmd heading: 305.196900 deg.

2021-12-04T12:29:11.787Z,1638620951.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 305.196900 deg,
      new cmd heading: 304.097394 deg.

2021-12-04T12:29:12.149Z,1638620952.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 304.097394 deg,
      new cmd heading: 303.206692 deg.

2021-12-04T12:29:12.543Z,1638620952.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:12.546Z,1638620952.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 303.206692 deg,
      new cmd heading: 302.233723 deg.

2021-12-04T12:29:12.962Z,1638620952.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 302.233723 deg,
      new cmd heading: 301.211997 deg.

2021-12-04T12:29:13.325Z,1638620953.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:13.413Z,1638620953.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 301.211997 deg,
      new cmd heading: 300.151597 deg.

2021-12-04T12:29:13.743Z,1638620953.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:13.814Z,1638620953.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 289.840990 deg,
      approachRate: 0.173317 m/s,
      LOS rate: -0.818388 deg/s,
      cmd update: -2.455164 deg/s,
      cmd heading: 300.151597 deg,
      new cmd heading: 299.120674 deg.

2021-12-04T12:29:14.166Z,1638620954.166 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:29:14.171Z,1638620954.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 342.595568 deg, deltaT: 4.407368 s, deltaX: 2.700001 m, approachRate: 0.612611 m/s, LOS rate: 11.969633 deg/s, posRepo size: 4
2021-12-04T12:29:14.172Z,1638620954.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:14.564Z,1638620954.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122913.86*5A

2021-12-04T12:29:14.565Z,1638620954.565 [Micromodem](INFO): Nmea in: $CAREV,122914,AUV,2.1.4000*27

2021-12-04T12:29:14.611Z,1638620954.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:14.968Z,1638620954.968 [Micromodem](INFO): Nmea in: $CAREV,122914,COPROC,0.20.0.39330*76

2021-12-04T12:29:15.009Z,1638620955.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:15.428Z,1638620955.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:15.818Z,1638620955.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:16.178Z,1638620956.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:16.599Z,1638620956.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:16.985Z,1638620956.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:16.992Z,1638620956.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:17.433Z,1638620957.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:17.769Z,1638620957.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:17.889Z,1638620957.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:18.178Z,1638620958.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:18.210Z,1638620958.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.969633 deg/s. Setting heading cmd to target bearing of 342.595568deg and heading rate command to 0 deg/s.
2021-12-04T12:29:18.624Z,1638620958.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:29:18.629Z,1638620958.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 285.393089 deg, deltaT: 4.457895 s, deltaX: 2.579994 m, approachRate: 0.578747 m/s, LOS rate: -12.831724 deg/s, posRepo size: 4
2021-12-04T12:29:18.630Z,1638620958.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:19.012Z,1638620959.012 [Micromodem](INFO): Nmea in: $SNTTA,0.030746,,,,122918.31*45

2021-12-04T12:29:19.013Z,1638620959.013 [Micromodem](INFO): Nmea in: $CAREV,122919,AUV,2.1.4000*2A

2021-12-04T12:29:19.027Z,1638620959.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:19.407Z,1638620959.407 [Micromodem](INFO): Nmea in: $CAREV,122919,COPROC,0.20.0.39330*7B

2021-12-04T12:29:19.447Z,1638620959.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:19.863Z,1638620959.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:20.229Z,1638620960.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:20.646Z,1638620960.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:21.061Z,1638620961.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:21.448Z,1638620961.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:21.450Z,1638620961.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:21.866Z,1638620961.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:22.221Z,1638620962.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:22.339Z,1638620962.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:22.623Z,1638620962.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:22.672Z,1638620962.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.831724 deg/s. Setting heading cmd to target bearing of 285.393089deg and heading rate command to 0 deg/s.
2021-12-04T12:29:23.047Z,1638620963.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:29:23.052Z,1638620963.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 271.236757 deg, deltaT: 4.422461 s, deltaX: 3.180004 m, approachRate: 0.719058 m/s, LOS rate: -3.201008 deg/s, posRepo size: 4
2021-12-04T12:29:23.054Z,1638620963.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 285.393089 deg,
      new cmd heading: 285.393089 deg.

2021-12-04T12:29:23.480Z,1638620963.480 [Micromodem](INFO): Nmea in: $SNTTA,0.063273,,,,122922.75*49

2021-12-04T12:29:23.484Z,1638620963.484 [Micromodem](INFO): Nmea in: $CAREV,122923,AUV,2.1.4000*23

2021-12-04T12:29:23.499Z,1638620963.499 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:29:23.556Z,1638620963.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 281.758527 deg,
      new cmd heading: 276.957197 deg.

2021-12-04T12:29:23.840Z,1638620963.840 [Micromodem](INFO): Nmea in: $CAREV,122923,COPROC,0.20.0.39330*72

2021-12-04T12:29:23.887Z,1638620963.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 276.957197 deg,
      new cmd heading: 273.739147 deg.

2021-12-04T12:29:24.276Z,1638620964.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 273.739147 deg,
      new cmd heading: 270.129533 deg.

2021-12-04T12:29:24.676Z,1638620964.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 270.129533 deg,
      new cmd heading: 266.165319 deg.

2021-12-04T12:29:25.067Z,1638620965.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 266.165319 deg,
      new cmd heading: 262.411113 deg.

2021-12-04T12:29:25.548Z,1638620965.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 262.411113 deg,
      new cmd heading: 257.790214 deg.

2021-12-04T12:29:25.892Z,1638620965.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:25.899Z,1638620965.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 257.790214 deg,
      new cmd heading: 254.454527 deg.

2021-12-04T12:29:26.295Z,1638620966.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 254.454527 deg,
      new cmd heading: 250.615027 deg.

2021-12-04T12:29:26.661Z,1638620966.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:26.773Z,1638620966.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 250.615027 deg,
      new cmd heading: 246.021123 deg.

2021-12-04T12:29:27.071Z,1638620967.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:27.106Z,1638620967.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 271.236757 deg,
      approachRate: 0.719058 m/s,
      LOS rate: -3.201008 deg/s,
      cmd update: -9.603024 deg/s,
      cmd heading: 246.021123 deg,
      new cmd heading: 242.824458 deg.

2021-12-04T12:29:27.563Z,1638620967.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T12:29:27.572Z,1638620967.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 322.415801 deg, deltaT: 4.516047 s, deltaX: 1.919998 m, approachRate: 0.425150 m/s, LOS rate: 11.332709 deg/s, posRepo size: 4
2021-12-04T12:29:27.572Z,1638620967.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 27.78 m. Rolling out.
2021-12-04T12:29:27.573Z,1638620967.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-12-04T12:29:27.896Z,1638620967.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122927.19*5B

2021-12-04T12:29:27.897Z,1638620967.897 [Micromodem](INFO): Nmea in: $CAREV,122928,AUV,2.1.4000*28

2021-12-04T12:29:27.945Z,1638620967.945 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T12:29:27.946Z,1638620967.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T12:29:27.946Z,1638620967.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T12:29:27.947Z,1638620967.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 27.779999 m (mode 4 count ).
2021-12-04T12:29:27.947Z,1638620967.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T12:29:27.947Z,1638620967.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T12:29:27.950Z,1638620967.950 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T12:29:28.289Z,1638620968.289 [Micromodem](INFO): Nmea in: $CAREV,122928,COPROC,0.20.0.39330*79

2021-12-04T12:29:28.301Z,1638620968.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T12:29:28.301Z,1638620968.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T12:29:28.301Z,1638620968.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T12:29:28.301Z,1638620968.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T12:29:30.312Z,1638620970.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:31.105Z,1638620971.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:31.541Z,1638620971.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:31.931Z,1638620971.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 318.557400 deg, deltaT: 4.363476 s, deltaX: 2.580000 m, approachRate: 0.591272 m/s, LOS rate: -0.884249 deg/s, posRepo size: 4
2021-12-04T12:29:32.352Z,1638620972.352 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122931.64*56

2021-12-04T12:29:32.354Z,1638620972.354 [Micromodem](INFO): Nmea in: $CAREV,122932,AUV,2.1.4000*23

2021-12-04T12:29:32.732Z,1638620972.732 [Micromodem](INFO): Nmea in: $CAREV,122932,COPROC,0.20.0.39330*72

2021-12-04T12:29:34.759Z,1638620974.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:35.577Z,1638620975.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:35.982Z,1638620975.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:36.383Z,1638620976.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 261.697004 deg, deltaT: 4.442630 s, deltaX: 1.260002 m, approachRate: 0.283616 m/s, LOS rate: -12.798814 deg/s, posRepo size: 4
2021-12-04T12:29:36.788Z,1638620976.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122936.11*53

2021-12-04T12:29:36.789Z,1638620976.789 [Micromodem](INFO): Nmea in: $CAREV,122937,AUV,2.1.4000*26

2021-12-04T12:29:37.180Z,1638620977.180 [Micromodem](INFO): Nmea in: $CAREV,122937,COPROC,0.20.0.39330*77

2021-12-04T12:29:39.196Z,1638620979.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:39.993Z,1638620979.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:40.419Z,1638620980.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:40.840Z,1638620980.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 240.749251 deg, deltaT: 4.461689 s, deltaX: 0.960001 m, approachRate: 0.215165 m/s, LOS rate: -4.695028 deg/s, posRepo size: 4
2021-12-04T12:29:41.224Z,1638620981.224 [Micromodem](INFO): Nmea in: $SNTTA,0.043253,,,,122940.53*49

2021-12-04T12:29:41.225Z,1638620981.225 [Micromodem](INFO): Nmea in: $CAREV,122941,AUV,2.1.4000*27

2021-12-04T12:29:41.620Z,1638620981.620 [Micromodem](INFO): Nmea in: $CAREV,122941,COPROC,0.20.0.39330*76

2021-12-04T12:29:43.677Z,1638620983.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:44.461Z,1638620984.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:44.843Z,1638620984.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:45.276Z,1638620985.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 313.002298 deg, deltaT: 4.439684 s, deltaX: 1.439999 m, approachRate: 0.324347 m/s, LOS rate: 16.274367 deg/s, posRepo size: 4
2021-12-04T12:29:45.672Z,1638620985.672 [Micromodem](INFO): Nmea in: $SNTTA,0.032295,,,,122944.99*47

2021-12-04T12:29:45.674Z,1638620985.674 [Micromodem](INFO): Nmea in: $CAREV,122946,AUV,2.1.4000*20

2021-12-04T12:29:46.068Z,1638620986.068 [Micromodem](INFO): Nmea in: $CAREV,122946,COPROC,0.20.0.39330*71

2021-12-04T12:29:48.084Z,1638620988.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:48.877Z,1638620988.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:49.292Z,1638620989.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:49.770Z,1638620989.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 289.182833 deg, deltaT: 4.490208 s, deltaX: 0.419998 m, approachRate: 0.093536 m/s, LOS rate: -5.304758 deg/s, posRepo size: 4
2021-12-04T12:29:50.128Z,1638620990.128 [Micromodem](INFO): Nmea in: $SNTTA,0.051559,,,,122949.41*4D

2021-12-04T12:29:50.129Z,1638620990.129 [Micromodem](INFO): Nmea in: $CAREV,122950,AUV,2.1.4000*27

2021-12-04T12:29:50.508Z,1638620990.508 [Micromodem](INFO): Nmea in: $CAREV,122950,COPROC,0.20.0.39330*76

2021-12-04T12:29:52.581Z,1638620992.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:53.331Z,1638620993.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:53.735Z,1638620993.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:54.169Z,1638620994.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 242.537914 deg, deltaT: 4.401797 s, deltaX: -0.539997 m, approachRate: -0.122677 m/s, LOS rate: -10.596790 deg/s, posRepo size: 4
2021-12-04T12:29:54.568Z,1638620994.568 [Micromodem](INFO): Nmea in: $SNTTA,0.036102,,,,122953.87*47

2021-12-04T12:29:54.569Z,1638620994.569 [Micromodem](INFO): Nmea in: $CAREV,122954,AUV,2.1.4000*23

2021-12-04T12:29:54.960Z,1638620994.960 [Micromodem](INFO): Nmea in: $CAREV,122954,COPROC,0.20.0.39330*72

2021-12-04T12:29:56.980Z,1638620996.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:29:57.773Z,1638620997.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:29:58.167Z,1638620998.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:29:58.605Z,1638620998.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 226.079098 deg, deltaT: 4.437818 s, deltaX: 0.119999 m, approachRate: 0.027040 m/s, LOS rate: -3.708763 deg/s, posRepo size: 4
2021-12-04T12:29:59.004Z,1638620999.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122958.31*59

2021-12-04T12:29:59.005Z,1638620999.005 [Micromodem](INFO): Nmea in: $CAREV,122959,AUV,2.1.4000*2E

2021-12-04T12:29:59.416Z,1638620999.416 [Micromodem](INFO): Nmea in: $CAREV,122959,COPROC,0.20.0.39330*7F

2021-12-04T12:30:01.450Z,1638621001.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:02.213Z,1638621002.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:02.622Z,1638621002.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:03.059Z,1638621003.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 215.351398 deg, deltaT: 4.449926 s, deltaX: 0.239998 m, approachRate: 0.053933 m/s, LOS rate: -2.410759 deg/s, posRepo size: 4
2021-12-04T12:30:03.468Z,1638621003.468 [Micromodem](INFO): Nmea in: $SNTTA,0.047467,,,,123002.75*46

2021-12-04T12:30:03.470Z,1638621003.470 [Micromodem](INFO): Nmea in: $CAREV,123003,AUV,2.1.4000*29

2021-12-04T12:30:03.844Z,1638621003.844 [Micromodem](INFO): Nmea in: $CAREV,123003,COPROC,0.20.0.39330*78

2021-12-04T12:30:05.557Z,1638621005.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:06.253Z,1638621006.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:06.668Z,1638621006.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:07.102Z,1638621007.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 211.852114 deg, deltaT: 4.047299 s, deltaX: 0.060001 m, approachRate: 0.014825 m/s, LOS rate: -0.864597 deg/s, posRepo size: 4
2021-12-04T12:30:07.513Z,1638621007.513 [Micromodem](INFO): Nmea in: $SNTTA,0.039429,,,,123006.79*4D

2021-12-04T12:30:07.517Z,1638621007.517 [Micromodem](INFO): Nmea in: $CAREV,123007,AUV,2.1.4000*2D

2021-12-04T12:30:07.884Z,1638621007.884 [Micromodem](INFO): Nmea in: $CAREV,123007,COPROC,0.20.0.39330*7C

2021-12-04T12:30:09.927Z,1638621009.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:10.753Z,1638621010.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:11.099Z,1638621011.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:11.589Z,1638621011.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 211.548731 deg, deltaT: 4.487011 s, deltaX: 0.059998 m, approachRate: 0.013371 m/s, LOS rate: -0.067614 deg/s, posRepo size: 4
2021-12-04T12:30:11.930Z,1638621011.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123011.29*55

2021-12-04T12:30:12.324Z,1638621012.324 [Micromodem](INFO): Nmea in: $CAREV,123012,AUV,2.1.4000*29

2021-12-04T12:30:12.325Z,1638621012.325 [Micromodem](INFO): Nmea in: $CAREV,123012,COPROC,0.20.0.39330*78

2021-12-04T12:30:14.403Z,1638621014.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:15.148Z,1638621015.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:15.575Z,1638621015.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:15.968Z,1638621015.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 216.640951 deg, deltaT: 4.377873 s, deltaX: -0.119999 m, approachRate: -0.027410 m/s, LOS rate: 1.163172 deg/s, posRepo size: 4
2021-12-04T12:30:16.384Z,1638621016.384 [Micromodem](INFO): Nmea in: $SNTTA,0.080533,,,,123015.68*47

2021-12-04T12:30:16.404Z,1638621016.404 [Micromodem](INFO): Nmea in: $CAREV,123016,AUV,2.1.4000*2D

2021-12-04T12:30:16.776Z,1638621016.776 [Micromodem](INFO): Nmea in: $CAREV,123016,COPROC,0.20.0.39330*7C

2021-12-04T12:30:18.807Z,1638621018.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:19.593Z,1638621019.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:19.999Z,1638621019.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:20.456Z,1638621020.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 217.379745 deg, deltaT: 4.488410 s, deltaX: -0.180000 m, approachRate: -0.040103 m/s, LOS rate: 0.164600 deg/s, posRepo size: 4
2021-12-04T12:30:20.831Z,1638621020.831 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123020.13*5E

2021-12-04T12:30:20.832Z,1638621020.832 [Micromodem](INFO): Nmea in: $CAREV,123021,AUV,2.1.4000*29

2021-12-04T12:30:21.212Z,1638621021.212 [Micromodem](INFO): Nmea in: $CAREV,123021,COPROC,0.20.0.39330*78

2021-12-04T12:30:23.238Z,1638621023.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:24.029Z,1638621024.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:24.463Z,1638621024.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:24.868Z,1638621024.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 217.663717 deg, deltaT: 4.412366 s, deltaX: 0.120003 m, approachRate: 0.027197 m/s, LOS rate: 0.064358 deg/s, posRepo size: 4
2021-12-04T12:30:25.279Z,1638621025.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123024.56*5B

2021-12-04T12:30:25.280Z,1638621025.280 [Micromodem](INFO): Nmea in: $CAREV,123025,AUV,2.1.4000*2D

2021-12-04T12:30:25.652Z,1638621025.652 [Micromodem](INFO): Nmea in: $CAREV,123025,COPROC,0.20.0.39330*7C

2021-12-04T12:30:27.727Z,1638621027.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:28.487Z,1638621028.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:28.877Z,1638621028.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:29.308Z,1638621029.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 219.588874 deg, deltaT: 4.439512 s, deltaX: -0.060005 m, approachRate: -0.013516 m/s, LOS rate: 0.433642 deg/s, posRepo size: 4
2021-12-04T12:30:29.704Z,1638621029.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123029.02*57

2021-12-04T12:30:29.705Z,1638621029.705 [Micromodem](INFO): Nmea in: $CAREV,123030,AUV,2.1.4000*29

2021-12-04T12:30:30.112Z,1638621030.112 [Micromodem](INFO): Nmea in: $CAREV,123030,COPROC,0.20.0.39330*78

2021-12-04T12:30:32.137Z,1638621032.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:32.917Z,1638621032.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:33.337Z,1638621033.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:33.783Z,1638621033.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 215.547042 deg, deltaT: 4.474891 s, deltaX: -0.179996 m, approachRate: -0.040224 m/s, LOS rate: -0.903225 deg/s, posRepo size: 4
2021-12-04T12:30:34.163Z,1638621034.163 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123033.45*5F

2021-12-04T12:30:34.164Z,1638621034.164 [Micromodem](INFO): Nmea in: $CAREV,123034,AUV,2.1.4000*2D

2021-12-04T12:30:34.544Z,1638621034.544 [Micromodem](INFO): Nmea in: $CAREV,123034,COPROC,0.20.0.39330*7C

2021-12-04T12:30:36.598Z,1638621036.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:37.421Z,1638621037.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:37.776Z,1638621037.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:38.213Z,1638621038.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 206.038216 deg, deltaT: 4.427663 s, deltaX: -0.120003 m, approachRate: -0.027103 m/s, LOS rate: -2.147595 deg/s, posRepo size: 4
2021-12-04T12:30:38.602Z,1638621038.602 [Micromodem](INFO): Nmea in: $SNTTA,0.037196,,,,123037.95*42

2021-12-04T12:30:39.004Z,1638621039.004 [Micromodem](INFO): Nmea in: $CAREV,123039,AUV,2.1.4000*20

2021-12-04T12:30:39.006Z,1638621039.006 [Micromodem](INFO): Nmea in: $CAREV,123039,COPROC,0.20.0.39330*71

2021-12-04T12:30:41.017Z,1638621041.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:41.809Z,1638621041.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:42.224Z,1638621042.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:42.661Z,1638621042.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 253.529327 deg, deltaT: 4.447313 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 10.678608 deg/s, posRepo size: 4
2021-12-04T12:30:43.050Z,1638621043.050 [Micromodem](INFO): Nmea in: $SNTTA,0.038348,,,,123042.34*45

2021-12-04T12:30:43.052Z,1638621043.052 [Micromodem](INFO): Nmea in: $CAREV,123043,AUV,2.1.4000*2D

2021-12-04T12:30:43.468Z,1638621043.468 [Micromodem](INFO): Nmea in: $CAREV,123043,COPROC,0.20.0.39330*7C

2021-12-04T12:30:45.560Z,1638621045.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:46.297Z,1638621046.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:46.695Z,1638621046.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:47.148Z,1638621047.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 168.026547 deg, deltaT: 4.465685 s, deltaX: -0.299999 m, approachRate: -0.067179 m/s, LOS rate: -19.146622 deg/s, posRepo size: 4
2021-12-04T12:30:47.560Z,1638621047.560 [Micromodem](INFO): Nmea in: $SNTTA,0.051979,,,,123046.83*4A

2021-12-04T12:30:47.561Z,1638621047.561 [Micromodem](INFO): Nmea in: $CAREV,123047,AUV,2.1.4000*29

2021-12-04T12:30:47.585Z,1638621047.585 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:30:47.916Z,1638621047.916 [Micromodem](INFO): Nmea in: $CAREV,123047,COPROC,0.20.0.39330*78

2021-12-04T12:30:49.645Z,1638621049.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:50.329Z,1638621050.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:50.735Z,1638621050.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:51.148Z,1638621051.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 164.536293 deg, deltaT: 4.024691 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.867210 deg/s, posRepo size: 4
2021-12-04T12:30:51.591Z,1638621051.591 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123050.86*55

2021-12-04T12:30:51.592Z,1638621051.592 [Micromodem](INFO): Nmea in: $CAREV,123051,AUV,2.1.4000*2E

2021-12-04T12:30:51.957Z,1638621051.957 [Micromodem](INFO): Nmea in: $CAREV,123051,COPROC,0.20.0.39330*7F

2021-12-04T12:30:53.664Z,1638621053.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:54.373Z,1638621054.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:54.779Z,1638621054.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:55.219Z,1638621055.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 161.465549 deg, deltaT: 4.067169 s, deltaX: -0.359997 m, approachRate: -0.088513 m/s, LOS rate: -0.755008 deg/s, posRepo size: 4
2021-12-04T12:30:55.592Z,1638621055.592 [Micromodem](INFO): Nmea in: $SNTTA,0.462386,0.047266,,,123054.91*5B

2021-12-04T12:30:55.593Z,1638621055.593 [Micromodem](INFO): Nmea in: $CAREV,123055,AUV,2.1.4000*2A

2021-12-04T12:30:55.988Z,1638621055.988 [Micromodem](INFO): Nmea in: $CAREV,123055,COPROC,0.20.0.39330*7B

2021-12-04T12:30:58.033Z,1638621058.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:30:58.444Z,1638621058.444 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:30:58.809Z,1638621058.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:30:59.232Z,1638621059.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:30:59.707Z,1638621059.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 158.602402 deg, deltaT: 4.488328 s, deltaX: -0.299999 m, approachRate: -0.066840 m/s, LOS rate: -0.637909 deg/s, posRepo size: 4
2021-12-04T12:31:00.072Z,1638621060.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123059.34*55

2021-12-04T12:31:00.073Z,1638621060.073 [Micromodem](INFO): Nmea in: $CAREV,123100,AUV,2.1.4000*2B

2021-12-04T12:31:00.488Z,1638621060.488 [Micromodem](INFO): Nmea in: $CAREV,123100,COPROC,0.20.0.39330*7A

2021-12-04T12:31:02.487Z,1638621062.487 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:31:02.513Z,1638621062.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:03.269Z,1638621063.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:03.675Z,1638621063.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:04.108Z,1638621064.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 156.112661 deg, deltaT: 4.404255 s, deltaX: -0.240002 m, approachRate: -0.054493 m/s, LOS rate: -0.565303 deg/s, posRepo size: 4
2021-12-04T12:31:04.516Z,1638621064.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123103.80*54

2021-12-04T12:31:04.517Z,1638621064.517 [Micromodem](INFO): Nmea in: $CAREV,123104,AUV,2.1.4000*2F

2021-12-04T12:31:04.892Z,1638621064.892 [Micromodem](INFO): Nmea in: $CAREV,123104,COPROC,0.20.0.39330*7E

2021-12-04T12:31:06.924Z,1638621066.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:07.725Z,1638621067.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:08.123Z,1638621068.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:08.569Z,1638621068.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 154.425414 deg, deltaT: 4.445126 s, deltaX: -0.240002 m, approachRate: -0.053992 m/s, LOS rate: -0.379573 deg/s, posRepo size: 4
2021-12-04T12:31:08.952Z,1638621068.952 [Micromodem](INFO): Nmea in: $SNTTA,0.043682,,,,123108.26*46

2021-12-04T12:31:08.953Z,1638621068.953 [Micromodem](INFO): Nmea in: $CAREV,123109,AUV,2.1.4000*22

2021-12-04T12:31:09.345Z,1638621069.345 [Micromodem](INFO): Nmea in: $CAREV,123109,COPROC,0.20.0.39330*73

2021-12-04T12:31:11.398Z,1638621071.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:12.165Z,1638621072.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:12.579Z,1638621072.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:12.597Z,1638621072.597 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:31:12.991Z,1638621072.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 153.262301 deg, deltaT: 4.438620 s, deltaX: -0.179996 m, approachRate: -0.040552 m/s, LOS rate: -0.262044 deg/s, posRepo size: 4
2021-12-04T12:31:13.407Z,1638621073.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123112.70*5B

2021-12-04T12:31:13.427Z,1638621073.427 [Micromodem](INFO): Nmea in: $CAREV,123113,AUV,2.1.4000*29

2021-12-04T12:31:13.790Z,1638621073.790 [Micromodem](INFO): Nmea in: $CAREV,123113,COPROC,0.20.0.39330*78

2021-12-04T12:31:15.907Z,1638621075.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:16.605Z,1638621076.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:16.631Z,1638621076.631 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:31:17.021Z,1638621077.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:17.465Z,1638621077.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 152.832750 deg, deltaT: 4.473367 s, deltaX: -0.180000 m, approachRate: -0.040238 m/s, LOS rate: -0.096024 deg/s, posRepo size: 4
2021-12-04T12:31:17.852Z,1638621077.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123117.14*5C

2021-12-04T12:31:17.853Z,1638621077.853 [Micromodem](INFO): Nmea in: $CAREV,123118,AUV,2.1.4000*22

2021-12-04T12:31:18.228Z,1638621078.228 [Micromodem](INFO): Nmea in: $CAREV,123118,COPROC,0.20.0.39330*73

2021-12-04T12:31:20.261Z,1638621080.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:21.049Z,1638621081.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:21.467Z,1638621081.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:21.907Z,1638621081.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 152.863240 deg, deltaT: 4.442423 s, deltaX: -0.360003 m, approachRate: -0.081037 m/s, LOS rate: 0.006863 deg/s, posRepo size: 4
2021-12-04T12:31:22.296Z,1638621082.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123121.59*50

2021-12-04T12:31:22.297Z,1638621082.297 [Micromodem](INFO): Nmea in: $CAREV,123122,AUV,2.1.4000*2B

2021-12-04T12:31:22.672Z,1638621082.672 [Micromodem](INFO): Nmea in: $CAREV,123122,COPROC,0.20.0.39330*7A

2021-12-04T12:31:22.680Z,1638621082.680 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T12:31:24.707Z,1638621084.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:25.529Z,1638621085.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:25.903Z,1638621085.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:26.324Z,1638621086.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 152.970009 deg, deltaT: 4.416468 s, deltaX: -0.299999 m, approachRate: -0.067927 m/s, LOS rate: 0.024175 deg/s, posRepo size: 4
2021-12-04T12:31:26.733Z,1638621086.733 [Micromodem](INFO): Nmea in: $SNTTA,0.078880,,,,123126.06*4C

2021-12-04T12:31:26.735Z,1638621086.735 [Micromodem](INFO): Nmea in: $CAREV,123127,AUV,2.1.4000*2E

2021-12-04T12:31:27.124Z,1638621087.124 [Micromodem](INFO): Nmea in: $CAREV,123127,COPROC,0.20.0.39330*7F

2021-12-04T12:31:27.588Z,1638621087.588 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:31:29.140Z,1638621089.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:29.937Z,1638621089.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:30.358Z,1638621090.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:30.775Z,1638621090.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 152.667405 deg, deltaT: 4.451737 s, deltaX: -0.299999 m, approachRate: -0.067389 m/s, LOS rate: -0.067975 deg/s, posRepo size: 4
2021-12-04T12:31:31.188Z,1638621091.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123130.47*5F

2021-12-04T12:31:31.189Z,1638621091.189 [Micromodem](INFO): Nmea in: $CAREV,123131,AUV,2.1.4000*29

2021-12-04T12:31:31.588Z,1638621091.588 [Micromodem](INFO): Nmea in: $CAREV,123131,COPROC,0.20.0.39330*78

2021-12-04T12:31:33.636Z,1638621093.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:34.413Z,1638621094.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:34.787Z,1638621094.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:35.258Z,1638621095.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 152.561632 deg, deltaT: 4.474858 s, deltaX: -0.179998 m, approachRate: -0.040224 m/s, LOS rate: -0.023637 deg/s, posRepo size: 4
2021-12-04T12:31:35.616Z,1638621095.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123134.95*54

2021-12-04T12:31:35.617Z,1638621095.617 [Micromodem](INFO): Nmea in: $CAREV,123136,AUV,2.1.4000*2E

2021-12-04T12:31:36.025Z,1638621096.025 [Micromodem](INFO): Nmea in: $CAREV,123136,COPROC,0.20.0.39330*7F

2021-12-04T12:31:38.042Z,1638621098.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:38.821Z,1638621098.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:39.238Z,1638621099.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:39.692Z,1638621099.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.600000 m, bearing: 153.228587 deg, deltaT: 4.441893 s, deltaX: -0.300001 m, approachRate: -0.067539 m/s, LOS rate: 0.150151 deg/s, posRepo size: 4
2021-12-04T12:31:40.075Z,1638621100.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123139.36*50

2021-12-04T12:31:40.078Z,1638621100.078 [Micromodem](INFO): Nmea in: $CAREV,123140,AUV,2.1.4000*2F

2021-12-04T12:31:40.472Z,1638621100.472 [Micromodem](INFO): Nmea in: $CAREV,123140,COPROC,0.20.0.39330*7E

2021-12-04T12:31:42.504Z,1638621102.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:43.269Z,1638621103.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:43.685Z,1638621103.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:44.119Z,1638621104.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 154.692611 deg, deltaT: 4.423375 s, deltaX: -0.180004 m, approachRate: -0.040694 m/s, LOS rate: 0.330974 deg/s, posRepo size: 4
2021-12-04T12:31:44.516Z,1638621104.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123143.80*50

2021-12-04T12:31:44.517Z,1638621104.517 [Micromodem](INFO): Nmea in: $CAREV,123144,AUV,2.1.4000*2B

2021-12-04T12:31:44.896Z,1638621104.896 [Micromodem](INFO): Nmea in: $CAREV,123144,COPROC,0.20.0.39330*7A

2021-12-04T12:31:46.927Z,1638621106.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:47.709Z,1638621107.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:48.129Z,1638621108.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:48.563Z,1638621108.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 155.796888 deg, deltaT: 4.447982 s, deltaX: 0.660004 m, approachRate: 0.148383 m/s, LOS rate: 0.248265 deg/s, posRepo size: 4
2021-12-04T12:31:48.959Z,1638621108.959 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123148.24*55

2021-12-04T12:31:48.960Z,1638621108.960 [Micromodem](INFO): Nmea in: $CAREV,123149,AUV,2.1.4000*26

2021-12-04T12:31:49.340Z,1638621109.340 [Micromodem](INFO): Nmea in: $CAREV,123149,COPROC,0.20.0.39330*77

2021-12-04T12:31:51.376Z,1638621111.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:52.157Z,1638621112.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:52.563Z,1638621112.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:52.991Z,1638621112.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 156.177548 deg, deltaT: 4.427074 s, deltaX: -0.900000 m, approachRate: -0.203294 m/s, LOS rate: 0.085985 deg/s, posRepo size: 4
2021-12-04T12:31:53.416Z,1638621113.416 [Micromodem](INFO): Nmea in: $SNTTA,0.047586,,,,123152.69*41

2021-12-04T12:31:53.417Z,1638621113.417 [Micromodem](INFO): Nmea in: $CAREV,123153,AUV,2.1.4000*2D

2021-12-04T12:31:53.796Z,1638621113.796 [Micromodem](INFO): Nmea in: $CAREV,123153,COPROC,0.20.0.39330*7C

2021-12-04T12:31:55.847Z,1638621115.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:31:56.601Z,1638621116.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:31:57.011Z,1638621117.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:31:57.552Z,1638621117.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 155.491825 deg, deltaT: 4.557479 s, deltaX: -0.420000 m, approachRate: -0.092156 m/s, LOS rate: -0.150461 deg/s, posRepo size: 4
2021-12-04T12:31:57.848Z,1638621117.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123157.14*58

2021-12-04T12:31:57.849Z,1638621117.849 [Micromodem](INFO): Nmea in: $CAREV,123158,AUV,2.1.4000*26

2021-12-04T12:31:58.232Z,1638621118.232 [Micromodem](INFO): Nmea in: $CAREV,123158,COPROC,0.20.0.39330*77

2021-12-04T12:32:00.258Z,1638621120.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:01.049Z,1638621121.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:01.483Z,1638621121.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:01.903Z,1638621121.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 154.367343 deg, deltaT: 4.354663 s, deltaX: -0.240002 m, approachRate: -0.055114 m/s, LOS rate: -0.258225 deg/s, posRepo size: 4
2021-12-04T12:32:02.280Z,1638621122.280 [Micromodem](INFO): Nmea in: $SNTTA,0.040680,,,,123201.58*44

2021-12-04T12:32:02.281Z,1638621122.281 [Micromodem](INFO): Nmea in: $CAREV,123202,AUV,2.1.4000*2A

2021-12-04T12:32:02.672Z,1638621122.672 [Micromodem](INFO): Nmea in: $CAREV,123202,COPROC,0.20.0.39330*7B

2021-12-04T12:32:04.716Z,1638621124.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:05.497Z,1638621125.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:05.903Z,1638621125.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:06.343Z,1638621126.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 153.061944 deg, deltaT: 4.439779 s, deltaX: -0.239996 m, approachRate: -0.054056 m/s, LOS rate: -0.294024 deg/s, posRepo size: 4
2021-12-04T12:32:06.735Z,1638621126.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123206.03*59

2021-12-04T12:32:06.736Z,1638621126.736 [Micromodem](INFO): Nmea in: $CAREV,123207,AUV,2.1.4000*2F

2021-12-04T12:32:07.120Z,1638621127.120 [Micromodem](INFO): Nmea in: $CAREV,123207,COPROC,0.20.0.39330*7E

2021-12-04T12:32:09.147Z,1638621129.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:09.941Z,1638621129.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:10.339Z,1638621130.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:10.784Z,1638621130.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 150.704204 deg, deltaT: 4.441592 s, deltaX: 0.419994 m, approachRate: 0.094559 m/s, LOS rate: -0.530832 deg/s, posRepo size: 4
2021-12-04T12:32:11.180Z,1638621131.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123210.48*51

2021-12-04T12:32:11.181Z,1638621131.181 [Micromodem](INFO): Nmea in: $CAREV,123211,AUV,2.1.4000*28

2021-12-04T12:32:11.583Z,1638621131.583 [Micromodem](INFO): Nmea in: $CAREV,123211,COPROC,0.20.0.39330*79

2021-12-04T12:32:13.633Z,1638621133.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:14.405Z,1638621134.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:14.783Z,1638621134.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:15.209Z,1638621135.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 148.522286 deg, deltaT: 4.425416 s, deltaX: -0.839994 m, approachRate: -0.189811 m/s, LOS rate: -0.493042 deg/s, posRepo size: 4
2021-12-04T12:32:15.616Z,1638621135.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123214.94*54

2021-12-04T12:32:15.617Z,1638621135.617 [Micromodem](INFO): Nmea in: $CAREV,123215,AUV,2.1.4000*2C

2021-12-04T12:32:16.011Z,1638621136.011 [Micromodem](INFO): Nmea in: $CAREV,123215,COPROC,0.20.0.39330*7D

2021-12-04T12:32:18.029Z,1638621138.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:18.828Z,1638621138.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:19.244Z,1638621139.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:19.692Z,1638621139.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 146.308089 deg, deltaT: 4.483029 s, deltaX: -0.240002 m, approachRate: -0.053536 m/s, LOS rate: -0.493906 deg/s, posRepo size: 4
2021-12-04T12:32:20.076Z,1638621140.076 [Micromodem](INFO): Nmea in: $SNTTA,0.034304,,,,123219.37*4E

2021-12-04T12:32:20.077Z,1638621140.077 [Micromodem](INFO): Nmea in: $CAREV,123220,AUV,2.1.4000*2A

2021-12-04T12:32:20.460Z,1638621140.460 [Micromodem](INFO): Nmea in: $CAREV,123220,COPROC,0.20.0.39330*7B

2021-12-04T12:32:22.517Z,1638621142.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:23.267Z,1638621143.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:23.677Z,1638621143.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:24.127Z,1638621144.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.079998 m, bearing: 150.880217 deg, deltaT: 4.430794 s, deltaX: -0.540003 m, approachRate: -0.121875 m/s, LOS rate: 1.031898 deg/s, posRepo size: 4
2021-12-04T12:32:24.507Z,1638621144.507 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123223.80*55

2021-12-04T12:32:24.508Z,1638621144.508 [Micromodem](INFO): Nmea in: $CAREV,123224,AUV,2.1.4000*2E

2021-12-04T12:32:24.904Z,1638621144.904 [Micromodem](INFO): Nmea in: $CAREV,123224,COPROC,0.20.0.39330*7F

2021-12-04T12:32:26.918Z,1638621146.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:27.717Z,1638621147.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:28.203Z,1638621148.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:28.618Z,1638621148.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.900000 m, bearing: 154.500669 deg, deltaT: 4.494471 s, deltaX: -0.179998 m, approachRate: -0.040049 m/s, LOS rate: 0.805534 deg/s, posRepo size: 4
2021-12-04T12:32:29.020Z,1638621149.020 [Micromodem](INFO): Nmea in: $SNTTA,,0.036032,,,123228.25*4B

2021-12-04T12:32:29.021Z,1638621149.021 [Micromodem](INFO): Nmea in: $CAREV,123229,AUV,2.1.4000*23

2021-12-04T12:32:29.473Z,1638621149.473 [Micromodem](INFO): Nmea in: $CAREV,123229,COPROC,0.20.0.39330*72

2021-12-04T12:32:31.543Z,1638621151.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:32.242Z,1638621152.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:32.635Z,1638621152.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:33.097Z,1638621153.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 156.794164 deg, deltaT: 4.475170 s, deltaX: -0.240002 m, approachRate: -0.053630 m/s, LOS rate: 0.512493 deg/s, posRepo size: 4
2021-12-04T12:32:33.500Z,1638621153.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123232.78*52

2021-12-04T12:32:33.504Z,1638621153.504 [Micromodem](INFO): Nmea in: $CAREV,123233,AUV,2.1.4000*28

2021-12-04T12:32:33.869Z,1638621153.869 [Micromodem](INFO): Nmea in: $CAREV,123233,COPROC,0.20.0.39330*79

2021-12-04T12:32:35.910Z,1638621155.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:36.677Z,1638621156.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:37.079Z,1638621157.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:37.548Z,1638621157.548 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:32:37.599Z,1638621157.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.420002 m, bearing: 156.984344 deg, deltaT: 4.502162 s, deltaX: -0.239996 m, approachRate: -0.053307 m/s, LOS rate: 0.042242 deg/s, posRepo size: 4
2021-12-04T12:32:37.920Z,1638621157.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123237.21*5B

2021-12-04T12:32:37.922Z,1638621157.922 [Micromodem](INFO): Nmea in: $CAREV,123238,AUV,2.1.4000*23

2021-12-04T12:32:38.304Z,1638621158.304 [Micromodem](INFO): Nmea in: $CAREV,123238,COPROC,0.20.0.39330*72

2021-12-04T12:32:40.328Z,1638621160.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:41.121Z,1638621161.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:41.570Z,1638621161.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:41.960Z,1638621161.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 157.733370 deg, deltaT: 4.364808 s, deltaX: -0.120001 m, approachRate: -0.027493 m/s, LOS rate: 0.171606 deg/s, posRepo size: 4
2021-12-04T12:32:42.360Z,1638621162.360 [Micromodem](INFO): Nmea in: $SNTTA,,0.034977,,,123241.66*49

2021-12-04T12:32:42.361Z,1638621162.361 [Micromodem](INFO): Nmea in: $CAREV,123242,AUV,2.1.4000*2E

2021-12-04T12:32:42.740Z,1638621162.740 [Micromodem](INFO): Nmea in: $CAREV,123242,COPROC,0.20.0.39330*7F

2021-12-04T12:32:44.779Z,1638621164.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:45.585Z,1638621165.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:45.975Z,1638621165.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:46.434Z,1638621166.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 156.768332 deg, deltaT: 4.473889 s, deltaX: -0.180004 m, approachRate: -0.040234 m/s, LOS rate: -0.215704 deg/s, posRepo size: 4
2021-12-04T12:32:46.800Z,1638621166.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123246.12*5D

2021-12-04T12:32:46.801Z,1638621166.801 [Micromodem](INFO): Nmea in: $CAREV,123247,AUV,2.1.4000*2B

2021-12-04T12:32:47.188Z,1638621167.188 [Micromodem](INFO): Nmea in: $CAREV,123247,COPROC,0.20.0.39330*7A

2021-12-04T12:32:47.600Z,1638621167.600 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:32:49.205Z,1638621169.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:50.008Z,1638621170.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:50.428Z,1638621170.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:50.832Z,1638621170.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 157.357436 deg, deltaT: 4.397799 s, deltaX: -0.239996 m, approachRate: -0.054572 m/s, LOS rate: 0.133954 deg/s, posRepo size: 4
2021-12-04T12:32:51.240Z,1638621171.240 [Micromodem](INFO): Nmea in: $SNTTA,0.050700,,,,123250.54*44

2021-12-04T12:32:51.241Z,1638621171.241 [Micromodem](INFO): Nmea in: $CAREV,123251,AUV,2.1.4000*2C

2021-12-04T12:32:51.636Z,1638621171.636 [Micromodem](INFO): Nmea in: $CAREV,123251,COPROC,0.20.0.39330*7D

2021-12-04T12:32:53.689Z,1638621173.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:54.465Z,1638621174.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:54.855Z,1638621174.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:55.271Z,1638621175.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 157.930339 deg, deltaT: 4.439667 s, deltaX: -0.240002 m, approachRate: -0.054058 m/s, LOS rate: 0.129042 deg/s, posRepo size: 4
2021-12-04T12:32:55.684Z,1638621175.684 [Micromodem](INFO): Nmea in: $SNTTA,0.030202,,,,123255.00*41

2021-12-04T12:32:55.685Z,1638621175.685 [Micromodem](INFO): Nmea in: $CAREV,123256,AUV,2.1.4000*2B

2021-12-04T12:32:56.080Z,1638621176.080 [Micromodem](INFO): Nmea in: $CAREV,123256,COPROC,0.20.0.39330*7A

2021-12-04T12:32:58.110Z,1638621178.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:32:58.897Z,1638621178.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:32:59.303Z,1638621179.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:32:59.761Z,1638621179.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 157.063560 deg, deltaT: 4.489586 s, deltaX: -0.299999 m, approachRate: -0.066821 m/s, LOS rate: -0.193064 deg/s, posRepo size: 4
2021-12-04T12:33:00.132Z,1638621180.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123259.43*57

2021-12-04T12:33:00.133Z,1638621180.133 [Micromodem](INFO): Nmea in: $CAREV,123300,AUV,2.1.4000*29

2021-12-04T12:33:00.517Z,1638621180.517 [Micromodem](INFO): Nmea in: $CAREV,123300,COPROC,0.20.0.39330*78

2021-12-04T12:33:02.574Z,1638621182.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:03.333Z,1638621183.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:03.740Z,1638621183.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:03.794Z,1638621183.794 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:33:04.170Z,1638621184.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 155.955226 deg, deltaT: 4.408900 s, deltaX: -0.120001 m, approachRate: -0.027218 m/s, LOS rate: -0.251386 deg/s, posRepo size: 4
2021-12-04T12:33:04.576Z,1638621184.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123303.87*51

2021-12-04T12:33:04.577Z,1638621184.577 [Micromodem](INFO): Nmea in: $CAREV,123304,AUV,2.1.4000*2D

2021-12-04T12:33:04.964Z,1638621184.964 [Micromodem](INFO): Nmea in: $CAREV,123304,COPROC,0.20.0.39330*7C

2021-12-04T12:33:07.024Z,1638621187.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:07.821Z,1638621187.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:08.235Z,1638621188.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:08.653Z,1638621188.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 156.205470 deg, deltaT: 4.483675 s, deltaX: 0.060003 m, approachRate: 0.013383 m/s, LOS rate: 0.055812 deg/s, posRepo size: 4
2021-12-04T12:33:09.060Z,1638621189.060 [Micromodem](INFO): Nmea in: $SNTTA,0.048028,,,,123308.36*48

2021-12-04T12:33:09.061Z,1638621189.061 [Micromodem](INFO): Nmea in: $CAREV,123309,AUV,2.1.4000*20

2021-12-04T12:33:09.475Z,1638621189.475 [Micromodem](INFO): Nmea in: $CAREV,123309,COPROC,0.20.0.39330*71

2021-12-04T12:33:11.554Z,1638621191.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:12.265Z,1638621192.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:12.671Z,1638621192.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:13.091Z,1638621193.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 157.785020 deg, deltaT: 4.437974 s, deltaX: -0.480005 m, approachRate: -0.108159 m/s, LOS rate: 0.355917 deg/s, posRepo size: 4
2021-12-04T12:33:13.528Z,1638621193.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123312.80*56

2021-12-04T12:33:13.541Z,1638621193.541 [Micromodem](INFO): Nmea in: $CAREV,123313,AUV,2.1.4000*2B

2021-12-04T12:33:13.900Z,1638621193.900 [Micromodem](INFO): Nmea in: $CAREV,123313,COPROC,0.20.0.39330*7A

2021-12-04T12:33:15.912Z,1638621195.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:16.709Z,1638621196.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:17.119Z,1638621197.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:17.629Z,1638621197.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 159.974505 deg, deltaT: 4.535284 s, deltaX: -0.120001 m, approachRate: -0.026459 m/s, LOS rate: 0.482767 deg/s, posRepo size: 4
2021-12-04T12:33:17.952Z,1638621197.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123317.25*5C

2021-12-04T12:33:17.953Z,1638621197.953 [Micromodem](INFO): Nmea in: $CAREV,123318,AUV,2.1.4000*20

2021-12-04T12:33:18.340Z,1638621198.340 [Micromodem](INFO): Nmea in: $CAREV,123318,COPROC,0.20.0.39330*71

2021-12-04T12:33:20.398Z,1638621200.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:21.169Z,1638621201.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:21.572Z,1638621201.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:21.988Z,1638621201.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 159.531390 deg, deltaT: 4.361013 s, deltaX: -0.179998 m, approachRate: -0.041274 m/s, LOS rate: -0.101608 deg/s, posRepo size: 4
2021-12-04T12:33:22.401Z,1638621202.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123321.71*58

2021-12-04T12:33:22.404Z,1638621202.404 [Micromodem](INFO): Nmea in: $CAREV,123322,AUV,2.1.4000*29

2021-12-04T12:33:22.784Z,1638621202.784 [Micromodem](INFO): Nmea in: $CAREV,123322,COPROC,0.20.0.39330*78

2021-12-04T12:33:24.819Z,1638621204.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:25.593Z,1638621205.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:26.013Z,1638621206.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:26.450Z,1638621206.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 158.946493 deg, deltaT: 4.462423 s, deltaX: -0.179998 m, approachRate: -0.040336 m/s, LOS rate: -0.131071 deg/s, posRepo size: 4
2021-12-04T12:33:26.843Z,1638621206.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123326.13*5B

2021-12-04T12:33:26.845Z,1638621206.845 [Micromodem](INFO): Nmea in: $CAREV,123327,AUV,2.1.4000*2C

2021-12-04T12:33:27.224Z,1638621207.224 [Micromodem](INFO): Nmea in: $CAREV,123327,COPROC,0.20.0.39330*7D

2021-12-04T12:33:27.671Z,1638621207.671 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T12:33:27.671Z,1638621207.671 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T12:33:27.671Z,1638621207.671 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T12:33:27.806Z,1638621207.806 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T12:33:28.103Z,1638621208.103 [RDI_Pathfinder](INFO): Powering down
2021-12-04T12:33:29.002Z,1638621209.002 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T12:33:29.002Z,1638621209.002 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T12:33:29.304Z,1638621209.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:30.084Z,1638621210.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:30.479Z,1638621210.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:30.905Z,1638621210.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 157.562724 deg, deltaT: 4.452161 s, deltaX: -0.299999 m, approachRate: -0.067383 m/s, LOS rate: -0.310808 deg/s, posRepo size: 4
2021-12-04T12:33:31.308Z,1638621211.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123330.62*5A

2021-12-04T12:33:31.309Z,1638621211.309 [Micromodem](INFO): Nmea in: $CAREV,123331,AUV,2.1.4000*2B

2021-12-04T12:33:31.697Z,1638621211.697 [Micromodem](INFO): Nmea in: $CAREV,123331,COPROC,0.20.0.39330*7A

2021-12-04T12:33:33.727Z,1638621213.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:34.525Z,1638621214.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:34.923Z,1638621214.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:35.342Z,1638621215.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 158.368769 deg, deltaT: 4.439615 s, deltaX: -0.299999 m, approachRate: -0.067573 m/s, LOS rate: 0.181557 deg/s, posRepo size: 4
2021-12-04T12:33:35.800Z,1638621215.800 [Micromodem](INFO): Nmea in: $SNTTA,0.038604,,,,123335.06*4A

2021-12-04T12:33:35.802Z,1638621215.802 [Micromodem](INFO): Nmea in: $CAREV,123336,AUV,2.1.4000*2C

2021-12-04T12:33:36.144Z,1638621216.144 [Micromodem](INFO): Nmea in: $CAREV,123336,COPROC,0.20.0.39330*7D

2021-12-04T12:33:38.170Z,1638621218.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:38.973Z,1638621218.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:39.371Z,1638621219.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:39.801Z,1638621219.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 160.160559 deg, deltaT: 4.458964 s, deltaX: -0.180004 m, approachRate: -0.040369 m/s, LOS rate: 0.401840 deg/s, posRepo size: 4
2021-12-04T12:33:40.204Z,1638621220.204 [Micromodem](INFO): Nmea in: $SNTTA,0.024984,,,,123339.51*4E

2021-12-04T12:33:40.205Z,1638621220.205 [Micromodem](INFO): Nmea in: $CAREV,123340,AUV,2.1.4000*2D

2021-12-04T12:33:40.588Z,1638621220.588 [Micromodem](INFO): Nmea in: $CAREV,123340,COPROC,0.20.0.39330*7C

2021-12-04T12:33:42.623Z,1638621222.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:43.425Z,1638621223.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:43.819Z,1638621223.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:44.227Z,1638621224.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 161.847165 deg, deltaT: 4.426267 s, deltaX: -0.179998 m, approachRate: -0.040666 m/s, LOS rate: 0.381045 deg/s, posRepo size: 4
2021-12-04T12:33:44.640Z,1638621224.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123343.96*55

2021-12-04T12:33:44.641Z,1638621224.641 [Micromodem](INFO): Nmea in: $CAREV,123345,AUV,2.1.4000*28

2021-12-04T12:33:45.035Z,1638621225.035 [Micromodem](INFO): Nmea in: $CAREV,123345,COPROC,0.20.0.39330*79

2021-12-04T12:33:47.056Z,1638621227.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:47.849Z,1638621227.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:48.263Z,1638621228.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:48.699Z,1638621228.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 160.288093 deg, deltaT: 4.471287 s, deltaX: -0.179998 m, approachRate: -0.040257 m/s, LOS rate: -0.348685 deg/s, posRepo size: 4
2021-12-04T12:33:49.096Z,1638621229.096 [Micromodem](INFO): Nmea in: $SNTTA,0.038519,,,,123348.39*43

2021-12-04T12:33:49.097Z,1638621229.097 [Micromodem](INFO): Nmea in: $CAREV,123349,AUV,2.1.4000*24

2021-12-04T12:33:49.476Z,1638621229.476 [Micromodem](INFO): Nmea in: $CAREV,123349,COPROC,0.20.0.39330*75

2021-12-04T12:33:51.541Z,1638621231.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:52.293Z,1638621232.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:52.711Z,1638621232.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:53.120Z,1638621233.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 161.315121 deg, deltaT: 4.421463 s, deltaX: -0.240002 m, approachRate: -0.054281 m/s, LOS rate: 0.232282 deg/s, posRepo size: 4
2021-12-04T12:33:53.536Z,1638621233.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123352.83*51

2021-12-04T12:33:53.537Z,1638621233.537 [Micromodem](INFO): Nmea in: $CAREV,123353,AUV,2.1.4000*2F

2021-12-04T12:33:53.928Z,1638621233.928 [Micromodem](INFO): Nmea in: $CAREV,123353,COPROC,0.20.0.39330*7E

2021-12-04T12:33:55.941Z,1638621235.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:33:56.741Z,1638621236.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:33:56.781Z,1638621236.781 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:33:57.139Z,1638621237.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:33:57.615Z,1638621237.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 160.661035 deg, deltaT: 4.494553 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.145529 deg/s, posRepo size: 4
2021-12-04T12:33:57.976Z,1638621237.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123357.28*55

2021-12-04T12:33:57.977Z,1638621237.977 [Micromodem](INFO): Nmea in: $CAREV,123358,AUV,2.1.4000*24

2021-12-04T12:33:58.367Z,1638621238.367 [Micromodem](INFO): Nmea in: $CAREV,123358,COPROC,0.20.0.39330*75

2021-12-04T12:34:00.434Z,1638621240.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:01.181Z,1638621241.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:01.587Z,1638621241.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:01.999Z,1638621241.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 163.453885 deg, deltaT: 4.384963 s, deltaX: -0.300001 m, approachRate: -0.068416 m/s, LOS rate: 0.636915 deg/s, posRepo size: 4
2021-12-04T12:34:02.424Z,1638621242.424 [Micromodem](INFO): Nmea in: $SNTTA,0.015575,,,,123401.72*43

2021-12-04T12:34:02.425Z,1638621242.425 [Micromodem](INFO): Nmea in: $CAREV,123402,AUV,2.1.4000*2C

2021-12-04T12:34:02.804Z,1638621242.804 [Micromodem](INFO): Nmea in: $CAREV,123402,COPROC,0.20.0.39330*7D

2021-12-04T12:34:04.828Z,1638621244.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:05.636Z,1638621245.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:06.027Z,1638621246.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:06.494Z,1638621246.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 163.317159 deg, deltaT: 4.494897 s, deltaX: -0.179998 m, approachRate: -0.040045 m/s, LOS rate: -0.030418 deg/s, posRepo size: 4
2021-12-04T12:34:06.868Z,1638621246.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123406.17*5A

2021-12-04T12:34:06.869Z,1638621246.869 [Micromodem](INFO): Nmea in: $CAREV,123407,AUV,2.1.4000*29

2021-12-04T12:34:07.253Z,1638621247.253 [Micromodem](INFO): Nmea in: $CAREV,123407,COPROC,0.20.0.39330*78

2021-12-04T12:34:09.272Z,1638621249.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:10.069Z,1638621250.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:10.475Z,1638621250.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:10.895Z,1638621250.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 163.399462 deg, deltaT: 4.400896 s, deltaX: -0.179998 m, approachRate: -0.040900 m/s, LOS rate: 0.018702 deg/s, posRepo size: 4
2021-12-04T12:34:11.308Z,1638621251.308 [Micromodem](INFO): Nmea in: $SNTTA,0.037882,,,,123410.61*44

2021-12-04T12:34:11.312Z,1638621251.312 [Micromodem](INFO): Nmea in: $CAREV,123411,AUV,2.1.4000*2E

2021-12-04T12:34:11.702Z,1638621251.702 [Micromodem](INFO): Nmea in: $CAREV,123411,COPROC,0.20.0.39330*7F

2021-12-04T12:34:13.750Z,1638621253.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:14.509Z,1638621254.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:14.919Z,1638621254.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:15.454Z,1638621255.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 165.918546 deg, deltaT: 4.558798 s, deltaX: -0.180004 m, approachRate: -0.039485 m/s, LOS rate: 0.552576 deg/s, posRepo size: 4
2021-12-04T12:34:15.764Z,1638621255.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123415.04*5A

2021-12-04T12:34:15.765Z,1638621255.765 [Micromodem](INFO): Nmea in: $CAREV,123416,AUV,2.1.4000*29

2021-12-04T12:34:16.148Z,1638621256.148 [Micromodem](INFO): Nmea in: $CAREV,123416,COPROC,0.20.0.39330*78

2021-12-04T12:34:18.165Z,1638621258.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:18.962Z,1638621258.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:19.420Z,1638621259.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:19.790Z,1638621259.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 165.154589 deg, deltaT: 4.335659 s, deltaX: -0.179998 m, approachRate: -0.041516 m/s, LOS rate: -0.176203 deg/s, posRepo size: 4
2021-12-04T12:34:20.192Z,1638621260.192 [Micromodem](INFO): Nmea in: $SNTTA,0.029548,,,,123419.50*4B

2021-12-04T12:34:20.193Z,1638621260.193 [Micromodem](INFO): Nmea in: $CAREV,123420,AUV,2.1.4000*2C

2021-12-04T12:34:20.599Z,1638621260.599 [Micromodem](INFO): Nmea in: $CAREV,123420,COPROC,0.20.0.39330*7D

2021-12-04T12:34:22.635Z,1638621262.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:23.417Z,1638621263.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:23.813Z,1638621263.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:24.230Z,1638621264.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 165.928859 deg, deltaT: 4.440630 s, deltaX: -0.059998 m, approachRate: -0.013511 m/s, LOS rate: 0.174360 deg/s, posRepo size: 4
2021-12-04T12:34:25.028Z,1638621265.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123424.00*5C

2021-12-04T12:34:25.029Z,1638621265.029 [Micromodem](INFO): Nmea in: $CAREV,123425,AUV,2.1.4000*29

2021-12-04T12:34:25.457Z,1638621265.457 [Micromodem](INFO): Nmea in: $CAREV,123425,COPROC,0.20.0.39330*78

2021-12-04T12:34:27.080Z,1638621267.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:27.850Z,1638621267.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:28.261Z,1638621268.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:28.721Z,1638621268.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 166.679401 deg, deltaT: 4.484434 s, deltaX: -0.120001 m, approachRate: -0.026759 m/s, LOS rate: 0.167366 deg/s, posRepo size: 4
2021-12-04T12:34:29.084Z,1638621269.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123428.39*5A

2021-12-04T12:34:29.085Z,1638621269.085 [Micromodem](INFO): Nmea in: $CAREV,123429,AUV,2.1.4000*25

2021-12-04T12:34:29.468Z,1638621269.468 [Micromodem](INFO): Nmea in: $CAREV,123429,COPROC,0.20.0.39330*74

2021-12-04T12:34:31.531Z,1638621271.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:32.285Z,1638621272.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:32.704Z,1638621272.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:33.139Z,1638621273.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 166.828655 deg, deltaT: 4.421420 s, deltaX: -0.179998 m, approachRate: -0.040711 m/s, LOS rate: 0.033757 deg/s, posRepo size: 4
2021-12-04T12:34:33.524Z,1638621273.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123432.82*51

2021-12-04T12:34:33.525Z,1638621273.525 [Micromodem](INFO): Nmea in: $CAREV,123433,AUV,2.1.4000*2E

2021-12-04T12:34:33.920Z,1638621273.920 [Micromodem](INFO): Nmea in: $CAREV,123433,COPROC,0.20.0.39330*7F

2021-12-04T12:34:35.948Z,1638621275.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:36.729Z,1638621276.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:37.149Z,1638621277.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:37.663Z,1638621277.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 168.894213 deg, deltaT: 4.514824 s, deltaX: -0.120001 m, approachRate: -0.026579 m/s, LOS rate: 0.457506 deg/s, posRepo size: 4
2021-12-04T12:34:37.972Z,1638621277.972 [Micromodem](INFO): Nmea in: $SNTTA,0.115187,,,,123437.27*4E

2021-12-04T12:34:37.973Z,1638621277.973 [Micromodem](INFO): Nmea in: $CAREV,123438,AUV,2.1.4000*25

2021-12-04T12:34:38.364Z,1638621278.364 [Micromodem](INFO): Nmea in: $CAREV,123438,COPROC,0.20.0.39330*74

2021-12-04T12:34:40.479Z,1638621280.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:41.185Z,1638621281.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:41.583Z,1638621281.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:41.999Z,1638621281.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 170.449720 deg, deltaT: 4.348212 s, deltaX: -0.060003 m, approachRate: -0.013800 m/s, LOS rate: 0.357735 deg/s, posRepo size: 4
2021-12-04T12:34:42.428Z,1638621282.428 [Micromodem](INFO): Nmea in: $SNTTA,0.064661,,,,123441.72*47

2021-12-04T12:34:42.429Z,1638621282.429 [Micromodem](INFO): Nmea in: $CAREV,123442,AUV,2.1.4000*28

2021-12-04T12:34:42.804Z,1638621282.804 [Micromodem](INFO): Nmea in: $CAREV,123442,COPROC,0.20.0.39330*79

2021-12-04T12:34:44.849Z,1638621284.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:45.621Z,1638621285.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:46.035Z,1638621286.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:46.481Z,1638621286.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 171.093739 deg, deltaT: 4.482380 s, deltaX: -0.179998 m, approachRate: -0.040157 m/s, LOS rate: 0.143678 deg/s, posRepo size: 4
2021-12-04T12:34:46.864Z,1638621286.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123446.16*5F

2021-12-04T12:34:46.865Z,1638621286.865 [Micromodem](INFO): Nmea in: $CAREV,123447,AUV,2.1.4000*2D

2021-12-04T12:34:47.244Z,1638621287.244 [Micromodem](INFO): Nmea in: $CAREV,123447,COPROC,0.20.0.39330*7C

2021-12-04T12:34:49.285Z,1638621289.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:50.061Z,1638621290.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:50.475Z,1638621290.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:50.908Z,1638621290.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 171.558192 deg, deltaT: 4.426312 s, deltaX: -0.179998 m, approachRate: -0.040666 m/s, LOS rate: 0.104930 deg/s, posRepo size: 4
2021-12-04T12:34:51.336Z,1638621291.336 [Micromodem](INFO): Nmea in: $SNTTA,0.014427,,,,123450.60*43

2021-12-04T12:34:51.339Z,1638621291.339 [Micromodem](INFO): Nmea in: $CAREV,123451,AUV,2.1.4000*2A

2021-12-04T12:34:51.696Z,1638621291.696 [Micromodem](INFO): Nmea in: $CAREV,123451,COPROC,0.20.0.39330*7B

2021-12-04T12:34:53.749Z,1638621293.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:54.509Z,1638621294.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:54.915Z,1638621294.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:55.453Z,1638621295.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 173.289290 deg, deltaT: 4.544872 s, deltaX: -0.179998 m, approachRate: -0.039605 m/s, LOS rate: 0.380890 deg/s, posRepo size: 4
2021-12-04T12:34:55.749Z,1638621295.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123455.05*5F

2021-12-04T12:34:55.750Z,1638621295.750 [Micromodem](INFO): Nmea in: $CAREV,123456,AUV,2.1.4000*2D

2021-12-04T12:34:56.144Z,1638621296.144 [Micromodem](INFO): Nmea in: $CAREV,123456,COPROC,0.20.0.39330*7C

2021-12-04T12:34:58.164Z,1638621298.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:34:58.965Z,1638621298.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:34:59.412Z,1638621299.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:34:59.780Z,1638621299.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 171.405797 deg, deltaT: 4.327385 s, deltaX: -0.180004 m, approachRate: -0.041597 m/s, LOS rate: -0.435250 deg/s, posRepo size: 4
2021-12-04T12:35:00.184Z,1638621300.184 [Micromodem](INFO): Nmea in: $SNTTA,0.082755,,,,123459.50*40

2021-12-04T12:35:00.185Z,1638621300.185 [Micromodem](INFO): Nmea in: $CAREV,123500,AUV,2.1.4000*2F

2021-12-04T12:35:00.588Z,1638621300.588 [Micromodem](INFO): Nmea in: $CAREV,123500,COPROC,0.20.0.39330*7E

2021-12-04T12:35:02.639Z,1638621302.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:03.421Z,1638621303.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:03.839Z,1638621303.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:04.268Z,1638621304.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 172.925063 deg, deltaT: 4.487552 s, deltaX: -0.179998 m, approachRate: -0.040111 m/s, LOS rate: 0.338551 deg/s, posRepo size: 4
2021-12-04T12:35:04.668Z,1638621304.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123503.96*57

2021-12-04T12:35:04.669Z,1638621304.669 [Micromodem](INFO): Nmea in: $CAREV,123505,AUV,2.1.4000*2A

2021-12-04T12:35:05.064Z,1638621305.064 [Micromodem](INFO): Nmea in: $CAREV,123505,COPROC,0.20.0.39330*7B

2021-12-04T12:35:07.081Z,1638621307.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:07.877Z,1638621307.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:08.283Z,1638621308.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:08.725Z,1638621308.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 173.549547 deg, deltaT: 4.457451 s, deltaX: -0.120001 m, approachRate: -0.026921 m/s, LOS rate: 0.140099 deg/s, posRepo size: 4
2021-12-04T12:35:09.120Z,1638621309.120 [Micromodem](INFO): Nmea in: $SNTTA,0.034222,,,,123508.41*4D

2021-12-04T12:35:09.121Z,1638621309.121 [Micromodem](INFO): Nmea in: $CAREV,123509,AUV,2.1.4000*26

2021-12-04T12:35:09.504Z,1638621309.504 [Micromodem](INFO): Nmea in: $CAREV,123509,COPROC,0.20.0.39330*77

2021-12-04T12:35:11.569Z,1638621311.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:12.317Z,1638621312.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:12.739Z,1638621312.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:13.156Z,1638621313.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 175.964880 deg, deltaT: 4.430846 s, deltaX: -0.059999 m, approachRate: -0.013541 m/s, LOS rate: 0.545118 deg/s, posRepo size: 4
2021-12-04T12:35:13.560Z,1638621313.560 [Micromodem](INFO): Nmea in: $SNTTA,0.030863,,,,123512.85*45

2021-12-04T12:35:13.561Z,1638621313.561 [Micromodem](INFO): Nmea in: $CAREV,123513,AUV,2.1.4000*2D

2021-12-04T12:35:13.954Z,1638621313.954 [Micromodem](INFO): Nmea in: $CAREV,123513,COPROC,0.20.0.39330*7C

2021-12-04T12:35:15.990Z,1638621315.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:16.781Z,1638621316.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:17.175Z,1638621317.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:17.672Z,1638621317.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 175.050181 deg, deltaT: 4.515588 s, deltaX: -0.060003 m, approachRate: -0.013288 m/s, LOS rate: -0.202565 deg/s, posRepo size: 4
2021-12-04T12:35:18.011Z,1638621318.011 [Micromodem](INFO): Nmea in: $SNTTA,0.038239,,,,123517.32*41

2021-12-04T12:35:18.012Z,1638621318.012 [Micromodem](INFO): Nmea in: $CAREV,123518,AUV,2.1.4000*26

2021-12-04T12:35:18.424Z,1638621318.424 [Micromodem](INFO): Nmea in: $CAREV,123518,COPROC,0.20.0.39330*77

2021-12-04T12:35:20.445Z,1638621320.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:21.217Z,1638621321.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:21.622Z,1638621321.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:22.043Z,1638621322.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 176.160223 deg, deltaT: 4.371477 s, deltaX: -0.119995 m, approachRate: -0.027450 m/s, LOS rate: 0.253928 deg/s, posRepo size: 4
2021-12-04T12:35:22.479Z,1638621322.479 [Micromodem](INFO): Nmea in: $SNTTA,0.035054,,,,123521.76*40

2021-12-04T12:35:22.480Z,1638621322.480 [Micromodem](INFO): Nmea in: $CAREV,123522,AUV,2.1.4000*2F

2021-12-04T12:35:22.484Z,1638621322.484 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:35:22.845Z,1638621322.845 [Micromodem](INFO): Nmea in: $CAREV,123522,COPROC,0.20.0.39330*7E

2021-12-04T12:35:24.869Z,1638621324.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:25.661Z,1638621325.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:26.063Z,1638621326.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:26.536Z,1638621326.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 177.751411 deg, deltaT: 4.482731 s, deltaX: -0.060003 m, approachRate: -0.013385 m/s, LOS rate: 0.354960 deg/s, posRepo size: 4
2021-12-04T12:35:26.905Z,1638621326.905 [Micromodem](INFO): Nmea in: $SNTTA,0.037725,,,,123526.20*47

2021-12-04T12:35:26.907Z,1638621326.907 [Micromodem](INFO): Nmea in: $CAREV,123527,AUV,2.1.4000*2A

2021-12-04T12:35:27.294Z,1638621327.294 [Micromodem](INFO): Nmea in: $CAREV,123527,COPROC,0.20.0.39330*7B

2021-12-04T12:35:29.365Z,1638621329.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:30.100Z,1638621330.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:30.515Z,1638621330.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:30.928Z,1638621330.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 177.137186 deg, deltaT: 4.401852 s, deltaX: -0.120001 m, approachRate: -0.027261 m/s, LOS rate: -0.139538 deg/s, posRepo size: 4
2021-12-04T12:35:31.361Z,1638621331.361 [Micromodem](INFO): Nmea in: $SNTTA,0.016036,,,,123530.64*46

2021-12-04T12:35:31.368Z,1638621331.368 [Micromodem](INFO): Nmea in: $CAREV,123531,AUV,2.1.4000*2D

2021-12-04T12:35:31.736Z,1638621331.736 [Micromodem](INFO): Nmea in: $CAREV,123531,COPROC,0.20.0.39330*7C

2021-12-04T12:35:33.443Z,1638621333.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:34.141Z,1638621334.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:34.547Z,1638621334.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:34.967Z,1638621334.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 176.568545 deg, deltaT: 4.039907 s, deltaX: -0.119995 m, approachRate: -0.029702 m/s, LOS rate: -0.140756 deg/s, posRepo size: 4
2021-12-04T12:35:35.428Z,1638621335.428 [Micromodem](INFO): Nmea in: $SNTTA,0.041798,,,,123534.68*4F

2021-12-04T12:35:35.429Z,1638621335.429 [Micromodem](INFO): Nmea in: $CAREV,123535,AUV,2.1.4000*29

2021-12-04T12:35:35.776Z,1638621335.776 [Micromodem](INFO): Nmea in: $CAREV,123535,COPROC,0.20.0.39330*78

2021-12-04T12:35:37.468Z,1638621337.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:38.185Z,1638621338.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:38.595Z,1638621338.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:39.028Z,1638621339.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 177.545672 deg, deltaT: 4.056041 s, deltaX: -0.120001 m, approachRate: -0.029586 m/s, LOS rate: 0.240907 deg/s, posRepo size: 4
2021-12-04T12:35:39.440Z,1638621339.440 [Micromodem](INFO): Nmea in: $SNTTA,0.029055,,,,123538.72*40

2021-12-04T12:35:39.441Z,1638621339.441 [Micromodem](INFO): Nmea in: $CAREV,123539,AUV,2.1.4000*25

2021-12-04T12:35:39.816Z,1638621339.816 [Micromodem](INFO): Nmea in: $CAREV,123539,COPROC,0.20.0.39330*74

2021-12-04T12:35:41.851Z,1638621341.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:42.640Z,1638621342.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:43.027Z,1638621343.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:43.523Z,1638621343.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 177.622198 deg, deltaT: 4.478841 s, deltaX: 0.059998 m, approachRate: 0.013396 m/s, LOS rate: 0.017086 deg/s, posRepo size: 4
2021-12-04T12:35:43.864Z,1638621343.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123543.18*55

2021-12-04T12:35:43.865Z,1638621343.865 [Micromodem](INFO): Nmea in: $CAREV,123544,AUV,2.1.4000*2F

2021-12-04T12:35:44.256Z,1638621344.256 [Micromodem](INFO): Nmea in: $CAREV,123544,COPROC,0.20.0.39330*7E

2021-12-04T12:35:46.415Z,1638621346.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:47.065Z,1638621347.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:47.478Z,1638621347.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:47.909Z,1638621347.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 179.689873 deg, deltaT: 4.406438 s, deltaX: -0.179998 m, approachRate: -0.040849 m/s, LOS rate: 0.469240 deg/s, posRepo size: 4
2021-12-04T12:35:48.316Z,1638621348.316 [Micromodem](INFO): Nmea in: $SNTTA,0.016363,,,,123547.61*40

2021-12-04T12:35:48.317Z,1638621348.317 [Micromodem](INFO): Nmea in: $CAREV,123548,AUV,2.1.4000*23

2021-12-04T12:35:48.700Z,1638621348.700 [Micromodem](INFO): Nmea in: $CAREV,123548,COPROC,0.20.0.39330*72

2021-12-04T12:35:50.727Z,1638621350.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:51.513Z,1638621351.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:51.915Z,1638621351.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:52.349Z,1638621352.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 179.450065 deg, deltaT: 4.439758 s, deltaX: 0.059998 m, approachRate: 0.013514 m/s, LOS rate: -0.054014 deg/s, posRepo size: 4
2021-12-04T12:35:52.764Z,1638621352.764 [Micromodem](INFO): Nmea in: $SNTTA,0.016289,,,,123552.05*43

2021-12-04T12:35:52.765Z,1638621352.765 [Micromodem](INFO): Nmea in: $CAREV,123553,AUV,2.1.4000*29

2021-12-04T12:35:53.155Z,1638621353.155 [Micromodem](INFO): Nmea in: $CAREV,123553,COPROC,0.20.0.39330*78

2021-12-04T12:35:55.192Z,1638621355.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:35:55.965Z,1638621355.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:35:56.389Z,1638621356.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:35:56.800Z,1638621356.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 181.500502 deg, deltaT: 4.451043 s, deltaX: -0.239996 m, approachRate: -0.053919 m/s, LOS rate: 0.460664 deg/s, posRepo size: 4
2021-12-04T12:35:57.208Z,1638621357.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123556.50*5D

2021-12-04T12:35:57.209Z,1638621357.209 [Micromodem](INFO): Nmea in: $CAREV,123557,AUV,2.1.4000*2D

2021-12-04T12:35:57.592Z,1638621357.592 [Micromodem](INFO): Nmea in: $CAREV,123557,COPROC,0.20.0.39330*7C

2021-12-04T12:35:59.648Z,1638621359.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:00.420Z,1638621360.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:00.811Z,1638621360.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:01.235Z,1638621361.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 185.843327 deg, deltaT: 4.435778 s, deltaX: -0.120001 m, approachRate: -0.027053 m/s, LOS rate: 0.979045 deg/s, posRepo size: 4
2021-12-04T12:36:01.644Z,1638621361.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123600.96*57

2021-12-04T12:36:01.645Z,1638621361.645 [Micromodem](INFO): Nmea in: $CAREV,123602,AUV,2.1.4000*2E

2021-12-04T12:36:02.040Z,1638621362.040 [Micromodem](INFO): Nmea in: $CAREV,123602,COPROC,0.20.0.39330*7F

2021-12-04T12:36:04.077Z,1638621364.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:04.849Z,1638621364.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:05.263Z,1638621365.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:05.765Z,1638621365.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 187.911126 deg, deltaT: 4.529877 s, deltaX: 0.059998 m, approachRate: 0.013245 m/s, LOS rate: 0.456480 deg/s, posRepo size: 4
2021-12-04T12:36:06.096Z,1638621366.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123605.39*57

2021-12-04T12:36:06.097Z,1638621366.097 [Micromodem](INFO): Nmea in: $CAREV,123606,AUV,2.1.4000*2A

2021-12-04T12:36:06.484Z,1638621366.484 [Micromodem](INFO): Nmea in: $CAREV,123606,COPROC,0.20.0.39330*7B

2021-12-04T12:36:08.514Z,1638621368.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:09.298Z,1638621369.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:09.705Z,1638621369.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:10.152Z,1638621370.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 192.483856 deg, deltaT: 4.386119 s, deltaX: -0.120001 m, approachRate: -0.027359 m/s, LOS rate: 1.042546 deg/s, posRepo size: 4
2021-12-04T12:36:10.537Z,1638621370.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123609.84*5D

2021-12-04T12:36:10.538Z,1638621370.538 [Micromodem](INFO): Nmea in: $CAREV,123610,AUV,2.1.4000*2D

2021-12-04T12:36:10.916Z,1638621370.916 [Micromodem](INFO): Nmea in: $CAREV,123610,COPROC,0.20.0.39330*7C

2021-12-04T12:36:12.962Z,1638621372.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:13.741Z,1638621373.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:14.153Z,1638621374.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:14.621Z,1638621374.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 194.521356 deg, deltaT: 4.460261 s, deltaX: 0.120001 m, approachRate: 0.026904 m/s, LOS rate: 0.456812 deg/s, posRepo size: 4
2021-12-04T12:36:14.983Z,1638621374.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123614.28*57

2021-12-04T12:36:14.984Z,1638621374.984 [Micromodem](INFO): Nmea in: $CAREV,123615,AUV,2.1.4000*28

2021-12-04T12:36:15.421Z,1638621375.421 [Micromodem](INFO): Nmea in: $CAREV,123615,COPROC,0.20.0.39330*79

2021-12-04T12:36:17.457Z,1638621377.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:18.181Z,1638621378.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:18.595Z,1638621378.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:19.028Z,1638621379.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 198.419659 deg, deltaT: 4.395987 s, deltaX: 0.060003 m, approachRate: 0.013650 m/s, LOS rate: 0.886787 deg/s, posRepo size: 4
2021-12-04T12:36:19.436Z,1638621379.436 [Micromodem](INFO): Nmea in: $SNTTA,0.013317,,,,123618.72*4D

2021-12-04T12:36:19.438Z,1638621379.438 [Micromodem](INFO): Nmea in: $CAREV,123619,AUV,2.1.4000*24

2021-12-04T12:36:19.812Z,1638621379.812 [Micromodem](INFO): Nmea in: $CAREV,123619,COPROC,0.20.0.39330*75

2021-12-04T12:36:21.839Z,1638621381.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:22.621Z,1638621382.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:23.027Z,1638621383.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:23.544Z,1638621383.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 196.605397 deg, deltaT: 4.525152 s, deltaX: -0.120001 m, approachRate: -0.026519 m/s, LOS rate: -0.400928 deg/s, posRepo size: 4
2021-12-04T12:36:23.860Z,1638621383.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123623.16*5E

2021-12-04T12:36:23.861Z,1638621383.861 [Micromodem](INFO): Nmea in: $CAREV,123624,AUV,2.1.4000*2A

2021-12-04T12:36:24.256Z,1638621384.256 [Micromodem](INFO): Nmea in: $CAREV,123624,COPROC,0.20.0.39330*7B

2021-12-04T12:36:26.294Z,1638621386.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:27.069Z,1638621387.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:27.467Z,1638621387.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:27.914Z,1638621387.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 131.124838 deg, deltaT: 4.381196 s, deltaX: -0.060003 m, approachRate: -0.013696 m/s, LOS rate: -14.945818 deg/s, posRepo size: 4
2021-12-04T12:36:28.316Z,1638621388.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123627.61*5A

2021-12-04T12:36:28.317Z,1638621388.317 [Micromodem](INFO): Nmea in: $CAREV,123628,AUV,2.1.4000*26

2021-12-04T12:36:28.700Z,1638621388.700 [Micromodem](INFO): Nmea in: $CAREV,123628,COPROC,0.20.0.39330*77

2021-12-04T12:36:30.776Z,1638621390.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:31.517Z,1638621391.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:31.919Z,1638621391.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:32.349Z,1638621392.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 192.763060 deg, deltaT: 4.435350 s, deltaX: 1.080002 m, approachRate: 0.243499 m/s, LOS rate: 13.897037 deg/s, posRepo size: 4
2021-12-04T12:36:32.788Z,1638621392.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123632.05*5C

2021-12-04T12:36:32.789Z,1638621392.789 [Micromodem](INFO): Nmea in: $CAREV,123633,AUV,2.1.4000*2C

2021-12-04T12:36:33.136Z,1638621393.136 [Micromodem](INFO): Nmea in: $CAREV,123633,COPROC,0.20.0.39330*7D

2021-12-04T12:36:35.160Z,1638621395.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:35.965Z,1638621395.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:36.363Z,1638621396.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:37.193Z,1638621397.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123636.51*59

2021-12-04T12:36:37.194Z,1638621397.194 [Micromodem](INFO): Nmea in: $CAREV,123637,AUV,2.1.4000*28

2021-12-04T12:36:37.573Z,1638621397.573 [Micromodem](INFO): Nmea in: $CAREV,123637,COPROC,0.20.0.39330*79

2021-12-04T12:36:37.989Z,1638621397.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:39.592Z,1638621399.592 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:36:40.824Z,1638621400.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:41.613Z,1638621401.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:42.027Z,1638621402.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:42.477Z,1638621402.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 179.599223 deg, deltaT: 10.127559 s, deltaX: -1.139999 m, approachRate: -0.112564 m/s, LOS rate: -1.299804 deg/s, posRepo size: 4
2021-12-04T12:36:42.859Z,1638621402.859 [Micromodem](INFO): Nmea in: $SNTTA,0.030312,,,,123642.15*47

2021-12-04T12:36:42.860Z,1638621402.860 [Micromodem](INFO): Nmea in: $CAREV,123643,AUV,2.1.4000*2B

2021-12-04T12:36:43.240Z,1638621403.240 [Micromodem](INFO): Nmea in: $CAREV,123643,COPROC,0.20.0.39330*7A

2021-12-04T12:36:45.260Z,1638621405.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:46.057Z,1638621406.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:46.470Z,1638621406.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:46.895Z,1638621406.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 169.671803 deg, deltaT: 4.418155 s, deltaX: 0.120001 m, approachRate: 0.027161 m/s, LOS rate: -2.246961 deg/s, posRepo size: 4
2021-12-04T12:36:47.312Z,1638621407.312 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123646.60*5C

2021-12-04T12:36:47.316Z,1638621407.316 [Micromodem](INFO): Nmea in: $CAREV,123647,AUV,2.1.4000*2F

2021-12-04T12:36:47.698Z,1638621407.698 [Micromodem](INFO): Nmea in: $CAREV,123647,COPROC,0.20.0.39330*7E

2021-12-04T12:36:49.738Z,1638621409.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:50.502Z,1638621410.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:50.928Z,1638621410.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:51.458Z,1638621411.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 165.116859 deg, deltaT: 4.559888 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.998916 deg/s, posRepo size: 4
2021-12-04T12:36:51.732Z,1638621411.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123651.04*58

2021-12-04T12:36:51.733Z,1638621411.733 [Micromodem](INFO): Nmea in: $CAREV,123652,AUV,2.1.4000*2B

2021-12-04T12:36:52.140Z,1638621412.140 [Micromodem](INFO): Nmea in: $CAREV,123652,COPROC,0.20.0.39330*7A

2021-12-04T12:36:54.153Z,1638621414.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:54.945Z,1638621414.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:55.397Z,1638621415.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:36:55.783Z,1638621415.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 164.338654 deg, deltaT: 4.312430 s, deltaX: 0.120001 m, approachRate: 0.027827 m/s, LOS rate: -0.180456 deg/s, posRepo size: 4
2021-12-04T12:36:56.192Z,1638621416.192 [Micromodem](INFO): Nmea in: $SNTTA,0.030745,,,,123655.48*4F

2021-12-04T12:36:56.193Z,1638621416.193 [Micromodem](INFO): Nmea in: $CAREV,123656,AUV,2.1.4000*2F

2021-12-04T12:36:56.572Z,1638621416.572 [Micromodem](INFO): Nmea in: $CAREV,123656,COPROC,0.20.0.39330*7E

2021-12-04T12:36:58.616Z,1638621418.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:36:59.430Z,1638621419.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:36:59.796Z,1638621419.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:00.237Z,1638621420.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 161.749903 deg, deltaT: 4.469701 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.579178 deg/s, posRepo size: 4
2021-12-04T12:37:00.633Z,1638621420.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123659.97*5A

2021-12-04T12:37:00.634Z,1638621420.634 [Micromodem](INFO): Nmea in: $CAREV,123701,AUV,2.1.4000*2C

2021-12-04T12:37:01.012Z,1638621421.012 [Micromodem](INFO): Nmea in: $CAREV,123701,COPROC,0.20.0.39330*7D

2021-12-04T12:37:03.043Z,1638621423.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:03.841Z,1638621423.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:04.241Z,1638621424.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:04.678Z,1638621424.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 154.644567 deg, deltaT: 4.441196 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -1.599870 deg/s, posRepo size: 4
2021-12-04T12:37:05.088Z,1638621425.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123704.38*56

2021-12-04T12:37:05.090Z,1638621425.090 [Micromodem](INFO): Nmea in: $CAREV,123705,AUV,2.1.4000*28

2021-12-04T12:37:05.480Z,1638621425.480 [Micromodem](INFO): Nmea in: $CAREV,123705,COPROC,0.20.0.39330*79

2021-12-04T12:37:07.548Z,1638621427.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:08.277Z,1638621428.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:08.675Z,1638621428.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:09.111Z,1638621429.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 151.980807 deg, deltaT: 4.432734 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.600929 deg/s, posRepo size: 4
2021-12-04T12:37:09.512Z,1638621429.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123708.82*5B

2021-12-04T12:37:09.513Z,1638621429.513 [Micromodem](INFO): Nmea in: $CAREV,123709,AUV,2.1.4000*24

2021-12-04T12:37:09.904Z,1638621429.904 [Micromodem](INFO): Nmea in: $CAREV,123709,COPROC,0.20.0.39330*75

2021-12-04T12:37:11.940Z,1638621431.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:12.731Z,1638621432.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:13.179Z,1638621433.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:13.651Z,1638621433.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 93.160317 deg, deltaT: 4.539312 s, deltaX: -0.060003 m, approachRate: -0.013219 m/s, LOS rate: -12.958019 deg/s, posRepo size: 4
2021-12-04T12:37:13.997Z,1638621433.997 [Micromodem](INFO): Nmea in: $SNTTA,0.025496,,,,123713.27*4C

2021-12-04T12:37:13.998Z,1638621433.998 [Micromodem](INFO): Nmea in: $CAREV,123714,AUV,2.1.4000*28

2021-12-04T12:37:14.415Z,1638621434.415 [Micromodem](INFO): Nmea in: $CAREV,123714,COPROC,0.20.0.39330*79

2021-12-04T12:37:16.469Z,1638621436.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:17.224Z,1638621437.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:17.631Z,1638621437.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:18.051Z,1638621438.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 92.563584 deg, deltaT: 4.400793 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.135597 deg/s, posRepo size: 4
2021-12-04T12:37:18.476Z,1638621438.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123717.76*5E

2021-12-04T12:37:18.477Z,1638621438.477 [Micromodem](INFO): Nmea in: $CAREV,123718,AUV,2.1.4000*24

2021-12-04T12:37:18.848Z,1638621438.848 [Micromodem](INFO): Nmea in: $CAREV,123718,COPROC,0.20.0.39330*75

2021-12-04T12:37:20.864Z,1638621440.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:21.665Z,1638621441.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:22.077Z,1638621442.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:22.529Z,1638621442.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 91.386708 deg, deltaT: 4.470213 s, deltaX: 0.060003 m, approachRate: 0.013423 m/s, LOS rate: -0.263271 deg/s, posRepo size: 4
2021-12-04T12:37:22.908Z,1638621442.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123722.20*5B

2021-12-04T12:37:22.909Z,1638621442.909 [Micromodem](INFO): Nmea in: $CAREV,123723,AUV,2.1.4000*2C

2021-12-04T12:37:23.300Z,1638621443.300 [Micromodem](INFO): Nmea in: $CAREV,123723,COPROC,0.20.0.39330*7D

2021-12-04T12:37:25.366Z,1638621445.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:26.117Z,1638621446.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:26.524Z,1638621446.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:26.952Z,1638621446.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 90.339770 deg, deltaT: 4.431036 s, deltaX: -0.120001 m, approachRate: -0.027082 m/s, LOS rate: -0.236274 deg/s, posRepo size: 4
2021-12-04T12:37:27.392Z,1638621447.392 [Micromodem](INFO): Nmea in: $SNTTA,0.060029,,,,123726.65*4D

2021-12-04T12:37:27.401Z,1638621447.401 [Micromodem](INFO): Nmea in: $CAREV,123727,AUV,2.1.4000*28

2021-12-04T12:37:27.752Z,1638621447.752 [Micromodem](INFO): Nmea in: $CAREV,123727,COPROC,0.20.0.39330*79

2021-12-04T12:37:29.459Z,1638621449.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:30.161Z,1638621450.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:30.563Z,1638621450.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:31.001Z,1638621451.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 89.345131 deg, deltaT: 4.049032 s, deltaX: 0.120001 m, approachRate: 0.029637 m/s, LOS rate: -0.245649 deg/s, posRepo size: 4
2021-12-04T12:37:31.424Z,1638621451.424 [Micromodem](INFO): Nmea in: $SNTTA,0.028860,0.478544,,,123730.70*57

2021-12-04T12:37:31.425Z,1638621451.425 [Micromodem](INFO): Nmea in: $CAREV,123731,AUV,2.1.4000*2F

2021-12-04T12:37:31.784Z,1638621451.784 [Micromodem](INFO): Nmea in: $CAREV,123731,COPROC,0.20.0.39330*7E

2021-12-04T12:37:33.535Z,1638621453.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:34.204Z,1638621454.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:34.611Z,1638621454.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:35.028Z,1638621455.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 87.319317 deg, deltaT: 4.025982 s, deltaX: 0.119995 m, approachRate: 0.029805 m/s, LOS rate: -0.503185 deg/s, posRepo size: 4
2021-12-04T12:37:35.456Z,1638621455.456 [Micromodem](INFO): Nmea in: $SNTTA,0.038255,,,,123734.74*4A

2021-12-04T12:37:35.457Z,1638621455.457 [Micromodem](INFO): Nmea in: $CAREV,123735,AUV,2.1.4000*2B

2021-12-04T12:37:35.832Z,1638621455.832 [Micromodem](INFO): Nmea in: $CAREV,123735,COPROC,0.20.0.39330*7A

2021-12-04T12:37:37.844Z,1638621457.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:38.638Z,1638621458.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:39.053Z,1638621459.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:39.528Z,1638621459.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.519997 m, bearing: 86.621251 deg, deltaT: 4.485108 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.155641 deg/s, posRepo size: 4
2021-12-04T12:37:39.884Z,1638621459.884 [Micromodem](INFO): Nmea in: $SNTTA,0.040682,,,,123739.18*4C

2021-12-04T12:37:39.885Z,1638621459.885 [Micromodem](INFO): Nmea in: $CAREV,123740,AUV,2.1.4000*29

2021-12-04T12:37:40.260Z,1638621460.260 [Micromodem](INFO): Nmea in: $CAREV,123740,COPROC,0.20.0.39330*78

2021-12-04T12:37:42.292Z,1638621462.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:43.089Z,1638621463.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:43.492Z,1638621463.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:43.918Z,1638621463.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.580000 m, bearing: 142.195741 deg, deltaT: 4.405738 s, deltaX: 0.060003 m, approachRate: 0.013619 m/s, LOS rate: 12.614116 deg/s, posRepo size: 4
2021-12-04T12:37:44.332Z,1638621464.332 [Micromodem](INFO): Nmea in: $SNTTA,0.039656,,,,123743.63*4A

2021-12-04T12:37:44.333Z,1638621464.333 [Micromodem](INFO): Nmea in: $CAREV,123744,AUV,2.1.4000*2D

2021-12-04T12:37:44.708Z,1638621464.708 [Micromodem](INFO): Nmea in: $CAREV,123744,COPROC,0.20.0.39330*7C

2021-12-04T12:37:46.466Z,1638621466.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:47.132Z,1638621467.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:47.535Z,1638621467.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:47.959Z,1638621467.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 141.431265 deg, deltaT: 4.041147 s, deltaX: 0.120001 m, approachRate: 0.029695 m/s, LOS rate: -0.189173 deg/s, posRepo size: 4
2021-12-04T12:37:48.372Z,1638621468.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123747.67*5B

2021-12-04T12:37:48.376Z,1638621468.376 [Micromodem](INFO): Nmea in: $CAREV,123748,AUV,2.1.4000*21

2021-12-04T12:37:48.752Z,1638621468.752 [Micromodem](INFO): Nmea in: $CAREV,123748,COPROC,0.20.0.39330*70

2021-12-04T12:37:50.794Z,1638621470.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:51.581Z,1638621471.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:51.983Z,1638621471.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:52.456Z,1638621472.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 140.833556 deg, deltaT: 4.480969 s, deltaX: -0.060003 m, approachRate: -0.013391 m/s, LOS rate: -0.133389 deg/s, posRepo size: 4
2021-12-04T12:37:52.832Z,1638621472.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123752.12*5D

2021-12-04T12:37:52.833Z,1638621472.833 [Micromodem](INFO): Nmea in: $CAREV,123753,AUV,2.1.4000*2B

2021-12-04T12:37:53.200Z,1638621473.200 [Micromodem](INFO): Nmea in: $CAREV,123753,COPROC,0.20.0.39330*7A

2021-12-04T12:37:55.224Z,1638621475.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:37:56.013Z,1638621476.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:37:56.444Z,1638621476.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:37:56.850Z,1638621476.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 135.485094 deg, deltaT: 4.409424 s, deltaX: 0.060003 m, approachRate: 0.013608 m/s, LOS rate: -1.212962 deg/s, posRepo size: 4
2021-12-04T12:37:57.260Z,1638621477.260 [Micromodem](INFO): Nmea in: $SNTTA,0.028693,,,,123756.55*42

2021-12-04T12:37:57.261Z,1638621477.261 [Micromodem](INFO): Nmea in: $CAREV,123757,AUV,2.1.4000*2F

2021-12-04T12:37:57.644Z,1638621477.644 [Micromodem](INFO): Nmea in: $CAREV,123757,COPROC,0.20.0.39330*7E

2021-12-04T12:37:59.711Z,1638621479.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:00.463Z,1638621480.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:00.859Z,1638621480.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:01.362Z,1638621481.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 178.377849 deg, deltaT: 4.500282 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 9.531126 deg/s, posRepo size: 4
2021-12-04T12:38:01.704Z,1638621481.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123801.00*57

2021-12-04T12:38:01.705Z,1638621481.705 [Micromodem](INFO): Nmea in: $CAREV,123802,AUV,2.1.4000*20

2021-12-04T12:38:02.092Z,1638621482.092 [Micromodem](INFO): Nmea in: $CAREV,123802,COPROC,0.20.0.39330*71

2021-12-04T12:38:04.116Z,1638621484.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:04.905Z,1638621484.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:05.344Z,1638621485.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:05.899Z,1638621485.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 177.450159 deg, deltaT: 4.517455 s, deltaX: 0.120001 m, approachRate: 0.026564 m/s, LOS rate: -0.205357 deg/s, posRepo size: 4
2021-12-04T12:38:06.141Z,1638621486.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123805.44*53

2021-12-04T12:38:06.144Z,1638621486.144 [Micromodem](INFO): Nmea in: $CAREV,123806,AUV,2.1.4000*24

2021-12-04T12:38:06.536Z,1638621486.536 [Micromodem](INFO): Nmea in: $CAREV,123806,COPROC,0.20.0.39330*75

2021-12-04T12:38:08.557Z,1638621488.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:09.401Z,1638621489.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:09.755Z,1638621489.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:10.171Z,1638621490.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 176.139527 deg, deltaT: 4.303565 s, deltaX: 0.059998 m, approachRate: 0.013941 m/s, LOS rate: -0.304545 deg/s, posRepo size: 4
2021-12-04T12:38:10.976Z,1638621490.976 [Micromodem](INFO): Nmea in: $SNTTA,0.020983,,,,123809.94*4C

2021-12-04T12:38:10.977Z,1638621490.977 [Micromodem](INFO): Nmea in: $CAREV,123810,AUV,2.1.4000*23

2021-12-04T12:38:11.464Z,1638621491.464 [Micromodem](INFO): Nmea in: $CAREV,123810,COPROC,0.20.0.39330*72

2021-12-04T12:38:13.001Z,1638621493.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:13.793Z,1638621493.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:14.196Z,1638621494.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:14.633Z,1638621494.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 168.757719 deg, deltaT: 4.461747 s, deltaX: 0.120001 m, approachRate: 0.026895 m/s, LOS rate: -1.654466 deg/s, posRepo size: 4
2021-12-04T12:38:15.032Z,1638621495.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123814.33*53

2021-12-04T12:38:15.033Z,1638621495.033 [Micromodem](INFO): Nmea in: $CAREV,123815,AUV,2.1.4000*26

2021-12-04T12:38:15.424Z,1638621495.424 [Micromodem](INFO): Nmea in: $CAREV,123815,COPROC,0.20.0.39330*77

2021-12-04T12:38:17.499Z,1638621497.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:18.229Z,1638621498.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:18.644Z,1638621498.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:19.081Z,1638621499.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 167.819073 deg, deltaT: 4.448514 s, deltaX: 0.120001 m, approachRate: 0.026975 m/s, LOS rate: -0.211002 deg/s, posRepo size: 4
2021-12-04T12:38:21.893Z,1638621501.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:22.673Z,1638621502.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:23.079Z,1638621503.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:23.561Z,1638621503.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 173.114409 deg, deltaT: 4.475478 s, deltaX: 0.239998 m, approachRate: 0.053625 m/s, LOS rate: 1.183189 deg/s, posRepo size: 4
2021-12-04T12:38:23.912Z,1638621503.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123823.21*54

2021-12-04T12:38:23.913Z,1638621503.913 [Micromodem](INFO): Nmea in: $CAREV,123824,AUV,2.1.4000*24

2021-12-04T12:38:24.304Z,1638621504.304 [Micromodem](INFO): Nmea in: $CAREV,123824,COPROC,0.20.0.39330*75

2021-12-04T12:38:26.329Z,1638621506.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:27.121Z,1638621507.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:27.519Z,1638621507.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:27.957Z,1638621507.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 170.843440 deg, deltaT: 4.400509 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.516070 deg/s, posRepo size: 4
2021-12-04T12:38:28.368Z,1638621508.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123827.66*53

2021-12-04T12:38:28.371Z,1638621508.371 [Micromodem](INFO): Nmea in: $CAREV,123828,AUV,2.1.4000*28

2021-12-04T12:38:28.749Z,1638621508.749 [Micromodem](INFO): Nmea in: $CAREV,123828,COPROC,0.20.0.39330*79

2021-12-04T12:38:30.789Z,1638621510.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:31.569Z,1638621511.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:31.967Z,1638621511.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:32.447Z,1638621512.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 165.124809 deg, deltaT: 4.482204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -1.275852 deg/s, posRepo size: 4
2021-12-04T12:38:32.844Z,1638621512.844 [Micromodem](INFO): Nmea in: $SNTTA,0.049350,,,,123832.11*42

2021-12-04T12:38:32.845Z,1638621512.845 [Micromodem](INFO): Nmea in: $CAREV,123833,AUV,2.1.4000*22

2021-12-04T12:38:33.192Z,1638621513.192 [Micromodem](INFO): Nmea in: $CAREV,123833,COPROC,0.20.0.39330*73

2021-12-04T12:38:35.220Z,1638621515.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:36.009Z,1638621516.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:36.435Z,1638621516.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:36.843Z,1638621516.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 161.268252 deg, deltaT: 4.403497 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.875794 deg/s, posRepo size: 4
2021-12-04T12:38:37.244Z,1638621517.244 [Micromodem](INFO): Nmea in: $SNTTA,0.039851,,,,123836.55*4B

2021-12-04T12:38:37.245Z,1638621517.245 [Micromodem](INFO): Nmea in: $CAREV,123837,AUV,2.1.4000*26

2021-12-04T12:38:37.632Z,1638621517.632 [Micromodem](INFO): Nmea in: $CAREV,123837,COPROC,0.20.0.39330*77

2021-12-04T12:38:39.695Z,1638621519.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:40.458Z,1638621520.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:40.859Z,1638621520.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:41.331Z,1638621521.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 155.214287 deg, deltaT: 4.446356 s, deltaX: 0.180004 m, approachRate: 0.040484 m/s, LOS rate: -1.361557 deg/s, posRepo size: 4
2021-12-04T12:38:41.692Z,1638621521.692 [Micromodem](INFO): Nmea in: $SNTTA,0.026254,,,,123841.00*4A

2021-12-04T12:38:41.693Z,1638621521.693 [Micromodem](INFO): Nmea in: $CAREV,123842,AUV,2.1.4000*24

2021-12-04T12:38:42.088Z,1638621522.088 [Micromodem](INFO): Nmea in: $CAREV,123842,COPROC,0.20.0.39330*75

2021-12-04T12:38:44.105Z,1638621524.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:44.905Z,1638621524.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:45.355Z,1638621525.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:45.715Z,1638621525.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 153.407005 deg, deltaT: 4.426079 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.408326 deg/s, posRepo size: 4
2021-12-04T12:38:46.140Z,1638621526.140 [Micromodem](INFO): Nmea in: $SNTTA,0.032534,,,,123845.44*4A

2021-12-04T12:38:46.141Z,1638621526.141 [Micromodem](INFO): Nmea in: $CAREV,123846,AUV,2.1.4000*20

2021-12-04T12:38:46.532Z,1638621526.532 [Micromodem](INFO): Nmea in: $CAREV,123846,COPROC,0.20.0.39330*71

2021-12-04T12:38:48.576Z,1638621528.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:49.393Z,1638621529.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:49.751Z,1638621529.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:50.193Z,1638621530.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 149.110543 deg, deltaT: 4.477701 s, deltaX: 0.119995 m, approachRate: 0.026798 m/s, LOS rate: -0.959524 deg/s, posRepo size: 4
2021-12-04T12:38:50.585Z,1638621530.585 [Micromodem](INFO): Nmea in: $SNTTA,0.050579,,,,123849.93*41

2021-12-04T12:38:50.587Z,1638621530.587 [Micromodem](INFO): Nmea in: $CAREV,123850,AUV,2.1.4000*27

2021-12-04T12:38:50.972Z,1638621530.972 [Micromodem](INFO): Nmea in: $CAREV,123850,COPROC,0.20.0.39330*76

2021-12-04T12:38:52.996Z,1638621532.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:53.785Z,1638621533.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:54.195Z,1638621534.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:54.617Z,1638621534.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 143.588553 deg, deltaT: 4.424090 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -1.248164 deg/s, posRepo size: 4
2021-12-04T12:38:55.024Z,1638621535.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123854.32*56

2021-12-04T12:38:55.026Z,1638621535.026 [Micromodem](INFO): Nmea in: $CAREV,123855,AUV,2.1.4000*22

2021-12-04T12:38:55.432Z,1638621535.432 [Micromodem](INFO): Nmea in: $CAREV,123855,COPROC,0.20.0.39330*73

2021-12-04T12:38:57.520Z,1638621537.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:38:58.229Z,1638621538.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:38:58.642Z,1638621538.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:38:59.081Z,1638621539.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 143.557298 deg, deltaT: 4.437438 s, deltaX: 0.180004 m, approachRate: 0.040565 m/s, LOS rate: -0.007043 deg/s, posRepo size: 4
2021-12-04T12:38:59.476Z,1638621539.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123858.77*5B

2021-12-04T12:38:59.477Z,1638621539.477 [Micromodem](INFO): Nmea in: $CAREV,123859,AUV,2.1.4000*2E

2021-12-04T12:38:59.856Z,1638621539.856 [Micromodem](INFO): Nmea in: $CAREV,123859,COPROC,0.20.0.39330*7F

2021-12-04T12:39:01.887Z,1638621541.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:02.669Z,1638621542.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:03.084Z,1638621543.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:03.560Z,1638621543.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 139.636469 deg, deltaT: 4.502061 s, deltaX: 0.179998 m, approachRate: 0.039981 m/s, LOS rate: -0.870897 deg/s, posRepo size: 4
2021-12-04T12:39:03.908Z,1638621543.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123903.21*57

2021-12-04T12:39:03.909Z,1638621543.909 [Micromodem](INFO): Nmea in: $CAREV,123904,AUV,2.1.4000*27

2021-12-04T12:39:04.300Z,1638621544.300 [Micromodem](INFO): Nmea in: $CAREV,123904,COPROC,0.20.0.39330*76

2021-12-04T12:39:06.329Z,1638621546.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:07.113Z,1638621547.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:07.528Z,1638621547.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:07.964Z,1638621547.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 137.464087 deg, deltaT: 4.403703 s, deltaX: -0.179998 m, approachRate: -0.040874 m/s, LOS rate: -0.493308 deg/s, posRepo size: 4
2021-12-04T12:39:08.371Z,1638621548.371 [Micromodem](INFO): Nmea in: $SNTTA,0.038182,,,,123907.66*4E

2021-12-04T12:39:08.397Z,1638621548.397 [Micromodem](INFO): Nmea in: $CAREV,123908,AUV,2.1.4000*2B

2021-12-04T12:39:08.740Z,1638621548.740 [Micromodem](INFO): Nmea in: $CAREV,123908,COPROC,0.20.0.39330*7A

2021-12-04T12:39:10.784Z,1638621550.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:11.557Z,1638621551.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:11.967Z,1638621551.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:12.438Z,1638621552.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 138.200859 deg, deltaT: 4.469813 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.164833 deg/s, posRepo size: 4
2021-12-04T12:39:12.820Z,1638621552.820 [Micromodem](INFO): Nmea in: $SNTTA,0.038348,,,,123912.10*4F

2021-12-04T12:39:12.821Z,1638621552.821 [Micromodem](INFO): Nmea in: $CAREV,123913,AUV,2.1.4000*21

2021-12-04T12:39:13.184Z,1638621553.184 [Micromodem](INFO): Nmea in: $CAREV,123913,COPROC,0.20.0.39330*70

2021-12-04T12:39:15.217Z,1638621555.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:16.005Z,1638621556.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:16.436Z,1638621556.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:16.840Z,1638621556.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 137.445782 deg, deltaT: 4.409535 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.171237 deg/s, posRepo size: 4
2021-12-04T12:39:17.252Z,1638621557.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123916.55*50

2021-12-04T12:39:17.253Z,1638621557.253 [Micromodem](INFO): Nmea in: $CAREV,123917,AUV,2.1.4000*25

2021-12-04T12:39:17.640Z,1638621557.640 [Micromodem](INFO): Nmea in: $CAREV,123917,COPROC,0.20.0.39330*74

2021-12-04T12:39:19.680Z,1638621559.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:20.450Z,1638621560.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:20.921Z,1638621560.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:21.273Z,1638621561.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 104.463666 deg, deltaT: 4.431444 s, deltaX: 0.479998 m, approachRate: 0.108316 m/s, LOS rate: -7.442747 deg/s, posRepo size: 4
2021-12-04T12:39:21.696Z,1638621561.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123920.99*55

2021-12-04T12:39:21.697Z,1638621561.697 [Micromodem](INFO): Nmea in: $CAREV,123922,AUV,2.1.4000*23

2021-12-04T12:39:22.072Z,1638621562.072 [Micromodem](INFO): Nmea in: $CAREV,123922,COPROC,0.20.0.39330*72

2021-12-04T12:39:24.105Z,1638621564.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:24.897Z,1638621564.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:25.318Z,1638621565.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:25.798Z,1638621565.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 104.293724 deg, deltaT: 4.526218 s, deltaX: 0.179998 m, approachRate: 0.039768 m/s, LOS rate: -0.037546 deg/s, posRepo size: 4
2021-12-04T12:39:26.136Z,1638621566.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123925.44*50

2021-12-04T12:39:26.137Z,1638621566.137 [Micromodem](INFO): Nmea in: $CAREV,123926,AUV,2.1.4000*27

2021-12-04T12:39:26.528Z,1638621566.528 [Micromodem](INFO): Nmea in: $CAREV,123926,COPROC,0.20.0.39330*76

2021-12-04T12:39:28.556Z,1638621568.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:29.373Z,1638621569.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:29.743Z,1638621569.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:30.165Z,1638621570.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 99.047162 deg, deltaT: 4.367902 s, deltaX: 0.179998 m, approachRate: 0.041209 m/s, LOS rate: -1.201163 deg/s, posRepo size: 4
2021-12-04T12:39:30.576Z,1638621570.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123929.92*57

2021-12-04T12:39:30.577Z,1638621570.577 [Micromodem](INFO): Nmea in: $CAREV,123930,AUV,2.1.4000*20

2021-12-04T12:39:30.973Z,1638621570.973 [Micromodem](INFO): Nmea in: $CAREV,123930,COPROC,0.20.0.39330*71

2021-12-04T12:39:32.980Z,1638621572.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:33.784Z,1638621573.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:34.203Z,1638621574.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:34.637Z,1638621574.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 100.977988 deg, deltaT: 4.467918 s, deltaX: 0.120001 m, approachRate: 0.026858 m/s, LOS rate: 0.432153 deg/s, posRepo size: 4
2021-12-04T12:39:37.509Z,1638621577.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:38.226Z,1638621578.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:38.639Z,1638621578.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:39.082Z,1638621579.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 95.266782 deg, deltaT: 4.444571 s, deltaX: 0.120001 m, approachRate: 0.026999 m/s, LOS rate: -1.284985 deg/s, posRepo size: 4
2021-12-04T12:39:39.472Z,1638621579.472 [Micromodem](INFO): Nmea in: $SNTTA,,0.042241,,,123938.77*43

2021-12-04T12:39:39.473Z,1638621579.473 [Micromodem](INFO): Nmea in: $CAREV,123939,AUV,2.1.4000*29

2021-12-04T12:39:39.860Z,1638621579.860 [Micromodem](INFO): Nmea in: $CAREV,123939,COPROC,0.20.0.39330*78

2021-12-04T12:39:41.884Z,1638621581.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:42.665Z,1638621582.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:43.081Z,1638621583.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:43.553Z,1638621583.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 91.380172 deg, deltaT: 4.458493 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.871732 deg/s, posRepo size: 4
2021-12-04T12:39:43.913Z,1638621583.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123943.21*53

2021-12-04T12:39:43.916Z,1638621583.916 [Micromodem](INFO): Nmea in: $CAREV,123944,AUV,2.1.4000*23

2021-12-04T12:39:44.292Z,1638621584.292 [Micromodem](INFO): Nmea in: $CAREV,123944,COPROC,0.20.0.39330*72

2021-12-04T12:39:46.321Z,1638621586.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:47.113Z,1638621587.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:47.520Z,1638621587.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:47.570Z,1638621587.570 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-12-04T12:39:47.972Z,1638621587.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 88.033612 deg, deltaT: 4.430607 s, deltaX: -0.120001 m, approachRate: -0.027085 m/s, LOS rate: -0.755328 deg/s, posRepo size: 4
2021-12-04T12:39:48.356Z,1638621588.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123947.65*57

2021-12-04T12:39:48.357Z,1638621588.357 [Micromodem](INFO): Nmea in: $CAREV,123948,AUV,2.1.4000*2F

2021-12-04T12:39:48.736Z,1638621588.736 [Micromodem](INFO): Nmea in: $CAREV,123948,COPROC,0.20.0.39330*7E

2021-12-04T12:39:50.779Z,1638621590.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:51.549Z,1638621591.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:51.966Z,1638621591.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:52.455Z,1638621592.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 133.747644 deg, deltaT: 4.484362 s, deltaX: 0.180004 m, approachRate: 0.040140 m/s, LOS rate: 10.194099 deg/s, posRepo size: 4
2021-12-04T12:39:52.796Z,1638621592.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123952.09*59

2021-12-04T12:39:52.797Z,1638621592.797 [Micromodem](INFO): Nmea in: $CAREV,123953,AUV,2.1.4000*25

2021-12-04T12:39:53.188Z,1638621593.188 [Micromodem](INFO): Nmea in: $CAREV,123953,COPROC,0.20.0.39330*74

2021-12-04T12:39:55.212Z,1638621595.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:39:56.001Z,1638621596.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:39:56.424Z,1638621596.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:39:56.851Z,1638621596.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 127.498868 deg, deltaT: 4.400040 s, deltaX: 0.239996 m, approachRate: 0.054544 m/s, LOS rate: -1.420163 deg/s, posRepo size: 4
2021-12-04T12:39:57.243Z,1638621597.243 [Micromodem](INFO): Nmea in: $SNTTA,0.130315,,,,123956.54*4E

2021-12-04T12:39:57.245Z,1638621597.245 [Micromodem](INFO): Nmea in: $CAREV,123957,AUV,2.1.4000*21

2021-12-04T12:39:57.628Z,1638621597.628 [Micromodem](INFO): Nmea in: $CAREV,123957,COPROC,0.20.0.39330*70

2021-12-04T12:39:59.669Z,1638621599.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:00.473Z,1638621600.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:00.852Z,1638621600.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:01.276Z,1638621601.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 124.088117 deg, deltaT: 4.420239 s, deltaX: 0.060003 m, approachRate: 0.013575 m/s, LOS rate: -0.771621 deg/s, posRepo size: 4
2021-12-04T12:40:04.096Z,1638621604.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:04.889Z,1638621604.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:05.305Z,1638621605.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:05.794Z,1638621605.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 120.696464 deg, deltaT: 4.522637 s, deltaX: 0.059998 m, approachRate: 0.013266 m/s, LOS rate: -0.749928 deg/s, posRepo size: 4
2021-12-04T12:40:06.132Z,1638621606.132 [Micromodem](INFO): Nmea in: $SNTTA,0.025249,,,,124005.43*4D

2021-12-04T12:40:06.133Z,1638621606.133 [Micromodem](INFO): Nmea in: $CAREV,124006,AUV,2.1.4000*2B

2021-12-04T12:40:06.512Z,1638621606.512 [Micromodem](INFO): Nmea in: $CAREV,124006,COPROC,0.20.0.39330*7A

2021-12-04T12:40:08.551Z,1638621608.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:09.368Z,1638621609.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:09.744Z,1638621609.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:10.160Z,1638621610.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 118.196314 deg, deltaT: 4.365395 s, deltaX: 0.060003 m, approachRate: 0.013745 m/s, LOS rate: -0.572720 deg/s, posRepo size: 4
2021-12-04T12:40:10.562Z,1638621610.562 [Micromodem](INFO): Nmea in: $SNTTA,0.031876,,,,124009.91*4D

2021-12-04T12:40:10.564Z,1638621610.564 [Micromodem](INFO): Nmea in: $CAREV,124010,AUV,2.1.4000*2C

2021-12-04T12:40:10.960Z,1638621610.960 [Micromodem](INFO): Nmea in: $CAREV,124010,COPROC,0.20.0.39330*7D

2021-12-04T12:40:12.984Z,1638621612.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:13.784Z,1638621613.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:14.183Z,1638621614.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:14.637Z,1638621614.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 114.577072 deg, deltaT: 4.473115 s, deltaX: 0.179998 m, approachRate: 0.040240 m/s, LOS rate: -0.809110 deg/s, posRepo size: 4
2021-12-04T12:40:15.024Z,1638621615.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124014.33*5C

2021-12-04T12:40:15.025Z,1638621615.025 [Micromodem](INFO): Nmea in: $CAREV,124015,AUV,2.1.4000*29

2021-12-04T12:40:15.428Z,1638621615.428 [Micromodem](INFO): Nmea in: $CAREV,124015,COPROC,0.20.0.39330*78

2021-12-04T12:40:17.488Z,1638621617.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:18.229Z,1638621618.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:18.627Z,1638621618.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:19.056Z,1638621619.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 116.884535 deg, deltaT: 4.422308 s, deltaX: 0.120001 m, approachRate: 0.027135 m/s, LOS rate: 0.521778 deg/s, posRepo size: 4
2021-12-04T12:40:19.476Z,1638621619.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124018.77*50

2021-12-04T12:40:19.477Z,1638621619.477 [Micromodem](INFO): Nmea in: $CAREV,124019,AUV,2.1.4000*25

2021-12-04T12:40:19.848Z,1638621619.848 [Micromodem](INFO): Nmea in: $CAREV,124019,COPROC,0.20.0.39330*74

2021-12-04T12:40:21.877Z,1638621621.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:22.665Z,1638621622.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:23.071Z,1638621623.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:23.541Z,1638621623.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 116.770348 deg, deltaT: 4.485205 s, deltaX: 0.180000 m, approachRate: 0.040132 m/s, LOS rate: -0.025459 deg/s, posRepo size: 4
2021-12-04T12:40:23.908Z,1638621623.908 [Micromodem](INFO): Nmea in: $SNTTA,0.044100,,,,124023.21*44

2021-12-04T12:40:23.909Z,1638621623.909 [Micromodem](INFO): Nmea in: $CAREV,124024,AUV,2.1.4000*2B

2021-12-04T12:40:24.296Z,1638621624.296 [Micromodem](INFO): Nmea in: $CAREV,124024,COPROC,0.20.0.39330*7A

2021-12-04T12:40:26.333Z,1638621626.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:27.129Z,1638621627.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:27.528Z,1638621627.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:27.963Z,1638621627.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 118.231695 deg, deltaT: 4.422874 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.330407 deg/s, posRepo size: 4
2021-12-04T12:40:28.344Z,1638621628.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124027.67*5D

2021-12-04T12:40:28.345Z,1638621628.345 [Micromodem](INFO): Nmea in: $CAREV,124028,AUV,2.1.4000*27

2021-12-04T12:40:28.752Z,1638621628.752 [Micromodem](INFO): Nmea in: $CAREV,124028,COPROC,0.20.0.39330*76

2021-12-04T12:40:30.772Z,1638621630.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:31.557Z,1638621631.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:31.969Z,1638621631.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:32.422Z,1638621632.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 119.136244 deg, deltaT: 4.458617 s, deltaX: 0.179998 m, approachRate: 0.040371 m/s, LOS rate: 0.202877 deg/s, posRepo size: 4
2021-12-04T12:40:32.800Z,1638621632.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124032.10*59

2021-12-04T12:40:32.802Z,1638621632.802 [Micromodem](INFO): Nmea in: $CAREV,124033,AUV,2.1.4000*2D

2021-12-04T12:40:33.180Z,1638621633.180 [Micromodem](INFO): Nmea in: $CAREV,124033,COPROC,0.20.0.39330*7C

2021-12-04T12:40:35.215Z,1638621635.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:35.997Z,1638621635.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:36.423Z,1638621636.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:36.852Z,1638621636.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.180000 m, bearing: 123.635413 deg, deltaT: 4.428392 s, deltaX: 0.120001 m, approachRate: 0.027098 m/s, LOS rate: 1.015982 deg/s, posRepo size: 4
2021-12-04T12:40:37.236Z,1638621637.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124036.54*5D

2021-12-04T12:40:37.237Z,1638621637.237 [Micromodem](INFO): Nmea in: $CAREV,124037,AUV,2.1.4000*29

2021-12-04T12:40:37.620Z,1638621637.620 [Micromodem](INFO): Nmea in: $CAREV,124037,COPROC,0.20.0.39330*78

2021-12-04T12:40:39.668Z,1638621639.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:40.459Z,1638621640.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:40.844Z,1638621640.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:41.268Z,1638621641.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 123.437597 deg, deltaT: 4.417746 s, deltaX: 0.059998 m, approachRate: 0.013581 m/s, LOS rate: -0.044778 deg/s, posRepo size: 4
2021-12-04T12:40:41.680Z,1638621641.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124041.00*5C

2021-12-04T12:40:41.681Z,1638621641.681 [Micromodem](INFO): Nmea in: $CAREV,124042,AUV,2.1.4000*2B

2021-12-04T12:40:42.075Z,1638621642.075 [Micromodem](INFO): Nmea in: $CAREV,124042,COPROC,0.20.0.39330*7A

2021-12-04T12:40:44.085Z,1638621644.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:44.881Z,1638621644.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:45.322Z,1638621645.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:45.756Z,1638621645.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 124.374261 deg, deltaT: 4.488071 s, deltaX: 0.240002 m, approachRate: 0.053475 m/s, LOS rate: 0.208701 deg/s, posRepo size: 4
2021-12-04T12:40:46.128Z,1638621646.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124045.43*5F

2021-12-04T12:40:46.129Z,1638621646.129 [Micromodem](INFO): Nmea in: $CAREV,124046,AUV,2.1.4000*2F

2021-12-04T12:40:46.512Z,1638621646.512 [Micromodem](INFO): Nmea in: $CAREV,124046,COPROC,0.20.0.39330*7E

2021-12-04T12:40:48.558Z,1638621648.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:49.354Z,1638621649.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:49.735Z,1638621649.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:50.158Z,1638621650.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 128.153624 deg, deltaT: 4.401611 s, deltaX: 0.059998 m, approachRate: 0.013631 m/s, LOS rate: 0.858632 deg/s, posRepo size: 4
2021-12-04T12:40:50.564Z,1638621650.564 [Micromodem](INFO): Nmea in: $SNTTA,0.075480,,,,124049.89*45

2021-12-04T12:40:50.565Z,1638621650.565 [Micromodem](INFO): Nmea in: $CAREV,124050,AUV,2.1.4000*28

2021-12-04T12:40:50.964Z,1638621650.964 [Micromodem](INFO): Nmea in: $CAREV,124050,COPROC,0.20.0.39330*79

2021-12-04T12:40:52.997Z,1638621652.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:53.776Z,1638621653.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:54.179Z,1638621654.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:54.617Z,1638621654.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 131.381189 deg, deltaT: 4.443509 s, deltaX: 0.120001 m, approachRate: 0.027006 m/s, LOS rate: 0.726355 deg/s, posRepo size: 4
2021-12-04T12:40:55.008Z,1638621655.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124054.32*59

2021-12-04T12:40:55.009Z,1638621655.009 [Micromodem](INFO): Nmea in: $CAREV,124055,AUV,2.1.4000*2D

2021-12-04T12:40:55.424Z,1638621655.424 [Micromodem](INFO): Nmea in: $CAREV,124055,COPROC,0.20.0.39330*7C

2021-12-04T12:40:57.490Z,1638621657.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:40:58.224Z,1638621658.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:40:58.630Z,1638621658.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:40:59.055Z,1638621659.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 129.202386 deg, deltaT: 4.454075 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.489171 deg/s, posRepo size: 4
2021-12-04T12:40:59.476Z,1638621659.476 [Micromodem](INFO): Nmea in: $SNTTA,0.067720,0.486704,,,124058.76*58

2021-12-04T12:40:59.477Z,1638621659.477 [Micromodem](INFO): Nmea in: $CAREV,124059,AUV,2.1.4000*21

2021-12-04T12:40:59.844Z,1638621659.844 [Micromodem](INFO): Nmea in: $CAREV,124059,COPROC,0.20.0.39330*70

2021-12-04T12:41:01.877Z,1638621661.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:02.661Z,1638621662.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:03.074Z,1638621663.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:03.527Z,1638621663.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 130.378448 deg, deltaT: 4.472121 s, deltaX: 0.180004 m, approachRate: 0.040250 m/s, LOS rate: 0.262977 deg/s, posRepo size: 4
2021-12-04T12:41:03.908Z,1638621663.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124103.20*59

2021-12-04T12:41:03.909Z,1638621663.909 [Micromodem](INFO): Nmea in: $CAREV,124104,AUV,2.1.4000*28

2021-12-04T12:41:04.288Z,1638621664.288 [Micromodem](INFO): Nmea in: $CAREV,124104,COPROC,0.20.0.39330*79

2021-12-04T12:41:06.316Z,1638621666.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:07.109Z,1638621667.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:07.516Z,1638621667.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:07.951Z,1638621667.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 130.260177 deg, deltaT: 4.423979 s, deltaX: 0.119995 m, approachRate: 0.027124 m/s, LOS rate: -0.026734 deg/s, posRepo size: 4
2021-12-04T12:41:08.360Z,1638621668.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124107.65*5C

2021-12-04T12:41:08.361Z,1638621668.361 [Micromodem](INFO): Nmea in: $CAREV,124108,AUV,2.1.4000*24

2021-12-04T12:41:08.744Z,1638621668.744 [Micromodem](INFO): Nmea in: $CAREV,124108,COPROC,0.20.0.39330*75

2021-12-04T12:41:10.808Z,1638621670.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:11.549Z,1638621671.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:11.963Z,1638621671.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:12.415Z,1638621672.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 127.815884 deg, deltaT: 4.441069 s, deltaX: 0.240002 m, approachRate: 0.054041 m/s, LOS rate: -0.550384 deg/s, posRepo size: 4
2021-12-04T12:41:12.799Z,1638621672.799 [Micromodem](INFO): Nmea in: $SNTTA,0.061071,,,,124112.09*4D

2021-12-04T12:41:12.800Z,1638621672.800 [Micromodem](INFO): Nmea in: $CAREV,124113,AUV,2.1.4000*2E

2021-12-04T12:41:13.180Z,1638621673.180 [Micromodem](INFO): Nmea in: $CAREV,124113,COPROC,0.20.0.39330*7F

2021-12-04T12:41:15.209Z,1638621675.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:16.002Z,1638621676.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:16.419Z,1638621676.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:16.836Z,1638621676.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 128.464725 deg, deltaT: 4.443831 s, deltaX: 0.240002 m, approachRate: 0.054008 m/s, LOS rate: 0.146009 deg/s, posRepo size: 4
2021-12-04T12:41:17.235Z,1638621677.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124116.54*5E

2021-12-04T12:41:17.236Z,1638621677.236 [Micromodem](INFO): Nmea in: $CAREV,124117,AUV,2.1.4000*2A

2021-12-04T12:41:17.636Z,1638621677.636 [Micromodem](INFO): Nmea in: $CAREV,124117,COPROC,0.20.0.39330*7B

2021-12-04T12:41:19.673Z,1638621679.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:20.449Z,1638621680.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:20.853Z,1638621680.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:21.284Z,1638621681.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 124.022261 deg, deltaT: 4.447789 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.998803 deg/s, posRepo size: 4
2021-12-04T12:41:21.681Z,1638621681.681 [Micromodem](INFO): Nmea in: $SNTTA,0.031670,,,,124120.99*47

2021-12-04T12:41:21.684Z,1638621681.684 [Micromodem](INFO): Nmea in: $CAREV,124122,AUV,2.1.4000*2C

2021-12-04T12:41:22.060Z,1638621682.060 [Micromodem](INFO): Nmea in: $CAREV,124122,COPROC,0.20.0.39330*7D

2021-12-04T12:41:24.094Z,1638621684.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:24.877Z,1638621684.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:25.298Z,1638621685.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:25.798Z,1638621685.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 124.743392 deg, deltaT: 4.509355 s, deltaX: 0.059998 m, approachRate: 0.013305 m/s, LOS rate: 0.159919 deg/s, posRepo size: 4
2021-12-04T12:41:26.121Z,1638621686.121 [Micromodem](INFO): Nmea in: $SNTTA,0.042307,,,,124125.42*45

2021-12-04T12:41:26.122Z,1638621686.122 [Micromodem](INFO): Nmea in: $CAREV,124126,AUV,2.1.4000*28

2021-12-04T12:41:26.500Z,1638621686.500 [Micromodem](INFO): Nmea in: $CAREV,124126,COPROC,0.20.0.39330*79

2021-12-04T12:41:28.539Z,1638621688.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:29.356Z,1638621689.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:29.739Z,1638621689.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:30.161Z,1638621690.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 122.677205 deg, deltaT: 4.368172 s, deltaX: -0.059998 m, approachRate: -0.013735 m/s, LOS rate: -0.473009 deg/s, posRepo size: 4
2021-12-04T12:41:30.565Z,1638621690.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124129.90*5A

2021-12-04T12:41:30.566Z,1638621690.566 [Micromodem](INFO): Nmea in: $CAREV,124130,AUV,2.1.4000*2F

2021-12-04T12:41:30.956Z,1638621690.956 [Micromodem](INFO): Nmea in: $CAREV,124130,COPROC,0.20.0.39330*7E

2021-12-04T12:41:33.010Z,1638621693.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:33.770Z,1638621693.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:34.171Z,1638621694.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:34.625Z,1638621694.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 121.999528 deg, deltaT: 4.447900 s, deltaX: 0.179998 m, approachRate: 0.040468 m/s, LOS rate: -0.152359 deg/s, posRepo size: 4
2021-12-04T12:41:35.016Z,1638621695.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124134.31*5D

2021-12-04T12:41:35.017Z,1638621695.017 [Micromodem](INFO): Nmea in: $CAREV,124135,AUV,2.1.4000*2A

2021-12-04T12:41:35.432Z,1638621695.432 [Micromodem](INFO): Nmea in: $CAREV,124135,COPROC,0.20.0.39330*7B

2021-12-04T12:41:37.464Z,1638621697.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:38.209Z,1638621698.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:38.623Z,1638621698.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:39.055Z,1638621699.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 120.455222 deg, deltaT: 4.445096 s, deltaX: 0.240002 m, approachRate: 0.053992 m/s, LOS rate: -0.347418 deg/s, posRepo size: 4
2021-12-04T12:41:39.464Z,1638621699.464 [Micromodem](INFO): Nmea in: $SNTTA,0.027797,,,,124138.75*43

2021-12-04T12:41:39.465Z,1638621699.465 [Micromodem](INFO): Nmea in: $CAREV,124139,AUV,2.1.4000*26

2021-12-04T12:41:39.844Z,1638621699.844 [Micromodem](INFO): Nmea in: $CAREV,124139,COPROC,0.20.0.39330*77

2021-12-04T12:41:41.857Z,1638621701.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:42.657Z,1638621702.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:43.067Z,1638621703.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:43.544Z,1638621703.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 121.128555 deg, deltaT: 4.485176 s, deltaX: 0.300001 m, approachRate: 0.066887 m/s, LOS rate: 0.150124 deg/s, posRepo size: 4
2021-12-04T12:41:43.900Z,1638621703.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124143.20*5D

2021-12-04T12:41:43.901Z,1638621703.901 [Micromodem](INFO): Nmea in: $CAREV,124144,AUV,2.1.4000*2C

2021-12-04T12:41:44.284Z,1638621704.284 [Micromodem](INFO): Nmea in: $CAREV,124144,COPROC,0.20.0.39330*7D

2021-12-04T12:41:46.296Z,1638621706.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:47.101Z,1638621707.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:47.515Z,1638621707.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:47.973Z,1638621707.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 120.894198 deg, deltaT: 4.429718 s, deltaX: 0.120001 m, approachRate: 0.027090 m/s, LOS rate: -0.052906 deg/s, posRepo size: 4
2021-12-04T12:41:48.344Z,1638621708.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124147.64*59

2021-12-04T12:41:48.345Z,1638621708.345 [Micromodem](INFO): Nmea in: $CAREV,124148,AUV,2.1.4000*20

2021-12-04T12:41:48.724Z,1638621708.724 [Micromodem](INFO): Nmea in: $CAREV,124148,COPROC,0.20.0.39330*71

2021-12-04T12:41:50.758Z,1638621710.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:51.545Z,1638621711.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:51.943Z,1638621711.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:52.422Z,1638621712.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 119.879396 deg, deltaT: 4.448594 s, deltaX: 0.239996 m, approachRate: 0.053949 m/s, LOS rate: -0.228118 deg/s, posRepo size: 4
2021-12-04T12:41:52.800Z,1638621712.800 [Micromodem](INFO): Nmea in: $SNTTA,0.069819,,,,124152.09*47

2021-12-04T12:41:52.801Z,1638621712.801 [Micromodem](INFO): Nmea in: $CAREV,124153,AUV,2.1.4000*2A

2021-12-04T12:41:53.172Z,1638621713.172 [Micromodem](INFO): Nmea in: $CAREV,124153,COPROC,0.20.0.39330*7B

2021-12-04T12:41:55.209Z,1638621715.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:41:55.989Z,1638621715.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:41:56.419Z,1638621716.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:41:56.836Z,1638621716.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 120.698199 deg, deltaT: 4.413391 s, deltaX: 0.060003 m, approachRate: 0.013596 m/s, LOS rate: 0.185527 deg/s, posRepo size: 4
2021-12-04T12:41:57.236Z,1638621717.236 [Micromodem](INFO): Nmea in: $SNTTA,0.041617,,,,124156.53*46

2021-12-04T12:41:57.237Z,1638621717.237 [Micromodem](INFO): Nmea in: $CAREV,124157,AUV,2.1.4000*2E

2021-12-04T12:41:57.624Z,1638621717.624 [Micromodem](INFO): Nmea in: $CAREV,124157,COPROC,0.20.0.39330*7F

2021-12-04T12:41:59.674Z,1638621719.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:00.483Z,1638621720.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:00.845Z,1638621720.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:01.279Z,1638621721.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 122.865855 deg, deltaT: 4.426236 s, deltaX: 0.179998 m, approachRate: 0.040666 m/s, LOS rate: 0.489729 deg/s, posRepo size: 4
2021-12-04T12:42:01.661Z,1638621721.661 [Micromodem](INFO): Nmea in: $SNTTA,0.034038,,,,124201.02*4A

2021-12-04T12:42:02.060Z,1638621722.060 [Micromodem](INFO): Nmea in: $CAREV,124202,AUV,2.1.4000*2D

2021-12-04T12:42:02.061Z,1638621722.061 [Micromodem](INFO): Nmea in: $CAREV,124202,COPROC,0.20.0.39330*7C

2021-12-04T12:42:04.092Z,1638621724.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:04.881Z,1638621724.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:05.284Z,1638621725.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:05.735Z,1638621725.735 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T12:42:05.773Z,1638621725.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 123.148994 deg, deltaT: 4.515280 s, deltaX: 0.120001 m, approachRate: 0.026577 m/s, LOS rate: 0.062707 deg/s, posRepo size: 4
2021-12-04T12:42:06.124Z,1638621726.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124205.42*58

2021-12-04T12:42:06.125Z,1638621726.125 [Micromodem](INFO): Nmea in: $CAREV,124206,AUV,2.1.4000*29

2021-12-04T12:42:06.511Z,1638621726.511 [Micromodem](INFO): Nmea in: $CAREV,124206,COPROC,0.20.0.39330*78

2021-12-04T12:42:08.542Z,1638621728.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:09.344Z,1638621729.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:09.751Z,1638621729.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:10.149Z,1638621730.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 126.653099 deg, deltaT: 4.376488 s, deltaX: 0.179998 m, approachRate: 0.041129 m/s, LOS rate: 0.800666 deg/s, posRepo size: 4
2021-12-04T12:42:10.556Z,1638621730.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124209.89*53

2021-12-04T12:42:10.558Z,1638621730.558 [Micromodem](INFO): Nmea in: $CAREV,124210,AUV,2.1.4000*2E

2021-12-04T12:42:10.952Z,1638621730.952 [Micromodem](INFO): Nmea in: $CAREV,124210,COPROC,0.20.0.39330*7F

2021-12-04T12:42:13.003Z,1638621733.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:13.771Z,1638621733.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:14.179Z,1638621734.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:14.636Z,1638621734.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 124.933995 deg, deltaT: 4.484418 s, deltaX: -0.059998 m, approachRate: -0.013379 m/s, LOS rate: -0.383351 deg/s, posRepo size: 4
2021-12-04T12:42:15.011Z,1638621735.011 [Micromodem](INFO): Nmea in: $SNTTA,0.020352,,,,124214.31*44

2021-12-04T12:42:15.012Z,1638621735.012 [Micromodem](INFO): Nmea in: $CAREV,124215,AUV,2.1.4000*2B

2021-12-04T12:42:15.412Z,1638621735.412 [Micromodem](INFO): Nmea in: $CAREV,124215,COPROC,0.20.0.39330*7A

2021-12-04T12:42:17.469Z,1638621737.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:18.213Z,1638621738.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:18.617Z,1638621738.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:19.057Z,1638621739.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 127.721546 deg, deltaT: 4.423213 s, deltaX: 0.179998 m, approachRate: 0.040694 m/s, LOS rate: 0.630209 deg/s, posRepo size: 4
2021-12-04T12:42:19.473Z,1638621739.473 [Micromodem](INFO): Nmea in: $SNTTA,,0.022211,,,124218.75*4C

2021-12-04T12:42:19.474Z,1638621739.474 [Micromodem](INFO): Nmea in: $CAREV,124219,AUV,2.1.4000*27

2021-12-04T12:42:19.836Z,1638621739.836 [Micromodem](INFO): Nmea in: $CAREV,124219,COPROC,0.20.0.39330*76

2021-12-04T12:42:21.869Z,1638621741.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:22.657Z,1638621742.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:23.063Z,1638621743.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:23.543Z,1638621743.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 128.023208 deg, deltaT: 4.464319 s, deltaX: 0.179998 m, approachRate: 0.040319 m/s, LOS rate: 0.067572 deg/s, posRepo size: 4
2021-12-04T12:42:23.892Z,1638621743.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124223.20*58

2021-12-04T12:42:23.893Z,1638621743.893 [Micromodem](INFO): Nmea in: $CAREV,124224,AUV,2.1.4000*29

2021-12-04T12:42:24.284Z,1638621744.284 [Micromodem](INFO): Nmea in: $CAREV,124224,COPROC,0.20.0.39330*78

2021-12-04T12:42:26.301Z,1638621746.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:27.097Z,1638621747.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:27.510Z,1638621747.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:27.935Z,1638621747.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 127.235865 deg, deltaT: 4.398007 s, deltaX: 0.120001 m, approachRate: 0.027285 m/s, LOS rate: -0.179023 deg/s, posRepo size: 4
2021-12-04T12:42:28.344Z,1638621748.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124227.64*5C

2021-12-04T12:42:28.345Z,1638621748.345 [Micromodem](INFO): Nmea in: $CAREV,124228,AUV,2.1.4000*25

2021-12-04T12:42:28.724Z,1638621748.724 [Micromodem](INFO): Nmea in: $CAREV,124228,COPROC,0.20.0.39330*74

2021-12-04T12:42:30.763Z,1638621750.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:31.545Z,1638621751.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:31.944Z,1638621751.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:32.423Z,1638621752.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 128.680983 deg, deltaT: 4.499853 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.321148 deg/s, posRepo size: 4
2021-12-04T12:42:32.784Z,1638621752.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124232.09*53

2021-12-04T12:42:32.785Z,1638621752.785 [Micromodem](INFO): Nmea in: $CAREV,124233,AUV,2.1.4000*2F

2021-12-04T12:42:33.168Z,1638621753.168 [Micromodem](INFO): Nmea in: $CAREV,124233,COPROC,0.20.0.39330*7E

2021-12-04T12:42:35.193Z,1638621755.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:35.985Z,1638621755.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:36.409Z,1638621756.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:36.830Z,1638621756.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 128.786878 deg, deltaT: 4.406899 s, deltaX: 0.120001 m, approachRate: 0.027230 m/s, LOS rate: 0.024029 deg/s, posRepo size: 4
2021-12-04T12:42:37.227Z,1638621757.227 [Micromodem](INFO): Nmea in: $SNTTA,0.039533,,,,124236.53*49

2021-12-04T12:42:37.228Z,1638621757.228 [Micromodem](INFO): Nmea in: $CAREV,124237,AUV,2.1.4000*2B

2021-12-04T12:42:37.612Z,1638621757.612 [Micromodem](INFO): Nmea in: $CAREV,124237,COPROC,0.20.0.39330*7A

2021-12-04T12:42:39.684Z,1638621759.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:40.462Z,1638621760.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:40.831Z,1638621760.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:41.273Z,1638621761.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 126.776275 deg, deltaT: 4.443373 s, deltaX: 0.179998 m, approachRate: 0.040509 m/s, LOS rate: -0.452495 deg/s, posRepo size: 4
2021-12-04T12:42:41.657Z,1638621761.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124241.00*5E

2021-12-04T12:42:41.660Z,1638621761.660 [Micromodem](INFO): Nmea in: $CAREV,124242,AUV,2.1.4000*29

2021-12-04T12:42:42.055Z,1638621762.055 [Micromodem](INFO): Nmea in: $CAREV,124242,COPROC,0.20.0.39330*78

2021-12-04T12:42:44.084Z,1638621764.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:44.877Z,1638621764.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:45.303Z,1638621765.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:45.765Z,1638621765.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 128.306838 deg, deltaT: 4.479883 s, deltaX: 0.179998 m, approachRate: 0.040179 m/s, LOS rate: 0.341653 deg/s, posRepo size: 4
2021-12-04T12:42:46.116Z,1638621766.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124245.42*5C

2021-12-04T12:42:46.117Z,1638621766.117 [Micromodem](INFO): Nmea in: $CAREV,124246,AUV,2.1.4000*2D

2021-12-04T12:42:46.508Z,1638621766.508 [Micromodem](INFO): Nmea in: $CAREV,124246,COPROC,0.20.0.39330*7C

2021-12-04T12:42:48.535Z,1638621768.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:49.357Z,1638621769.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:49.722Z,1638621769.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:50.156Z,1638621770.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 127.268964 deg, deltaT: 4.406434 s, deltaX: 0.299999 m, approachRate: 0.068082 m/s, LOS rate: -0.235536 deg/s, posRepo size: 4
2021-12-04T12:42:50.542Z,1638621770.542 [Micromodem](INFO): Nmea in: $SNTTA,0.069921,,,,124249.90*44

2021-12-04T12:42:50.544Z,1638621770.544 [Micromodem](INFO): Nmea in: $CAREV,124250,AUV,2.1.4000*2A

2021-12-04T12:42:50.944Z,1638621770.944 [Micromodem](INFO): Nmea in: $CAREV,124250,COPROC,0.20.0.39330*7B

2021-12-04T12:42:52.998Z,1638621772.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:53.762Z,1638621773.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:54.163Z,1638621774.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:54.605Z,1638621774.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 126.747397 deg, deltaT: 4.449533 s, deltaX: -0.059998 m, approachRate: -0.013484 m/s, LOS rate: -0.117218 deg/s, posRepo size: 4
2021-12-04T12:42:55.004Z,1638621775.004 [Micromodem](INFO): Nmea in: $SNTTA,0.060129,,,,124254.30*4B

2021-12-04T12:42:55.005Z,1638621775.005 [Micromodem](INFO): Nmea in: $CAREV,124255,AUV,2.1.4000*2F

2021-12-04T12:42:55.424Z,1638621775.424 [Micromodem](INFO): Nmea in: $CAREV,124255,COPROC,0.20.0.39330*7E

2021-12-04T12:42:57.465Z,1638621777.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:42:58.213Z,1638621778.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:42:58.626Z,1638621778.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:42:59.051Z,1638621779.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 130.292484 deg, deltaT: 4.442068 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.798071 deg/s, posRepo size: 4
2021-12-04T12:42:59.468Z,1638621779.468 [Micromodem](INFO): Nmea in: $SNTTA,0.491916,,,,124258.76*4B

2021-12-04T12:42:59.469Z,1638621779.469 [Micromodem](INFO): Nmea in: $CAREV,124259,AUV,2.1.4000*23

2021-12-04T12:42:59.840Z,1638621779.840 [Micromodem](INFO): Nmea in: $CAREV,124259,COPROC,0.20.0.39330*72

2021-12-04T12:43:01.877Z,1638621781.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:02.643Z,1638621782.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:03.058Z,1638621783.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:03.542Z,1638621783.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 130.375525 deg, deltaT: 4.494544 s, deltaX: 0.179998 m, approachRate: 0.040048 m/s, LOS rate: 0.018476 deg/s, posRepo size: 4
2021-12-04T12:43:03.892Z,1638621783.892 [Micromodem](INFO): Nmea in: $SNTTA,0.018494,,,,124303.18*4E

2021-12-04T12:43:03.893Z,1638621783.893 [Micromodem](INFO): Nmea in: $CAREV,124304,AUV,2.1.4000*2A

2021-12-04T12:43:04.276Z,1638621784.276 [Micromodem](INFO): Nmea in: $CAREV,124304,COPROC,0.20.0.39330*7B

2021-12-04T12:43:06.307Z,1638621786.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:07.093Z,1638621787.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:07.495Z,1638621787.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:07.928Z,1638621787.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 130.401999 deg, deltaT: 4.385371 s, deltaX: 0.180000 m, approachRate: 0.041046 m/s, LOS rate: 0.006037 deg/s, posRepo size: 4
2021-12-04T12:43:08.345Z,1638621788.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124307.64*5F

2021-12-04T12:43:08.347Z,1638621788.347 [Micromodem](INFO): Nmea in: $CAREV,124308,AUV,2.1.4000*26

2021-12-04T12:43:08.716Z,1638621788.716 [Micromodem](INFO): Nmea in: $CAREV,124308,COPROC,0.20.0.39330*77

2021-12-04T12:43:10.755Z,1638621790.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:11.541Z,1638621791.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:11.947Z,1638621791.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:12.430Z,1638621792.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 131.730034 deg, deltaT: 4.496618 s, deltaX: 0.180004 m, approachRate: 0.040031 m/s, LOS rate: 0.295341 deg/s, posRepo size: 4
2021-12-04T12:43:12.781Z,1638621792.781 [Micromodem](INFO): Nmea in: $SNTTA,0.020957,,,,124312.08*46

2021-12-04T12:43:12.782Z,1638621792.782 [Micromodem](INFO): Nmea in: $CAREV,124313,AUV,2.1.4000*2C

2021-12-04T12:43:13.168Z,1638621793.168 [Micromodem](INFO): Nmea in: $CAREV,124313,COPROC,0.20.0.39330*7D

2021-12-04T12:43:15.201Z,1638621795.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:15.977Z,1638621795.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:16.413Z,1638621796.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:16.820Z,1638621796.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 132.446712 deg, deltaT: 4.395924 s, deltaX: 0.299999 m, approachRate: 0.068245 m/s, LOS rate: 0.163032 deg/s, posRepo size: 4
2021-12-04T12:43:17.224Z,1638621797.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124316.52*5A

2021-12-04T12:43:17.225Z,1638621797.225 [Micromodem](INFO): Nmea in: $CAREV,124317,AUV,2.1.4000*28

2021-12-04T12:43:17.608Z,1638621797.608 [Micromodem](INFO): Nmea in: $CAREV,124317,COPROC,0.20.0.39330*79

2021-12-04T12:43:19.674Z,1638621799.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:20.453Z,1638621800.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:20.835Z,1638621800.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:21.257Z,1638621801.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 134.557322 deg, deltaT: 4.437544 s, deltaX: 0.120001 m, approachRate: 0.027042 m/s, LOS rate: 0.475626 deg/s, posRepo size: 4
2021-12-04T12:43:21.653Z,1638621801.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124321.00*59

2021-12-04T12:43:21.666Z,1638621801.666 [Micromodem](INFO): Nmea in: $CAREV,124322,AUV,2.1.4000*2E

2021-12-04T12:43:22.048Z,1638621802.048 [Micromodem](INFO): Nmea in: $CAREV,124322,COPROC,0.20.0.39330*7F

2021-12-04T12:43:24.072Z,1638621804.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:24.869Z,1638621804.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:25.271Z,1638621805.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:25.748Z,1638621805.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.160002 m, bearing: 134.768156 deg, deltaT: 4.486341 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.046995 deg/s, posRepo size: 4
2021-12-04T12:43:26.116Z,1638621806.116 [Micromodem](INFO): Nmea in: $SNTTA,0.044363,,,,124325.41*40

2021-12-04T12:43:26.117Z,1638621806.117 [Micromodem](INFO): Nmea in: $CAREV,124326,AUV,2.1.4000*2A

2021-12-04T12:43:26.492Z,1638621806.492 [Micromodem](INFO): Nmea in: $CAREV,124326,COPROC,0.20.0.39330*7B

2021-12-04T12:43:28.534Z,1638621808.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:29.340Z,1638621809.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:29.727Z,1638621809.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:30.143Z,1638621810.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 139.459445 deg, deltaT: 4.399690 s, deltaX: 0.239996 m, approachRate: 0.054548 m/s, LOS rate: 1.066277 deg/s, posRepo size: 4
2021-12-04T12:43:30.541Z,1638621810.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124329.88*51

2021-12-04T12:43:30.542Z,1638621810.542 [Micromodem](INFO): Nmea in: $CAREV,124330,AUV,2.1.4000*2D

2021-12-04T12:43:30.940Z,1638621810.940 [Micromodem](INFO): Nmea in: $CAREV,124330,COPROC,0.20.0.39330*7C

2021-12-04T12:43:32.964Z,1638621812.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:33.753Z,1638621813.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:34.159Z,1638621814.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:34.597Z,1638621814.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 143.230474 deg, deltaT: 4.454149 s, deltaX: -0.179998 m, approachRate: -0.040411 m/s, LOS rate: 0.846633 deg/s, posRepo size: 4
2021-12-04T12:43:34.992Z,1638621814.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124334.30*5E

2021-12-04T12:43:34.993Z,1638621814.993 [Micromodem](INFO): Nmea in: $CAREV,124335,AUV,2.1.4000*28

2021-12-04T12:43:35.424Z,1638621815.424 [Micromodem](INFO): Nmea in: $CAREV,124335,COPROC,0.20.0.39330*79

2021-12-04T12:43:37.452Z,1638621817.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:38.209Z,1638621818.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:38.607Z,1638621818.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:39.028Z,1638621819.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 151.511354 deg, deltaT: 4.430348 s, deltaX: 0.120001 m, approachRate: 0.027086 m/s, LOS rate: 1.869126 deg/s, posRepo size: 4
2021-12-04T12:43:39.459Z,1638621819.459 [Micromodem](INFO): Nmea in: $SNTTA,0.019126,,,,124338.75*40

2021-12-04T12:43:39.460Z,1638621819.460 [Micromodem](INFO): Nmea in: $CAREV,124339,AUV,2.1.4000*24

2021-12-04T12:43:39.824Z,1638621819.824 [Micromodem](INFO): Nmea in: $CAREV,124339,COPROC,0.20.0.39330*75

2021-12-04T12:43:41.865Z,1638621821.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:42.645Z,1638621822.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:43.071Z,1638621823.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:43.513Z,1638621823.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 103.588425 deg, deltaT: 4.484820 s, deltaX: 0.059998 m, approachRate: 0.013378 m/s, LOS rate: -10.685586 deg/s, posRepo size: 4
2021-12-04T12:43:43.891Z,1638621823.891 [Micromodem](INFO): Nmea in: $SNTTA,0.037019,,,,124343.19*47

2021-12-04T12:43:43.892Z,1638621823.892 [Micromodem](INFO): Nmea in: $CAREV,124344,AUV,2.1.4000*2E

2021-12-04T12:43:44.272Z,1638621824.272 [Micromodem](INFO): Nmea in: $CAREV,124344,COPROC,0.20.0.39330*7F

2021-12-04T12:43:46.296Z,1638621826.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:47.086Z,1638621827.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:47.507Z,1638621827.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:47.909Z,1638621827.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.399998 m, bearing: 111.746362 deg, deltaT: 4.395889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.855810 deg/s, posRepo size: 4
2021-12-04T12:43:48.332Z,1638621828.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124347.63*5C

2021-12-04T12:43:48.333Z,1638621828.333 [Micromodem](INFO): Nmea in: $CAREV,124348,AUV,2.1.4000*22

2021-12-04T12:43:48.712Z,1638621828.712 [Micromodem](INFO): Nmea in: $CAREV,124348,COPROC,0.20.0.39330*73

2021-12-04T12:43:50.776Z,1638621830.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:51.551Z,1638621831.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:51.941Z,1638621831.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:52.423Z,1638621832.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.639999 m, bearing: 113.803512 deg, deltaT: 4.510519 s, deltaX: 0.240002 m, approachRate: 0.053209 m/s, LOS rate: 0.456078 deg/s, posRepo size: 4
2021-12-04T12:43:52.772Z,1638621832.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124352.10*5C

2021-12-04T12:43:52.773Z,1638621832.773 [Micromodem](INFO): Nmea in: $CAREV,124353,AUV,2.1.4000*28

2021-12-04T12:43:53.169Z,1638621833.169 [Micromodem](INFO): Nmea in: $CAREV,124353,COPROC,0.20.0.39330*79

2021-12-04T12:43:55.203Z,1638621835.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:43:55.973Z,1638621835.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:43:56.419Z,1638621836.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:43:56.804Z,1638621836.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 115.667396 deg, deltaT: 4.384590 s, deltaX: -0.120001 m, approachRate: -0.027369 m/s, LOS rate: 0.425099 deg/s, posRepo size: 4
2021-12-04T12:43:57.216Z,1638621837.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124356.52*5E

2021-12-04T12:43:57.218Z,1638621837.218 [Micromodem](INFO): Nmea in: $CAREV,124357,AUV,2.1.4000*2C

2021-12-04T12:43:57.608Z,1638621837.608 [Micromodem](INFO): Nmea in: $CAREV,124357,COPROC,0.20.0.39330*7D

2021-12-04T12:43:59.703Z,1638621839.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:00.447Z,1638621840.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:00.834Z,1638621840.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:01.281Z,1638621841.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.939999 m, bearing: 119.951987 deg, deltaT: 4.465997 s, deltaX: 0.420000 m, approachRate: 0.094044 m/s, LOS rate: 0.959381 deg/s, posRepo size: 4
2021-12-04T12:44:01.649Z,1638621841.649 [Micromodem](INFO): Nmea in: $SNTTA,0.041292,,,,124400.99*4F

2021-12-04T12:44:01.651Z,1638621841.651 [Micromodem](INFO): Nmea in: $CAREV,124402,AUV,2.1.4000*2B

2021-12-04T12:44:02.044Z,1638621842.044 [Micromodem](INFO): Nmea in: $CAREV,124402,COPROC,0.20.0.39330*7A

2021-12-04T12:44:04.076Z,1638621844.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:04.861Z,1638621844.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:05.275Z,1638621845.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:05.927Z,1638621845.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 121.610521 deg, deltaT: 4.604193 s, deltaX: 0.179998 m, approachRate: 0.039094 m/s, LOS rate: 0.360222 deg/s, posRepo size: 4
2021-12-04T12:44:06.112Z,1638621846.112 [Micromodem](INFO): Nmea in: $SNTTA,0.073065,,,,124405.40*45

2021-12-04T12:44:06.113Z,1638621846.113 [Micromodem](INFO): Nmea in: $CAREV,124406,AUV,2.1.4000*2F

2021-12-04T12:44:06.488Z,1638621846.488 [Micromodem](INFO): Nmea in: $CAREV,124406,COPROC,0.20.0.39330*7E

2021-12-04T12:44:08.533Z,1638621848.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:09.336Z,1638621849.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:09.734Z,1638621849.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:10.163Z,1638621850.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 124.235349 deg, deltaT: 4.269675 s, deltaX: 0.060003 m, approachRate: 0.014053 m/s, LOS rate: 0.614761 deg/s, posRepo size: 4
2021-12-04T12:44:10.564Z,1638621850.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124409.88*54

2021-12-04T12:44:10.565Z,1638621850.565 [Micromodem](INFO): Nmea in: $CAREV,124410,AUV,2.1.4000*28

2021-12-04T12:44:10.952Z,1638621850.952 [Micromodem](INFO): Nmea in: $CAREV,124410,COPROC,0.20.0.39330*79

2021-12-04T12:44:12.977Z,1638621852.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:13.765Z,1638621853.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:14.181Z,1638621854.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:14.620Z,1638621854.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 121.256157 deg, deltaT: 4.472055 s, deltaX: 0.179998 m, approachRate: 0.040250 m/s, LOS rate: -0.666180 deg/s, posRepo size: 4
2021-12-04T12:44:15.012Z,1638621855.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124414.31*5A

2021-12-04T12:44:15.013Z,1638621855.013 [Micromodem](INFO): Nmea in: $CAREV,124415,AUV,2.1.4000*2D

2021-12-04T12:44:15.420Z,1638621855.420 [Micromodem](INFO): Nmea in: $CAREV,124415,COPROC,0.20.0.39330*7C

2021-12-04T12:44:17.475Z,1638621857.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:18.205Z,1638621858.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:18.611Z,1638621858.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:19.036Z,1638621859.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 122.260072 deg, deltaT: 4.420006 s, deltaX: 0.179998 m, approachRate: 0.040724 m/s, LOS rate: 0.227130 deg/s, posRepo size: 4
2021-12-04T12:44:19.452Z,1638621859.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124418.75*56

2021-12-04T12:44:19.453Z,1638621859.453 [Micromodem](INFO): Nmea in: $CAREV,124419,AUV,2.1.4000*21

2021-12-04T12:44:19.840Z,1638621859.840 [Micromodem](INFO): Nmea in: $CAREV,124419,COPROC,0.20.0.39330*70

2021-12-04T12:44:21.873Z,1638621861.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:22.653Z,1638621862.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:23.075Z,1638621863.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:23.525Z,1638621863.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.779999 m, bearing: 122.475237 deg, deltaT: 4.489746 s, deltaX: 0.240002 m, approachRate: 0.053456 m/s, LOS rate: 0.047924 deg/s, posRepo size: 4
2021-12-04T12:44:23.900Z,1638621863.900 [Micromodem](INFO): Nmea in: $SNTTA,0.061391,,,,124423.20*4C

2021-12-04T12:44:23.901Z,1638621863.901 [Micromodem](INFO): Nmea in: $CAREV,124424,AUV,2.1.4000*2F

2021-12-04T12:44:24.276Z,1638621864.276 [Micromodem](INFO): Nmea in: $CAREV,124424,COPROC,0.20.0.39330*7E

2021-12-04T12:44:26.309Z,1638621866.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:27.097Z,1638621867.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:27.506Z,1638621867.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:27.937Z,1638621867.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 120.745860 deg, deltaT: 4.411160 s, deltaX: -0.120001 m, approachRate: -0.027204 m/s, LOS rate: -0.392046 deg/s, posRepo size: 4
2021-12-04T12:44:28.344Z,1638621868.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124427.64*5A

2021-12-04T12:44:28.345Z,1638621868.345 [Micromodem](INFO): Nmea in: $CAREV,124428,AUV,2.1.4000*23

2021-12-04T12:44:28.724Z,1638621868.724 [Micromodem](INFO): Nmea in: $CAREV,124428,COPROC,0.20.0.39330*72

2021-12-04T12:44:30.763Z,1638621870.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:31.545Z,1638621871.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:31.963Z,1638621871.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:32.429Z,1638621872.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 126.303558 deg, deltaT: 4.488248 s, deltaX: 0.180000 m, approachRate: 0.040105 m/s, LOS rate: 1.238278 deg/s, posRepo size: 4
2021-12-04T12:44:32.788Z,1638621872.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124432.09*55

2021-12-04T12:44:32.789Z,1638621872.789 [Micromodem](INFO): Nmea in: $CAREV,124433,AUV,2.1.4000*29

2021-12-04T12:44:33.176Z,1638621873.176 [Micromodem](INFO): Nmea in: $CAREV,124433,COPROC,0.20.0.39330*78

2021-12-04T12:44:35.201Z,1638621875.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:36.000Z,1638621876.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:36.422Z,1638621876.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:36.823Z,1638621876.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 124.907084 deg, deltaT: 4.398599 s, deltaX: 0.120001 m, approachRate: 0.027282 m/s, LOS rate: -0.317481 deg/s, posRepo size: 4
2021-12-04T12:44:37.232Z,1638621877.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124436.54*59

2021-12-04T12:44:37.233Z,1638621877.233 [Micromodem](INFO): Nmea in: $CAREV,124437,AUV,2.1.4000*2D

2021-12-04T12:44:37.632Z,1638621877.632 [Micromodem](INFO): Nmea in: $CAREV,124437,COPROC,0.20.0.39330*7C

2021-12-04T12:44:39.686Z,1638621879.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:40.453Z,1638621880.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:40.857Z,1638621880.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:41.301Z,1638621881.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 128.429386 deg, deltaT: 4.457260 s, deltaX: 0.240002 m, approachRate: 0.053845 m/s, LOS rate: 0.790239 deg/s, posRepo size: 4
2021-12-04T12:44:41.687Z,1638621881.687 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124441.00*58

2021-12-04T12:44:41.689Z,1638621881.689 [Micromodem](INFO): Nmea in: $CAREV,124442,AUV,2.1.4000*2F

2021-12-04T12:44:42.076Z,1638621882.076 [Micromodem](INFO): Nmea in: $CAREV,124442,COPROC,0.20.0.39330*7E

2021-12-04T12:44:44.096Z,1638621884.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:44.881Z,1638621884.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:45.341Z,1638621885.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:45.735Z,1638621885.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 124.602963 deg, deltaT: 4.454605 s, deltaX: 0.179998 m, approachRate: 0.040407 m/s, LOS rate: -0.858981 deg/s, posRepo size: 4
2021-12-04T12:44:46.132Z,1638621886.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124445.42*5A

2021-12-04T12:44:46.133Z,1638621886.133 [Micromodem](INFO): Nmea in: $CAREV,124446,AUV,2.1.4000*2B

2021-12-04T12:44:46.528Z,1638621886.528 [Micromodem](INFO): Nmea in: $CAREV,124446,COPROC,0.20.0.39330*7A

2021-12-04T12:44:48.570Z,1638621888.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:49.393Z,1638621889.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:49.855Z,1638621889.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:50.276Z,1638621890.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 153.811735 deg, deltaT: 4.541311 s, deltaX: 0.900000 m, approachRate: 0.198181 m/s, LOS rate: 6.431793 deg/s, posRepo size: 4
2021-12-04T12:44:50.660Z,1638621890.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124449.94*5D

2021-12-04T12:44:50.661Z,1638621890.661 [Micromodem](INFO): Nmea in: $CAREV,124450,AUV,2.1.4000*2C

2021-12-04T12:44:51.076Z,1638621891.076 [Micromodem](INFO): Nmea in: $CAREV,124450,COPROC,0.20.0.39330*7D

2021-12-04T12:44:53.106Z,1638621893.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:53.885Z,1638621893.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:54.291Z,1638621894.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:54.729Z,1638621894.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.559998 m, bearing: 129.093321 deg, deltaT: 4.452841 s, deltaX: -0.720001 m, approachRate: -0.161695 m/s, LOS rate: -5.551156 deg/s, posRepo size: 4
2021-12-04T12:44:55.122Z,1638621895.122 [Micromodem](INFO): Nmea in: $SNTTA,0.045960,,,,124454.46*4E

2021-12-04T12:44:55.125Z,1638621895.125 [Micromodem](INFO): Nmea in: $CAREV,124455,AUV,2.1.4000*29

2021-12-04T12:44:55.512Z,1638621895.512 [Micromodem](INFO): Nmea in: $CAREV,124455,COPROC,0.20.0.39330*78

2021-12-04T12:44:57.581Z,1638621897.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:44:58.344Z,1638621898.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:44:58.728Z,1638621898.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:44:59.188Z,1638621899.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 125.113274 deg, deltaT: 4.437864 s, deltaX: 0.120001 m, approachRate: 0.027040 m/s, LOS rate: -0.896838 deg/s, posRepo size: 4
2021-12-04T12:44:59.568Z,1638621899.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124458.89*51

2021-12-04T12:44:59.569Z,1638621899.569 [Micromodem](INFO): Nmea in: $CAREV,124459,AUV,2.1.4000*25

2021-12-04T12:44:59.972Z,1638621899.972 [Micromodem](INFO): Nmea in: $CAREV,124459,COPROC,0.20.0.39330*74

2021-12-04T12:45:01.976Z,1638621901.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:02.777Z,1638621902.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:03.194Z,1638621903.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:03.640Z,1638621903.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 128.913933 deg, deltaT: 4.472772 s, deltaX: 0.240002 m, approachRate: 0.053658 m/s, LOS rate: 0.849732 deg/s, posRepo size: 4
2021-12-04T12:45:04.023Z,1638621904.023 [Micromodem](INFO): Nmea in: $SNTTA,0.027116,,,,124503.32*43

2021-12-04T12:45:04.024Z,1638621904.024 [Micromodem](INFO): Nmea in: $CAREV,124504,AUV,2.1.4000*2C

2021-12-04T12:45:04.420Z,1638621904.420 [Micromodem](INFO): Nmea in: $CAREV,124504,COPROC,0.20.0.39330*7D

2021-12-04T12:45:06.479Z,1638621906.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:07.225Z,1638621907.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:07.619Z,1638621907.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:08.109Z,1638621908.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 134.708228 deg, deltaT: 4.416334 s, deltaX: -0.120001 m, approachRate: -0.027172 m/s, LOS rate: 1.312015 deg/s, posRepo size: 4
2021-12-04T12:45:08.474Z,1638621908.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124507.77*5B

2021-12-04T12:45:08.475Z,1638621908.475 [Micromodem](INFO): Nmea in: $CAREV,124508,AUV,2.1.4000*20

2021-12-04T12:45:08.852Z,1638621908.852 [Micromodem](INFO): Nmea in: $CAREV,124508,COPROC,0.20.0.39330*71

2021-12-04T12:45:10.865Z,1638621910.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:11.669Z,1638621911.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:12.067Z,1638621912.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:12.517Z,1638621912.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 128.240053 deg, deltaT: 4.440576 s, deltaX: 0.299999 m, approachRate: 0.067559 m/s, LOS rate: -1.456607 deg/s, posRepo size: 4
2021-12-04T12:45:12.904Z,1638621912.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124512.21*5C

2021-12-04T12:45:12.905Z,1638621912.905 [Micromodem](INFO): Nmea in: $CAREV,124513,AUV,2.1.4000*2A

2021-12-04T12:45:13.303Z,1638621913.303 [Micromodem](INFO): Nmea in: $CAREV,124513,COPROC,0.20.0.39330*7B

2021-12-04T12:45:15.362Z,1638621915.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:16.337Z,1638621916.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:16.731Z,1638621916.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:17.168Z,1638621917.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 131.874615 deg, deltaT: 4.654803 s, deltaX: 0.120003 m, approachRate: 0.025780 m/s, LOS rate: 0.780820 deg/s, posRepo size: 4
2021-12-04T12:45:17.572Z,1638621917.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124516.88*5B

2021-12-04T12:45:17.573Z,1638621917.573 [Micromodem](INFO): Nmea in: $CAREV,124517,AUV,2.1.4000*2E

2021-12-04T12:45:17.952Z,1638621917.952 [Micromodem](INFO): Nmea in: $CAREV,124517,COPROC,0.20.0.39330*7F

2021-12-04T12:45:19.981Z,1638621919.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:20.769Z,1638621920.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:21.187Z,1638621921.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:21.648Z,1638621921.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 129.046548 deg, deltaT: 4.491902 s, deltaX: 0.119999 m, approachRate: 0.026715 m/s, LOS rate: -0.629592 deg/s, posRepo size: 4
2021-12-04T12:45:22.012Z,1638621922.012 [Micromodem](INFO): Nmea in: $SNTTA,,0.049309,,,124521.31*44

2021-12-04T12:45:22.013Z,1638621922.013 [Micromodem](INFO): Nmea in: $CAREV,124522,AUV,2.1.4000*28

2021-12-04T12:45:22.405Z,1638621922.405 [Micromodem](INFO): Nmea in: $CAREV,124522,COPROC,0.20.0.39330*79

2021-12-04T12:45:24.462Z,1638621924.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:25.221Z,1638621925.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:25.623Z,1638621925.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:26.061Z,1638621926.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 143.071262 deg, deltaT: 4.417726 s, deltaX: 0.059998 m, approachRate: 0.013581 m/s, LOS rate: 3.174646 deg/s, posRepo size: 4
2021-12-04T12:45:26.464Z,1638621926.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124525.77*5B

2021-12-04T12:45:26.465Z,1638621926.465 [Micromodem](INFO): Nmea in: $CAREV,124526,AUV,2.1.4000*2C

2021-12-04T12:45:26.848Z,1638621926.848 [Micromodem](INFO): Nmea in: $CAREV,124526,COPROC,0.20.0.39330*7D

2021-12-04T12:45:28.868Z,1638621928.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:29.657Z,1638621929.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:30.074Z,1638621930.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:30.505Z,1638621930.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 155.643673 deg, deltaT: 4.443507 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 2.829389 deg/s, posRepo size: 4
2021-12-04T12:45:30.904Z,1638621930.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124530.20*5D

2021-12-04T12:45:30.906Z,1638621930.906 [Micromodem](INFO): Nmea in: $CAREV,124531,AUV,2.1.4000*2A

2021-12-04T12:45:31.289Z,1638621931.289 [Micromodem](INFO): Nmea in: $CAREV,124531,COPROC,0.20.0.39330*7B

2021-12-04T12:45:33.386Z,1638621933.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:34.097Z,1638621934.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:34.511Z,1638621934.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:34.972Z,1638621934.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 137.878420 deg, deltaT: 4.449514 s, deltaX: 0.240002 m, approachRate: 0.053939 m/s, LOS rate: -3.992628 deg/s, posRepo size: 4
2021-12-04T12:45:35.371Z,1638621935.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124534.64*59

2021-12-04T12:45:35.374Z,1638621935.374 [Micromodem](INFO): Nmea in: $CAREV,124535,AUV,2.1.4000*2E

2021-12-04T12:45:35.720Z,1638621935.720 [Micromodem](INFO): Nmea in: $CAREV,124535,COPROC,0.20.0.39330*7F

2021-12-04T12:45:37.450Z,1638621937.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:38.175Z,1638621938.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:38.547Z,1638621938.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:38.980Z,1638621938.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 145.150235 deg, deltaT: 4.026009 s, deltaX: -0.119999 m, approachRate: -0.029806 m/s, LOS rate: 1.806209 deg/s, posRepo size: 4
2021-12-04T12:45:39.412Z,1638621939.412 [Micromodem](INFO): Nmea in: $SNTTA,0.051742,,,,124538.72*49

2021-12-04T12:45:39.413Z,1638621939.413 [Micromodem](INFO): Nmea in: $CAREV,124539,AUV,2.1.4000*22

2021-12-04T12:45:39.761Z,1638621939.761 [Micromodem](INFO): Nmea in: $CAREV,124539,COPROC,0.20.0.39330*73

2021-12-04T12:45:41.493Z,1638621941.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:42.189Z,1638621942.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:42.591Z,1638621942.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:43.034Z,1638621943.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 146.123920 deg, deltaT: 4.033923 s, deltaX: 0.360001 m, approachRate: 0.089243 m/s, LOS rate: 0.241374 deg/s, posRepo size: 4
2021-12-04T12:45:43.452Z,1638621943.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124542.73*5E

2021-12-04T12:45:43.453Z,1638621943.453 [Micromodem](INFO): Nmea in: $CAREV,124543,AUV,2.1.4000*2F

2021-12-04T12:45:43.816Z,1638621943.816 [Micromodem](INFO): Nmea in: $CAREV,124543,COPROC,0.20.0.39330*7E

2021-12-04T12:45:45.828Z,1638621945.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:46.625Z,1638621946.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:47.039Z,1638621947.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:47.520Z,1638621947.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 148.937930 deg, deltaT: 4.501762 s, deltaX: 0.059998 m, approachRate: 0.013328 m/s, LOS rate: 0.625091 deg/s, posRepo size: 4
2021-12-04T12:45:47.868Z,1638621947.868 [Micromodem](INFO): Nmea in: $SNTTA,0.064342,,,,124547.17*40

2021-12-04T12:45:47.869Z,1638621947.869 [Micromodem](INFO): Nmea in: $CAREV,124548,AUV,2.1.4000*24

2021-12-04T12:45:48.244Z,1638621948.244 [Micromodem](INFO): Nmea in: $CAREV,124548,COPROC,0.20.0.39330*75

2021-12-04T12:45:50.277Z,1638621950.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:51.149Z,1638621951.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:51.563Z,1638621951.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:51.976Z,1638621951.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 140.618692 deg, deltaT: 4.459493 s, deltaX: 0.240002 m, approachRate: 0.053818 m/s, LOS rate: -1.865512 deg/s, posRepo size: 4
2021-12-04T12:45:52.392Z,1638621952.392 [Micromodem](INFO): Nmea in: $SNTTA,0.071845,,,,124551.69*46

2021-12-04T12:45:52.395Z,1638621952.395 [Micromodem](INFO): Nmea in: $CAREV,124552,AUV,2.1.4000*2F

2021-12-04T12:45:52.777Z,1638621952.777 [Micromodem](INFO): Nmea in: $CAREV,124552,COPROC,0.20.0.39330*7E

2021-12-04T12:45:54.471Z,1638621954.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:55.185Z,1638621955.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:45:55.603Z,1638621955.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:45:56.036Z,1638621956.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 150.747684 deg, deltaT: 4.060671 s, deltaX: 0.059998 m, approachRate: 0.014775 m/s, LOS rate: 2.494414 deg/s, posRepo size: 4
2021-12-04T12:45:56.448Z,1638621956.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124555.73*58

2021-12-04T12:45:56.449Z,1638621956.449 [Micromodem](INFO): Nmea in: $CAREV,124556,AUV,2.1.4000*2B

2021-12-04T12:45:56.812Z,1638621956.812 [Micromodem](INFO): Nmea in: $CAREV,124556,COPROC,0.20.0.39330*7A

2021-12-04T12:45:58.840Z,1638621958.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:45:59.630Z,1638621959.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:00.039Z,1638621960.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:00.481Z,1638621960.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.360001 m, bearing: 161.516666 deg, deltaT: 4.445139 s, deltaX: 0.120003 m, approachRate: 0.026996 m/s, LOS rate: 2.422642 deg/s, posRepo size: 4
2021-12-04T12:46:00.876Z,1638621960.876 [Micromodem](INFO): Nmea in: $SNTTA,0.078212,,,,124600.18*46

2021-12-04T12:46:00.877Z,1638621960.877 [Micromodem](INFO): Nmea in: $CAREV,124601,AUV,2.1.4000*2A

2021-12-04T12:46:01.252Z,1638621961.252 [Micromodem](INFO): Nmea in: $CAREV,124601,COPROC,0.20.0.39330*7B

2021-12-04T12:46:03.355Z,1638621963.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:04.077Z,1638621964.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:04.492Z,1638621964.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:04.931Z,1638621964.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.360001 m, bearing: 163.954484 deg, deltaT: 4.446967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.548198 deg/s, posRepo size: 4
2021-12-04T12:46:05.341Z,1638621965.341 [Micromodem](INFO): Nmea in: $SNTTA,0.045865,,,,124604.62*4B

2021-12-04T12:46:05.347Z,1638621965.347 [Micromodem](INFO): Nmea in: $CAREV,124605,AUV,2.1.4000*2E

2021-12-04T12:46:05.717Z,1638621965.717 [Micromodem](INFO): Nmea in: $CAREV,124605,COPROC,0.20.0.39330*7F

2021-12-04T12:46:07.739Z,1638621967.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:08.521Z,1638621968.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:08.936Z,1638621968.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:09.475Z,1638621969.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 164.727647 deg, deltaT: 4.542818 s, deltaX: 0.119999 m, approachRate: 0.026415 m/s, LOS rate: 0.170195 deg/s, posRepo size: 4
2021-12-04T12:46:09.780Z,1638621969.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124609.07*51

2021-12-04T12:46:09.781Z,1638621969.781 [Micromodem](INFO): Nmea in: $CAREV,124610,AUV,2.1.4000*2A

2021-12-04T12:46:10.172Z,1638621970.172 [Micromodem](INFO): Nmea in: $CAREV,124610,COPROC,0.20.0.39330*7B

2021-12-04T12:46:12.193Z,1638621972.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:12.981Z,1638621972.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:13.407Z,1638621973.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:13.811Z,1638621973.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 172.923096 deg, deltaT: 4.340282 s, deltaX: -0.060001 m, approachRate: -0.013824 m/s, LOS rate: 1.888229 deg/s, posRepo size: 4
2021-12-04T12:46:14.220Z,1638621974.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124613.53*5B

2021-12-04T12:46:14.221Z,1638621974.221 [Micromodem](INFO): Nmea in: $CAREV,124614,AUV,2.1.4000*2E

2021-12-04T12:46:14.619Z,1638621974.619 [Micromodem](INFO): Nmea in: $CAREV,124614,COPROC,0.20.0.39330*7F

2021-12-04T12:46:16.643Z,1638621976.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:17.445Z,1638621977.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:17.831Z,1638621977.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:18.260Z,1638621978.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 169.694219 deg, deltaT: 4.448123 s, deltaX: 0.240002 m, approachRate: 0.053956 m/s, LOS rate: -0.725896 deg/s, posRepo size: 4
2021-12-04T12:46:18.660Z,1638621978.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124617.99*59

2021-12-04T12:46:18.661Z,1638621978.661 [Micromodem](INFO): Nmea in: $CAREV,124619,AUV,2.1.4000*23

2021-12-04T12:46:19.064Z,1638621979.064 [Micromodem](INFO): Nmea in: $CAREV,124619,COPROC,0.20.0.39330*72

2021-12-04T12:46:21.077Z,1638621981.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:21.877Z,1638621981.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:22.280Z,1638621982.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:22.727Z,1638621982.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 154.158135 deg, deltaT: 4.466815 s, deltaX: 0.779999 m, approachRate: 0.174621 m/s, LOS rate: -3.478112 deg/s, posRepo size: 4
2021-12-04T12:46:23.108Z,1638621983.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124622.42*59

2021-12-04T12:46:23.109Z,1638621983.109 [Micromodem](INFO): Nmea in: $CAREV,124623,AUV,2.1.4000*2A

2021-12-04T12:46:23.504Z,1638621983.504 [Micromodem](INFO): Nmea in: $CAREV,124623,COPROC,0.20.0.39330*7B

2021-12-04T12:46:25.556Z,1638621985.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:26.317Z,1638621986.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:26.723Z,1638621986.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:27.172Z,1638621987.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 168.556515 deg, deltaT: 4.445956 s, deltaX: -0.480000 m, approachRate: -0.107963 m/s, LOS rate: 3.238534 deg/s, posRepo size: 4
2021-12-04T12:46:27.552Z,1638621987.552 [Micromodem](INFO): Nmea in: $SNTTA,0.043876,,,,124626.86*45

2021-12-04T12:46:27.553Z,1638621987.553 [Micromodem](INFO): Nmea in: $CAREV,124627,AUV,2.1.4000*2E

2021-12-04T12:46:27.944Z,1638621987.944 [Micromodem](INFO): Nmea in: $CAREV,124627,COPROC,0.20.0.39330*7F

2021-12-04T12:46:29.972Z,1638621989.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:30.757Z,1638621990.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:31.173Z,1638621991.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:31.650Z,1638621991.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 166.412628 deg, deltaT: 4.470789 s, deltaX: 0.119999 m, approachRate: 0.026841 m/s, LOS rate: -0.479532 deg/s, posRepo size: 4
2021-12-04T12:46:32.008Z,1638621992.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124631.30*5E

2021-12-04T12:46:32.009Z,1638621992.009 [Micromodem](INFO): Nmea in: $CAREV,124632,AUV,2.1.4000*2A

2021-12-04T12:46:32.400Z,1638621992.400 [Micromodem](INFO): Nmea in: $CAREV,124632,COPROC,0.20.0.39330*7B

2021-12-04T12:46:34.458Z,1638621994.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:35.207Z,1638621995.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:35.679Z,1638621995.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:36.094Z,1638621996.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 166.106062 deg, deltaT: 4.450894 s, deltaX: 0.120003 m, approachRate: 0.026961 m/s, LOS rate: -0.068877 deg/s, posRepo size: 4
2021-12-04T12:46:36.491Z,1638621996.491 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124635.75*5B

2021-12-04T12:46:36.492Z,1638621996.492 [Micromodem](INFO): Nmea in: $CAREV,124636,AUV,2.1.4000*2E

2021-12-04T12:46:36.905Z,1638621996.905 [Micromodem](INFO): Nmea in: $CAREV,124636,COPROC,0.20.0.39330*7F

2021-12-04T12:46:38.916Z,1638621998.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:39.705Z,1638621999.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:40.117Z,1638622000.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:40.533Z,1638622000.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 165.968925 deg, deltaT: 4.439232 s, deltaX: -0.060005 m, approachRate: -0.013517 m/s, LOS rate: -0.030892 deg/s, posRepo size: 4
2021-12-04T12:46:40.952Z,1638622000.952 [Micromodem](INFO): Nmea in: $SNTTA,0.057941,,,,124640.25*4C

2021-12-04T12:46:40.953Z,1638622000.953 [Micromodem](INFO): Nmea in: $CAREV,124641,AUV,2.1.4000*2E

2021-12-04T12:46:41.367Z,1638622001.367 [Micromodem](INFO): Nmea in: $CAREV,124641,COPROC,0.20.0.39330*7F

2021-12-04T12:46:43.489Z,1638622003.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:44.150Z,1638622004.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:44.563Z,1638622004.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:45.028Z,1638622005.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 164.781742 deg, deltaT: 4.481377 s, deltaX: 0.060005 m, approachRate: 0.013390 m/s, LOS rate: -0.264915 deg/s, posRepo size: 4
2021-12-04T12:46:45.424Z,1638622005.424 [Micromodem](INFO): Nmea in: $SNTTA,0.054754,,,,124644.70*41

2021-12-04T12:46:45.425Z,1638622005.425 [Micromodem](INFO): Nmea in: $CAREV,124645,AUV,2.1.4000*2A

2021-12-04T12:46:45.773Z,1638622005.773 [Micromodem](INFO): Nmea in: $CAREV,124645,COPROC,0.20.0.39330*7B

2021-12-04T12:46:47.804Z,1638622007.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:48.593Z,1638622008.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:48.999Z,1638622008.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:49.484Z,1638622009.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 158.551189 deg, deltaT: 4.469517 s, deltaX: 0.299999 m, approachRate: 0.067121 m/s, LOS rate: -1.394010 deg/s, posRepo size: 4
2021-12-04T12:46:49.840Z,1638622009.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124649.14*57

2021-12-04T12:46:49.841Z,1638622009.841 [Micromodem](INFO): Nmea in: $CAREV,124650,AUV,2.1.4000*2E

2021-12-04T12:46:50.216Z,1638622010.216 [Micromodem](INFO): Nmea in: $CAREV,124650,COPROC,0.20.0.39330*7F

2021-12-04T12:46:52.244Z,1638622012.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:53.037Z,1638622013.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:53.443Z,1638622013.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:53.868Z,1638622013.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 157.292126 deg, deltaT: 4.384201 s, deltaX: 0.059998 m, approachRate: 0.013685 m/s, LOS rate: -0.287182 deg/s, posRepo size: 4
2021-12-04T12:46:54.272Z,1638622014.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124653.58*54

2021-12-04T12:46:54.273Z,1638622014.273 [Micromodem](INFO): Nmea in: $CAREV,124654,AUV,2.1.4000*2A

2021-12-04T12:46:54.660Z,1638622014.660 [Micromodem](INFO): Nmea in: $CAREV,124654,COPROC,0.20.0.39330*7B

2021-12-04T12:46:56.698Z,1638622016.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:46:57.481Z,1638622017.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:46:57.887Z,1638622017.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:46:58.315Z,1638622018.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 164.568026 deg, deltaT: 4.447173 s, deltaX: -0.180000 m, approachRate: -0.040475 m/s, LOS rate: 1.636073 deg/s, posRepo size: 4
2021-12-04T12:46:58.720Z,1638622018.720 [Micromodem](INFO): Nmea in: $SNTTA,0.050857,,,,124658.03*40

2021-12-04T12:46:58.721Z,1638622018.721 [Micromodem](INFO): Nmea in: $CAREV,124659,AUV,2.1.4000*27

2021-12-04T12:46:59.100Z,1638622019.100 [Micromodem](INFO): Nmea in: $CAREV,124659,COPROC,0.20.0.39330*76

2021-12-04T12:47:00.969Z,1638622020.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:01.529Z,1638622021.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:01.980Z,1638622021.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:02.432Z,1638622022.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 145.310103 deg, deltaT: 4.112078 s, deltaX: 0.180000 m, approachRate: 0.043774 m/s, LOS rate: -4.683258 deg/s, posRepo size: 4
2021-12-04T12:47:02.784Z,1638622022.784 [Micromodem](INFO): Nmea in: $SNTTA,0.055654,,,,124702.07*42

2021-12-04T12:47:02.785Z,1638622022.785 [Micromodem](INFO): Nmea in: $CAREV,124703,AUV,2.1.4000*29

2021-12-04T12:47:03.204Z,1638622023.204 [Micromodem](INFO): Nmea in: $CAREV,124703,COPROC,0.20.0.39330*78

2021-12-04T12:47:05.219Z,1638622025.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:06.001Z,1638622026.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:06.440Z,1638622026.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:06.841Z,1638622026.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 157.626272 deg, deltaT: 4.409901 s, deltaX: 0.120003 m, approachRate: 0.027212 m/s, LOS rate: 2.792845 deg/s, posRepo size: 4
2021-12-04T12:47:07.248Z,1638622027.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124706.55*58

2021-12-04T12:47:07.249Z,1638622027.249 [Micromodem](INFO): Nmea in: $CAREV,124707,AUV,2.1.4000*2D

2021-12-04T12:47:07.632Z,1638622027.632 [Micromodem](INFO): Nmea in: $CAREV,124707,COPROC,0.20.0.39330*7C

2021-12-04T12:47:09.694Z,1638622029.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:10.449Z,1638622030.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:10.868Z,1638622030.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:11.353Z,1638622031.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 145.724763 deg, deltaT: 4.480151 s, deltaX: 0.179996 m, approachRate: 0.040176 m/s, LOS rate: -2.656497 deg/s, posRepo size: 4
2021-12-04T12:47:11.692Z,1638622031.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124710.99*5F

2021-12-04T12:47:11.693Z,1638622031.693 [Micromodem](INFO): Nmea in: $CAREV,124712,AUV,2.1.4000*29

2021-12-04T12:47:12.072Z,1638622032.072 [Micromodem](INFO): Nmea in: $CAREV,124712,COPROC,0.20.0.39330*78

2021-12-04T12:47:14.104Z,1638622034.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:14.893Z,1638622034.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:15.344Z,1638622035.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:15.717Z,1638622035.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 156.892983 deg, deltaT: 4.399705 s, deltaX: 0.240002 m, approachRate: 0.054549 m/s, LOS rate: 2.538402 deg/s, posRepo size: 4
2021-12-04T12:47:16.128Z,1638622036.128 [Micromodem](INFO): Nmea in: $SNTTA,0.022995,,,,124715.44*41

2021-12-04T12:47:16.129Z,1638622036.129 [Micromodem](INFO): Nmea in: $CAREV,124716,AUV,2.1.4000*2D

2021-12-04T12:47:16.528Z,1638622036.528 [Micromodem](INFO): Nmea in: $CAREV,124716,COPROC,0.20.0.39330*7C

2021-12-04T12:47:18.546Z,1638622038.546 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:47:18.557Z,1638622038.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:19.400Z,1638622039.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:19.744Z,1638622039.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:20.177Z,1638622040.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 141.406472 deg, deltaT: 4.460098 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -3.472236 deg/s, posRepo size: 4
2021-12-04T12:47:20.579Z,1638622040.579 [Micromodem](INFO): Nmea in: $SNTTA,0.032888,,,,124719.95*4D

2021-12-04T12:47:20.956Z,1638622040.956 [Micromodem](INFO): Nmea in: $CAREV,124721,AUV,2.1.4000*29

2021-12-04T12:47:20.957Z,1638622040.957 [Micromodem](INFO): Nmea in: $CAREV,124721,COPROC,0.20.0.39330*78

2021-12-04T12:47:22.985Z,1638622042.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:23.781Z,1638622043.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:24.191Z,1638622044.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:24.626Z,1638622044.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 145.676365 deg, deltaT: 4.448698 s, deltaX: 0.180000 m, approachRate: 0.040461 m/s, LOS rate: 0.959807 deg/s, posRepo size: 4
2021-12-04T12:47:25.028Z,1638622045.028 [Micromodem](INFO): Nmea in: $SNTTA,0.058136,,,,124724.33*4F

2021-12-04T12:47:25.029Z,1638622045.029 [Micromodem](INFO): Nmea in: $CAREV,124725,AUV,2.1.4000*2D

2021-12-04T12:47:25.412Z,1638622045.412 [Micromodem](INFO): Nmea in: $CAREV,124725,COPROC,0.20.0.39330*7C

2021-12-04T12:47:27.491Z,1638622047.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:28.257Z,1638622048.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:28.639Z,1638622048.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:29.059Z,1638622049.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 139.183409 deg, deltaT: 4.432467 s, deltaX: 0.360001 m, approachRate: 0.081219 m/s, LOS rate: -1.464863 deg/s, posRepo size: 4
2021-12-04T12:47:29.468Z,1638622049.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124728.80*5C

2021-12-04T12:47:29.469Z,1638622049.469 [Micromodem](INFO): Nmea in: $CAREV,124729,AUV,2.1.4000*21

2021-12-04T12:47:29.867Z,1638622049.867 [Micromodem](INFO): Nmea in: $CAREV,124729,COPROC,0.20.0.39330*70

2021-12-04T12:47:31.868Z,1638622051.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:32.669Z,1638622052.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:33.081Z,1638622053.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:33.538Z,1638622053.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 141.550070 deg, deltaT: 4.479482 s, deltaX: -0.119999 m, approachRate: -0.026789 m/s, LOS rate: 0.528334 deg/s, posRepo size: 4
2021-12-04T12:47:33.916Z,1638622053.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124733.22*5E

2021-12-04T12:47:33.917Z,1638622053.917 [Micromodem](INFO): Nmea in: $CAREV,124734,AUV,2.1.4000*2D

2021-12-04T12:47:34.292Z,1638622054.292 [Micromodem](INFO): Nmea in: $CAREV,124734,COPROC,0.20.0.39330*7C

2021-12-04T12:47:36.336Z,1638622056.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:37.126Z,1638622057.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:37.527Z,1638622057.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:37.979Z,1638622057.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 162.422062 deg, deltaT: 4.435955 s, deltaX: 0.119999 m, approachRate: 0.027051 m/s, LOS rate: 4.705186 deg/s, posRepo size: 4
2021-12-04T12:47:38.345Z,1638622058.345 [Micromodem](INFO): Nmea in: $SNTTA,0.033488,,,,124737.67*41

2021-12-04T12:47:38.348Z,1638622058.348 [Micromodem](INFO): Nmea in: $CAREV,124738,AUV,2.1.4000*21

2021-12-04T12:47:38.745Z,1638622058.745 [Micromodem](INFO): Nmea in: $CAREV,124738,COPROC,0.20.0.39330*70

2021-12-04T12:47:40.792Z,1638622060.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:41.558Z,1638622061.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:41.967Z,1638622061.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:42.436Z,1638622062.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 158.120355 deg, deltaT: 4.462366 s, deltaX: 0.180000 m, approachRate: 0.040337 m/s, LOS rate: -0.963997 deg/s, posRepo size: 4
2021-12-04T12:47:42.809Z,1638622062.809 [Micromodem](INFO): Nmea in: $SNTTA,0.050437,,,,124742.10*42

2021-12-04T12:47:42.810Z,1638622062.810 [Micromodem](INFO): Nmea in: $CAREV,124743,AUV,2.1.4000*2D

2021-12-04T12:47:43.188Z,1638622063.188 [Micromodem](INFO): Nmea in: $CAREV,124743,COPROC,0.20.0.39330*7C

2021-12-04T12:47:45.205Z,1638622065.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:46.001Z,1638622066.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:46.418Z,1638622066.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:46.853Z,1638622066.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 147.007282 deg, deltaT: 4.409105 s, deltaX: 0.119999 m, approachRate: 0.027216 m/s, LOS rate: -2.520483 deg/s, posRepo size: 4
2021-12-04T12:47:47.247Z,1638622067.247 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124746.55*5C

2021-12-04T12:47:47.248Z,1638622067.248 [Micromodem](INFO): Nmea in: $CAREV,124747,AUV,2.1.4000*29

2021-12-04T12:47:47.628Z,1638622067.628 [Micromodem](INFO): Nmea in: $CAREV,124747,COPROC,0.20.0.39330*78

2021-12-04T12:47:49.679Z,1638622069.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:50.449Z,1638622070.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:50.859Z,1638622070.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:51.350Z,1638622071.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 147.377574 deg, deltaT: 4.492956 s, deltaX: 0.120003 m, approachRate: 0.026709 m/s, LOS rate: 0.082416 deg/s, posRepo size: 4
2021-12-04T12:47:51.684Z,1638622071.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124750.99*5B

2021-12-04T12:47:51.685Z,1638622071.685 [Micromodem](INFO): Nmea in: $CAREV,124752,AUV,2.1.4000*2D

2021-12-04T12:47:52.076Z,1638622072.076 [Micromodem](INFO): Nmea in: $CAREV,124752,COPROC,0.20.0.39330*7C

2021-12-04T12:47:54.097Z,1638622074.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:54.885Z,1638622074.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:55.303Z,1638622075.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:47:55.776Z,1638622075.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 145.829716 deg, deltaT: 4.433941 s, deltaX: 0.239994 m, approachRate: 0.054127 m/s, LOS rate: -0.349093 deg/s, posRepo size: 4
2021-12-04T12:47:56.124Z,1638622076.124 [Micromodem](INFO): Nmea in: $SNTTA,0.056006,,,,124755.43*42

2021-12-04T12:47:56.125Z,1638622076.125 [Micromodem](INFO): Nmea in: $CAREV,124756,AUV,2.1.4000*29

2021-12-04T12:47:56.524Z,1638622076.524 [Micromodem](INFO): Nmea in: $CAREV,124756,COPROC,0.20.0.39330*78

2021-12-04T12:47:57.381Z,1638622077.381 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T12:47:58.543Z,1638622078.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:47:59.380Z,1638622079.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:47:59.735Z,1638622079.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:00.158Z,1638622080.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 162.864918 deg, deltaT: 4.385240 s, deltaX: 0.060005 m, approachRate: 0.013683 m/s, LOS rate: 3.884668 deg/s, posRepo size: 4
2021-12-04T12:48:00.569Z,1638622080.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124759.93*58

2021-12-04T12:48:00.572Z,1638622080.572 [Micromodem](INFO): Nmea in: $CAREV,124800,AUV,2.1.4000*25

2021-12-04T12:48:00.960Z,1638622080.960 [Micromodem](INFO): Nmea in: $CAREV,124800,COPROC,0.20.0.39330*74

2021-12-04T12:48:02.997Z,1638622082.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:03.781Z,1638622083.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:04.186Z,1638622084.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:04.629Z,1638622084.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.539997 m, bearing: 171.151809 deg, deltaT: 4.471140 s, deltaX: 0.179996 m, approachRate: 0.040257 m/s, LOS rate: 1.853418 deg/s, posRepo size: 4
2021-12-04T12:48:05.019Z,1638622085.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124804.33*55

2021-12-04T12:48:05.020Z,1638622085.020 [Micromodem](INFO): Nmea in: $CAREV,124805,AUV,2.1.4000*20

2021-12-04T12:48:05.420Z,1638622085.420 [Micromodem](INFO): Nmea in: $CAREV,124805,COPROC,0.20.0.39330*71

2021-12-04T12:48:07.492Z,1638622087.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:08.213Z,1638622088.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:08.628Z,1638622088.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:09.056Z,1638622089.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 143.951906 deg, deltaT: 4.427242 s, deltaX: 0.120003 m, approachRate: 0.027106 m/s, LOS rate: -6.143758 deg/s, posRepo size: 4
2021-12-04T12:48:09.464Z,1638622089.464 [Micromodem](INFO): Nmea in: $SNTTA,0.044154,,,,124808.77*47

2021-12-04T12:48:09.465Z,1638622089.465 [Micromodem](INFO): Nmea in: $CAREV,124809,AUV,2.1.4000*2C

2021-12-04T12:48:09.860Z,1638622089.860 [Micromodem](INFO): Nmea in: $CAREV,124809,COPROC,0.20.0.39330*7D

2021-12-04T12:48:11.865Z,1638622091.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:12.657Z,1638622092.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:13.067Z,1638622093.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:13.542Z,1638622093.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 141.758240 deg, deltaT: 4.485708 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.489034 deg/s, posRepo size: 4
2021-12-04T12:48:13.920Z,1638622093.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124813.20*51

2021-12-04T12:48:13.921Z,1638622093.921 [Micromodem](INFO): Nmea in: $CAREV,124814,AUV,2.1.4000*20

2021-12-04T12:48:14.289Z,1638622094.289 [Micromodem](INFO): Nmea in: $CAREV,124814,COPROC,0.20.0.39330*71

2021-12-04T12:48:16.313Z,1638622096.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:17.109Z,1638622097.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:17.515Z,1638622097.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:17.939Z,1638622097.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 149.701559 deg, deltaT: 4.397466 s, deltaX: -0.059998 m, approachRate: -0.013644 m/s, LOS rate: 1.806340 deg/s, posRepo size: 4
2021-12-04T12:48:18.352Z,1638622098.352 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124817.65*54

2021-12-04T12:48:18.353Z,1638622098.353 [Micromodem](INFO): Nmea in: $CAREV,124818,AUV,2.1.4000*2C

2021-12-04T12:48:18.744Z,1638622098.744 [Micromodem](INFO): Nmea in: $CAREV,124818,COPROC,0.20.0.39330*7D

2021-12-04T12:48:20.927Z,1638622100.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:21.585Z,1638622101.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:21.996Z,1638622101.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:22.443Z,1638622102.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 149.559027 deg, deltaT: 4.502940 s, deltaX: 0.059998 m, approachRate: 0.013324 m/s, LOS rate: -0.031653 deg/s, posRepo size: 4
2021-12-04T12:48:22.827Z,1638622102.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124822.13*53

2021-12-04T12:48:22.828Z,1638622102.828 [Micromodem](INFO): Nmea in: $CAREV,124823,AUV,2.1.4000*24

2021-12-04T12:48:23.208Z,1638622103.208 [Micromodem](INFO): Nmea in: $CAREV,124823,COPROC,0.20.0.39330*75

2021-12-04T12:48:25.245Z,1638622105.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:26.041Z,1638622106.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:26.447Z,1638622106.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:26.863Z,1638622106.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 148.494624 deg, deltaT: 4.421368 s, deltaX: 0.059998 m, approachRate: 0.013570 m/s, LOS rate: -0.240741 deg/s, posRepo size: 4
2021-12-04T12:48:27.295Z,1638622107.295 [Micromodem](INFO): Nmea in: $SNTTA,0.051621,,,,124826.59*46

2021-12-04T12:48:27.299Z,1638622107.299 [Micromodem](INFO): Nmea in: $CAREV,124827,AUV,2.1.4000*20

2021-12-04T12:48:27.671Z,1638622107.671 [Micromodem](INFO): Nmea in: $CAREV,124827,COPROC,0.20.0.39330*71

2021-12-04T12:48:29.362Z,1638622109.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:30.082Z,1638622110.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:30.471Z,1638622110.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:30.927Z,1638622110.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 140.128571 deg, deltaT: 4.059627 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -2.060794 deg/s, posRepo size: 4
2021-12-04T12:48:31.311Z,1638622111.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124830.63*57

2021-12-04T12:48:31.314Z,1638622111.314 [Micromodem](INFO): Nmea in: $CAREV,124831,AUV,2.1.4000*27

2021-12-04T12:48:31.700Z,1638622111.700 [Micromodem](INFO): Nmea in: $CAREV,124831,COPROC,0.20.0.39330*76

2021-12-04T12:48:33.456Z,1638622113.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:34.121Z,1638622114.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:34.515Z,1638622114.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:34.977Z,1638622114.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 144.870348 deg, deltaT: 4.049523 s, deltaX: 0.299999 m, approachRate: 0.074083 m/s, LOS rate: 1.170947 deg/s, posRepo size: 4
2021-12-04T12:48:35.383Z,1638622115.383 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124834.67*57

2021-12-04T12:48:35.395Z,1638622115.395 [Micromodem](INFO): Nmea in: $CAREV,124835,AUV,2.1.4000*23

2021-12-04T12:48:35.737Z,1638622115.737 [Micromodem](INFO): Nmea in: $CAREV,124835,COPROC,0.20.0.39330*72

2021-12-04T12:48:37.473Z,1638622117.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:38.145Z,1638622118.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:38.563Z,1638622118.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:39.009Z,1638622119.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 143.174630 deg, deltaT: 4.030720 s, deltaX: 0.300007 m, approachRate: 0.074430 m/s, LOS rate: -0.420698 deg/s, posRepo size: 4
2021-12-04T12:48:39.410Z,1638622119.410 [Micromodem](INFO): Nmea in: $SNTTA,0.060532,,,,124838.69*49

2021-12-04T12:48:39.411Z,1638622119.411 [Micromodem](INFO): Nmea in: $CAREV,124839,AUV,2.1.4000*2F

2021-12-04T12:48:39.772Z,1638622119.772 [Micromodem](INFO): Nmea in: $CAREV,124839,COPROC,0.20.0.39330*7E

2021-12-04T12:48:41.815Z,1638622121.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:42.601Z,1638622122.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:43.007Z,1638622123.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:43.503Z,1638622123.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 141.369930 deg, deltaT: 4.491157 s, deltaX: 0.119995 m, approachRate: 0.026718 m/s, LOS rate: -0.401834 deg/s, posRepo size: 4
2021-12-04T12:48:43.828Z,1638622123.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124843.15*52

2021-12-04T12:48:43.829Z,1638622123.829 [Micromodem](INFO): Nmea in: $CAREV,124844,AUV,2.1.4000*25

2021-12-04T12:48:44.220Z,1638622124.220 [Micromodem](INFO): Nmea in: $CAREV,124844,COPROC,0.20.0.39330*74

2021-12-04T12:48:46.254Z,1638622126.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:47.041Z,1638622127.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:47.459Z,1638622127.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:47.878Z,1638622127.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 141.690785 deg, deltaT: 4.383236 s, deltaX: -0.119995 m, approachRate: -0.027376 m/s, LOS rate: 0.073200 deg/s, posRepo size: 4
2021-12-04T12:48:48.288Z,1638622128.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124847.59*5E

2021-12-04T12:48:48.289Z,1638622128.289 [Micromodem](INFO): Nmea in: $CAREV,124848,AUV,2.1.4000*29

2021-12-04T12:48:48.668Z,1638622128.668 [Micromodem](INFO): Nmea in: $CAREV,124848,COPROC,0.20.0.39330*78

2021-12-04T12:48:50.696Z,1638622130.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:51.482Z,1638622131.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:51.892Z,1638622131.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:52.313Z,1638622132.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 137.345351 deg, deltaT: 4.435051 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.979794 deg/s, posRepo size: 4
2021-12-04T12:48:52.740Z,1638622132.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124852.03*55

2021-12-04T12:48:52.741Z,1638622132.741 [Micromodem](INFO): Nmea in: $CAREV,124853,AUV,2.1.4000*23

2021-12-04T12:48:53.104Z,1638622133.104 [Micromodem](INFO): Nmea in: $CAREV,124853,COPROC,0.20.72

2021-12-04T12:48:53.104Z,1638622133.104 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,124853,COPROC,0.20.72
 expected 54
2021-12-04T12:48:55.129Z,1638622135.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:48:55.925Z,1638622135.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:48:56.331Z,1638622136.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:48:56.775Z,1638622136.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 139.331816 deg, deltaT: 4.462181 s, deltaX: -0.060005 m, approachRate: -0.013448 m/s, LOS rate: 0.445178 deg/s, posRepo size: 4
2021-12-04T12:48:57.172Z,1638622137.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124856.47*51

2021-12-04T12:48:57.173Z,1638622137.173 [Micromodem](INFO): Nmea in: $CAREV,124857,AUV,2.1.4000*27

2021-12-04T12:48:57.552Z,1638622137.552 [Micromodem](INFO): Nmea in: $CAREV,124857,COPROC,0.20.0.39330*76

2021-12-04T12:48:59.601Z,1638622139.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:00.403Z,1638622140.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:00.864Z,1638622140.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:01.210Z,1638622141.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 134.927751 deg, deltaT: 4.434781 s, deltaX: 0.180000 m, approachRate: 0.040588 m/s, LOS rate: -0.993074 deg/s, posRepo size: 4
2021-12-04T12:49:01.606Z,1638622141.606 [Micromodem](INFO): Nmea in: $SNTTA,0.046449,,,,124900.95*49

2021-12-04T12:49:01.608Z,1638622141.608 [Micromodem](INFO): Nmea in: $CAREV,124902,AUV,2.1.4000*26

2021-12-04T12:49:02.004Z,1638622142.004 [Micromodem](INFO): Nmea in: $CAREV,124902,COPROC,0.20.0.39330*77

2021-12-04T12:49:04.036Z,1638622144.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:04.813Z,1638622144.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:05.228Z,1638622145.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:05.677Z,1638622145.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 127.666754 deg, deltaT: 4.467070 s, deltaX: 0.119999 m, approachRate: 0.026863 m/s, LOS rate: -1.625449 deg/s, posRepo size: 4
2021-12-04T12:49:06.052Z,1638622146.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124905.36*50

2021-12-04T12:49:06.053Z,1638622146.053 [Micromodem](INFO): Nmea in: $CAREV,124906,AUV,2.1.4000*22

2021-12-04T12:49:06.456Z,1638622146.456 [Micromodem](INFO): Nmea in: $CAREV,124906,COPROC,0.20.0.39330*73

2021-12-04T12:49:08.476Z,1638622148.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:09.253Z,1638622149.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:09.660Z,1638622149.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:10.080Z,1638622150.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 126.381955 deg, deltaT: 4.402903 s, deltaX: 0.180000 m, approachRate: 0.040882 m/s, LOS rate: -0.291807 deg/s, posRepo size: 4
2021-12-04T12:49:10.492Z,1638622150.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124909.80*51

2021-12-04T12:49:10.493Z,1638622150.493 [Micromodem](INFO): Nmea in: $CAREV,124910,AUV,2.1.4000*25

2021-12-04T12:49:10.892Z,1638622150.892 [Micromodem](INFO): Nmea in: $CAREV,124910,COPROC,0.20.0.39330*74

2021-12-04T12:49:12.904Z,1638622152.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:13.701Z,1638622153.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:14.119Z,1638622154.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:14.541Z,1638622154.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 174.170862 deg, deltaT: 4.461743 s, deltaX: 0.360001 m, approachRate: 0.080686 m/s, LOS rate: 10.710816 deg/s, posRepo size: 4
2021-12-04T12:49:14.948Z,1638622154.948 [Micromodem](INFO): Nmea in: $SNTTA,0.051286,,,,124914.25*44

2021-12-04T12:49:14.949Z,1638622154.949 [Micromodem](INFO): Nmea in: $CAREV,124915,AUV,2.1.4000*20

2021-12-04T12:49:15.369Z,1638622155.369 [Micromodem](INFO): Nmea in: $CAREV,124915,COPROC,0.20.0.39330*71

2021-12-04T12:49:17.444Z,1638622157.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:18.149Z,1638622158.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:18.548Z,1638622158.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:18.976Z,1638622158.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 173.167589 deg, deltaT: 4.434555 s, deltaX: -0.059998 m, approachRate: -0.013530 m/s, LOS rate: -0.226240 deg/s, posRepo size: 4
2021-12-04T12:49:19.408Z,1638622159.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124918.70*5E

2021-12-04T12:49:19.409Z,1638622159.409 [Micromodem](INFO): Nmea in: $CAREV,124919,AUV,2.1.4000*2C

2021-12-04T12:49:19.788Z,1638622159.788 [Micromodem](INFO): Nmea in: $CAREV,124919,COPROC,0.20.0.39330*7D

2021-12-04T12:49:21.817Z,1638622161.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:22.598Z,1638622162.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:23.001Z,1638622163.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:23.459Z,1638622163.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 167.409262 deg, deltaT: 4.482497 s, deltaX: 0.119995 m, approachRate: 0.026770 m/s, LOS rate: -1.284625 deg/s, posRepo size: 4
2021-12-04T12:49:23.836Z,1638622163.836 [Micromodem](INFO): Nmea in: $SNTTA,0.042863,,,,124923.14*41

2021-12-04T12:49:23.851Z,1638622163.851 [Micromodem](INFO): Nmea in: $CAREV,124924,AUV,2.1.4000*22

2021-12-04T12:49:24.224Z,1638622164.224 [Micromodem](INFO): Nmea in: $CAREV,124924,COPROC,0.20.0.39330*73

2021-12-04T12:49:26.264Z,1638622166.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:27.037Z,1638622167.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:27.444Z,1638622167.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:27.900Z,1638622167.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 163.728418 deg, deltaT: 4.430453 s, deltaX: 0.060005 m, approachRate: 0.013544 m/s, LOS rate: -0.830805 deg/s, posRepo size: 4
2021-12-04T12:49:28.272Z,1638622168.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124927.58*58

2021-12-04T12:49:28.273Z,1638622168.273 [Micromodem](INFO): Nmea in: $CAREV,124928,AUV,2.1.4000*2E

2021-12-04T12:49:28.656Z,1638622168.656 [Micromodem](INFO): Nmea in: $CAREV,124928,COPROC,0.20.0.39330*7F

2021-12-04T12:49:30.692Z,1638622170.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:31.477Z,1638622171.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:31.885Z,1638622171.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:32.316Z,1638622172.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 160.569223 deg, deltaT: 4.411269 s, deltaX: 0.119999 m, approachRate: 0.027203 m/s, LOS rate: -0.716165 deg/s, posRepo size: 4
2021-12-04T12:49:32.712Z,1638622172.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124932.02*53

2021-12-04T12:49:32.713Z,1638622172.713 [Micromodem](INFO): Nmea in: $CAREV,124933,AUV,2.1.4000*24

2021-12-04T12:49:33.104Z,1638622173.104 [Micromodem](INFO): Nmea in: $CAREV,124933,COPROC,0.20.0.39330*75

2021-12-04T12:49:33.521Z,1638622173.521 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T12:49:35.125Z,1638622175.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:35.921Z,1638622175.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:36.323Z,1638622176.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:36.777Z,1638622176.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 158.046329 deg, deltaT: 4.457171 s, deltaX: 0.119995 m, approachRate: 0.026922 m/s, LOS rate: -0.566030 deg/s, posRepo size: 4
2021-12-04T12:49:37.160Z,1638622177.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124936.47*56

2021-12-04T12:49:37.161Z,1638622177.161 [Micromodem](INFO): Nmea in: $CAREV,124937,AUV,2.1.4000*20

2021-12-04T12:49:37.545Z,1638622177.545 [Micromodem](INFO): Nmea in: $CAREV,124937,COPROC,0.20.0.39330*71

2021-12-04T12:49:39.604Z,1638622179.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:40.381Z,1638622180.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:40.799Z,1638622180.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:41.218Z,1638622181.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 157.219617 deg, deltaT: 4.460524 s, deltaX: 0.120003 m, approachRate: 0.026903 m/s, LOS rate: -0.185340 deg/s, posRepo size: 4
2021-12-04T12:49:41.600Z,1638622181.600 [Micromodem](INFO): Nmea in: $SNTTA,0.025286,,,,124940.93*4B

2021-12-04T12:49:41.601Z,1638622181.601 [Micromodem](INFO): Nmea in: $CAREV,124941,AUV,2.1.4000*21

2021-12-04T12:49:41.996Z,1638622181.996 [Micromodem](INFO): Nmea in: $CAREV,124941,COPROC,0.20.0.39330*70

2021-12-04T12:49:43.613Z,1638622183.613 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-12-04T12:49:44.012Z,1638622184.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:44.817Z,1638622184.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:45.211Z,1638622185.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:45.698Z,1638622185.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 156.274687 deg, deltaT: 4.479044 s, deltaX: 0.119999 m, approachRate: 0.026791 m/s, LOS rate: -0.210967 deg/s, posRepo size: 4
2021-12-04T12:49:46.060Z,1638622186.060 [Micromodem](INFO): Nmea in: $SNTTA,0.045877,,,,124945.37*42

2021-12-04T12:49:46.061Z,1638622186.061 [Micromodem](INFO): Nmea in: $CAREV,124946,AUV,2.1.4000*26

2021-12-04T12:49:46.448Z,1638622186.448 [Micromodem](INFO): Nmea in: $CAREV,124946,COPROC,0.20.0.39330*77

2021-12-04T12:49:48.475Z,1638622188.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:49.253Z,1638622189.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:49.659Z,1638622189.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:50.079Z,1638622190.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 154.162793 deg, deltaT: 4.382201 s, deltaX: 0.060005 m, approachRate: 0.013693 m/s, LOS rate: -0.481926 deg/s, posRepo size: 4
2021-12-04T12:49:50.492Z,1638622190.492 [Micromodem](INFO): Nmea in: $SNTTA,0.057671,,,,124949.80*49

2021-12-04T12:49:50.493Z,1638622190.493 [Micromodem](INFO): Nmea in: $CAREV,124950,AUV,2.1.4000*21

2021-12-04T12:49:50.876Z,1638622190.876 [Micromodem](INFO): Nmea in: $CAREV,124950,COPROC,0.20.0.39330*70

2021-12-04T12:49:52.919Z,1638622192.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:53.405Z,1638622193.405 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:49:53.705Z,1638622193.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:54.103Z,1638622194.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:54.530Z,1638622194.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.999996 m, bearing: 154.122249 deg, deltaT: 4.450650 s, deltaX: 0.239994 m, approachRate: 0.053923 m/s, LOS rate: -0.009110 deg/s, posRepo size: 4
2021-12-04T12:49:54.937Z,1638622194.937 [Micromodem](INFO): Nmea in: $SNTTA,0.063287,,,,124954.25*40

2021-12-04T12:49:54.938Z,1638622194.938 [Micromodem](INFO): Nmea in: $CAREV,124955,AUV,2.1.4000*24

2021-12-04T12:49:55.344Z,1638622195.344 [Micromodem](INFO): Nmea in: $CAREV,124955,COPROC,0.20.0.39330*75

2021-12-04T12:49:57.443Z,1638622197.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:49:58.149Z,1638622198.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:49:58.547Z,1638622198.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:49:58.971Z,1638622198.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.180000 m, bearing: 154.405278 deg, deltaT: 4.441660 s, deltaX: 0.180004 m, approachRate: 0.040526 m/s, LOS rate: 0.063722 deg/s, posRepo size: 4
2021-12-04T12:49:59.420Z,1638622199.420 [Micromodem](INFO): Nmea in: $SNTTA,0.063431,,,,124958.70*47

2021-12-04T12:49:59.421Z,1638622199.421 [Micromodem](INFO): Nmea in: $CAREV,124959,AUV,2.1.4000*28

2021-12-04T12:49:59.474Z,1638622199.474 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:49:59.776Z,1638622199.776 [Micromodem](INFO): Nmea in: $CAREV,124959,COPROC,0.20.0.39330*79

2021-12-04T12:50:01.789Z,1638622201.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:02.585Z,1638622202.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:02.997Z,1638622202.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:03.438Z,1638622203.438 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-12-04T12:50:03.493Z,1638622203.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 151.926042 deg, deltaT: 4.517518 s, deltaX: -0.060001 m, approachRate: -0.013282 m/s, LOS rate: -0.548805 deg/s, posRepo size: 4
2021-12-04T12:50:03.828Z,1638622203.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125003.13*59

2021-12-04T12:50:03.829Z,1638622203.829 [Micromodem](INFO): Nmea in: $CAREV,125004,AUV,2.1.4000*28

2021-12-04T12:50:04.208Z,1638622204.208 [Micromodem](INFO): Nmea in: $CAREV,125004,COPROC,0.20.0.39330*79

2021-12-04T12:50:06.248Z,1638622206.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:07.033Z,1638622207.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:07.447Z,1638622207.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:07.877Z,1638622207.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 151.760984 deg, deltaT: 4.388514 s, deltaX: 0.180000 m, approachRate: 0.041016 m/s, LOS rate: -0.037611 deg/s, posRepo size: 4
2021-12-04T12:50:08.274Z,1638622208.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125007.58*52

2021-12-04T12:50:08.275Z,1638622208.275 [Micromodem](INFO): Nmea in: $CAREV,125008,AUV,2.1.4000*24

2021-12-04T12:50:08.660Z,1638622208.660 [Micromodem](INFO): Nmea in: $CAREV,125008,COPROC,0.20.0.39330*75

2021-12-04T12:50:10.695Z,1638622210.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:11.473Z,1638622211.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:11.884Z,1638622211.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:12.303Z,1638622212.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 151.353754 deg, deltaT: 4.425988 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.092009 deg/s, posRepo size: 4
2021-12-04T12:50:12.715Z,1638622212.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125012.02*59

2021-12-04T12:50:12.716Z,1638622212.716 [Micromodem](INFO): Nmea in: $CAREV,125013,AUV,2.1.4000*2E

2021-12-04T12:50:13.096Z,1638622213.096 [Micromodem](INFO): Nmea in: $CAREV,125013,COPROC,0.20.0.39330*7F

2021-12-04T12:50:15.139Z,1638622215.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:15.923Z,1638622215.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:16.329Z,1638622216.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:16.781Z,1638622216.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.360001 m, bearing: 151.270481 deg, deltaT: 4.477808 s, deltaX: 0.060001 m, approachRate: 0.013400 m/s, LOS rate: -0.018597 deg/s, posRepo size: 4
2021-12-04T12:50:17.160Z,1638622217.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125016.47*5C

2021-12-04T12:50:17.161Z,1638622217.161 [Micromodem](INFO): Nmea in: $CAREV,125017,AUV,2.1.4000*2A

2021-12-04T12:50:17.549Z,1638622217.549 [Micromodem](INFO): Nmea in: $CAREV,125017,COPROC,0.20.0.39330*7B

2021-12-04T12:50:19.619Z,1638622219.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:20.368Z,1638622220.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:20.841Z,1638622220.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:21.209Z,1638622221.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.299999 m, bearing: 151.132238 deg, deltaT: 4.423968 s, deltaX: -0.060001 m, approachRate: -0.013563 m/s, LOS rate: -0.031249 deg/s, posRepo size: 4
2021-12-04T12:50:21.610Z,1638622221.610 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125020.92*51

2021-12-04T12:50:21.612Z,1638622221.612 [Micromodem](INFO): Nmea in: $CAREV,125021,AUV,2.1.4000*2F

2021-12-04T12:50:21.988Z,1638622221.988 [Micromodem](INFO): Nmea in: $CAREV,125021,COPROC,0.20.0.39330*7E

2021-12-04T12:50:23.615Z,1638622223.615 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T12:50:24.018Z,1638622224.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:24.809Z,1638622224.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:25.211Z,1638622225.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:25.731Z,1638622225.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 153.290946 deg, deltaT: 4.516755 s, deltaX: 0.180004 m, approachRate: 0.039853 m/s, LOS rate: 0.477934 deg/s, posRepo size: 4
2021-12-04T12:50:26.040Z,1638622226.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125025.36*5A

2021-12-04T12:50:26.041Z,1638622226.041 [Micromodem](INFO): Nmea in: $CAREV,125026,AUV,2.1.4000*28

2021-12-04T12:50:26.456Z,1638622226.456 [Micromodem](INFO): Nmea in: $CAREV,125026,COPROC,0.20.0.39330*79

2021-12-04T12:50:28.471Z,1638622228.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:29.249Z,1638622229.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:29.687Z,1638622229.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:30.132Z,1638622230.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 153.652537 deg, deltaT: 4.405706 s, deltaX: 0.119995 m, approachRate: 0.027236 m/s, LOS rate: 0.082073 deg/s, posRepo size: 4
2021-12-04T12:50:30.516Z,1638622230.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125029.80*5B

2021-12-04T12:50:30.517Z,1638622230.517 [Micromodem](INFO): Nmea in: $CAREV,125030,AUV,2.1.4000*2F

2021-12-04T12:50:30.912Z,1638622230.912 [Micromodem](INFO): Nmea in: $CAREV,125030,COPROC,0.20.0.39330*7E

2021-12-04T12:50:32.944Z,1638622232.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:33.442Z,1638622233.442 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:50:33.447Z,1638622233.447 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:50:33.835Z,1638622233.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:34.240Z,1638622234.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:34.717Z,1638622234.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 152.443320 deg, deltaT: 4.585229 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.263720 deg/s, posRepo size: 4
2021-12-04T12:50:35.069Z,1638622235.069 [Micromodem](INFO): Nmea in: $SNTTA,0.028693,,,,125034.38*4C

2021-12-04T12:50:35.071Z,1638622235.071 [Micromodem](INFO): Nmea in: $CAREV,125035,AUV,2.1.4000*2A

2021-12-04T12:50:35.464Z,1638622235.464 [Micromodem](INFO): Nmea in: $CAREV,125035,COPROC,0.20.0.39330*7B

2021-12-04T12:50:37.532Z,1638622237.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:38.274Z,1638622238.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:38.683Z,1638622238.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:39.105Z,1638622239.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 152.282305 deg, deltaT: 4.390966 s, deltaX: 0.060001 m, approachRate: 0.013665 m/s, LOS rate: -0.036670 deg/s, posRepo size: 4
2021-12-04T12:50:39.517Z,1638622239.517 [Micromodem](INFO): Nmea in: $SNTTA,0.051453,,,,125038.82*41

2021-12-04T12:50:39.521Z,1638622239.521 [Micromodem](INFO): Nmea in: $CAREV,125039,AUV,2.1.4000*26

2021-12-04T12:50:39.904Z,1638622239.904 [Micromodem](INFO): Nmea in: $CAREV,125039,COPROC,0.20.0.39330*77

2021-12-04T12:50:41.925Z,1638622241.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:42.725Z,1638622242.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:43.135Z,1638622243.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:43.554Z,1638622243.554 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:50:43.612Z,1638622243.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 151.860677 deg, deltaT: 4.493811 s, deltaX: 0.299999 m, approachRate: 0.066758 m/s, LOS rate: -0.093824 deg/s, posRepo size: 4
2021-12-04T12:50:43.956Z,1638622243.956 [Micromodem](INFO): Nmea in: $SNTTA,0.071170,,,,125043.27*44

2021-12-04T12:50:43.957Z,1638622243.957 [Micromodem](INFO): Nmea in: $CAREV,125044,AUV,2.1.4000*2C

2021-12-04T12:50:44.353Z,1638622244.353 [Micromodem](INFO): Nmea in: $CAREV,125044,COPROC,0.20.0.39330*7D

2021-12-04T12:50:46.420Z,1638622246.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:47.157Z,1638622247.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:47.571Z,1638622247.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:47.998Z,1638622247.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 152.654837 deg, deltaT: 4.400404 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.180474 deg/s, posRepo size: 4
2021-12-04T12:50:48.464Z,1638622248.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125047.71*5D

2021-12-04T12:50:48.465Z,1638622248.465 [Micromodem](INFO): Nmea in: $CAREV,125048,AUV,2.1.4000*20

2021-12-04T12:50:48.502Z,1638622248.502 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:50:48.788Z,1638622248.788 [Micromodem](INFO): Nmea in: $CAREV,125048,COPROC,0.20.0.39330*71

2021-12-04T12:50:50.809Z,1638622250.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:51.609Z,1638622251.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:52.059Z,1638622252.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:52.495Z,1638622252.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.139999 m, bearing: 149.226028 deg, deltaT: 4.496387 s, deltaX: 0.180000 m, approachRate: 0.040032 m/s, LOS rate: -0.762570 deg/s, posRepo size: 4
2021-12-04T12:50:52.884Z,1638622252.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125052.16*58

2021-12-04T12:50:52.885Z,1638622252.885 [Micromodem](INFO): Nmea in: $CAREV,125053,AUV,2.1.4000*2A

2021-12-04T12:50:53.305Z,1638622253.305 [Micromodem](INFO): Nmea in: $CAREV,125053,COPROC,0.20.0.39330*7B

2021-12-04T12:50:53.730Z,1638622253.730 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T12:50:55.357Z,1638622255.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:50:56.101Z,1638622256.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:50:56.507Z,1638622256.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:50:56.952Z,1638622256.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 147.718782 deg, deltaT: 4.439983 s, deltaX: 0.119999 m, approachRate: 0.027027 m/s, LOS rate: -0.339471 deg/s, posRepo size: 4
2021-12-04T12:50:57.388Z,1638622257.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125056.65*58

2021-12-04T12:50:57.391Z,1638622257.391 [Micromodem](INFO): Nmea in: $CAREV,125057,AUV,2.1.4000*2E

2021-12-04T12:50:57.732Z,1638622257.732 [Micromodem](INFO): Nmea in: $CAREV,125057,COPROC,0.20.0.39330*7F

2021-12-04T12:50:59.458Z,1638622259.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:00.156Z,1638622260.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:00.551Z,1638622260.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:00.996Z,1638622260.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 147.861957 deg, deltaT: 4.045149 s, deltaX: 0.059998 m, approachRate: 0.014832 m/s, LOS rate: 0.035394 deg/s, posRepo size: 4
2021-12-04T12:51:01.408Z,1638622261.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125100.70*5E

2021-12-04T12:51:01.409Z,1638622261.409 [Micromodem](INFO): Nmea in: $CAREV,125101,AUV,2.1.4000*2C

2021-12-04T12:51:01.771Z,1638622261.771 [Micromodem](INFO): Nmea in: $CAREV,125101,COPROC,0.20.0.39330*7D

2021-12-04T12:51:03.477Z,1638622263.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:04.181Z,1638622264.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:04.591Z,1638622264.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:05.026Z,1638622265.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 152.293698 deg, deltaT: 4.045918 s, deltaX: 0.180004 m, approachRate: 0.044490 m/s, LOS rate: 1.095361 deg/s, posRepo size: 4
2021-12-04T12:51:05.432Z,1638622265.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125104.73*59

2021-12-04T12:51:05.433Z,1638622265.433 [Micromodem](INFO): Nmea in: $CAREV,125105,AUV,2.1.4000*28

2021-12-04T12:51:05.812Z,1638622265.812 [Micromodem](INFO): Nmea in: $CAREV,125105,COPROC,0.20.0.39330*79

2021-12-04T12:51:07.830Z,1638622267.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:08.633Z,1638622268.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:08.705Z,1638622268.705 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:51:09.031Z,1638622269.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:09.519Z,1638622269.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 161.742172 deg, deltaT: 4.492579 s, deltaX: 0.180000 m, approachRate: 0.040066 m/s, LOS rate: 2.103129 deg/s, posRepo size: 4
2021-12-04T12:51:09.876Z,1638622269.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125109.18*59

2021-12-04T12:51:09.877Z,1638622269.877 [Micromodem](INFO): Nmea in: $CAREV,125110,AUV,2.1.4000*2C

2021-12-04T12:51:10.253Z,1638622270.253 [Micromodem](INFO): Nmea in: $CAREV,125110,COPROC,0.20.0.39330*7D

2021-12-04T12:51:12.284Z,1638622272.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:13.069Z,1638622273.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:13.472Z,1638622273.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:13.896Z,1638622273.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 166.217257 deg, deltaT: 4.377562 s, deltaX: 0.119999 m, approachRate: 0.027412 m/s, LOS rate: 1.022278 deg/s, posRepo size: 4
2021-12-04T12:51:14.316Z,1638622274.316 [Micromodem](INFO): Nmea in: $SNTTA,0.035677,,,,125113.62*41

2021-12-04T12:51:14.317Z,1638622274.317 [Micromodem](INFO): Nmea in: $CAREV,125114,AUV,2.1.4000*28

2021-12-04T12:51:14.688Z,1638622274.688 [Micromodem](INFO): Nmea in: $CAREV,125114,COPROC,0.20.0.39330*79

2021-12-04T12:51:16.726Z,1638622276.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:17.513Z,1638622277.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:17.967Z,1638622277.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:18.424Z,1638622278.424 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T12:51:18.453Z,1638622278.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 169.725502 deg, deltaT: 4.552791 s, deltaX: 0.239998 m, approachRate: 0.052714 m/s, LOS rate: 0.770570 deg/s, posRepo size: 4
2021-12-04T12:51:18.775Z,1638622278.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125118.06*56

2021-12-04T12:51:18.776Z,1638622278.776 [Micromodem](INFO): Nmea in: $CAREV,125119,AUV,2.1.4000*25

2021-12-04T12:51:19.172Z,1638622279.172 [Micromodem](INFO): Nmea in: $CAREV,125119,COPROC,0.20.0.39330*74

2021-12-04T12:51:21.205Z,1638622281.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:21.993Z,1638622281.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:22.417Z,1638622282.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:22.857Z,1638622282.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 171.793560 deg, deltaT: 4.406780 s, deltaX: 0.180004 m, approachRate: 0.040847 m/s, LOS rate: 0.469290 deg/s, posRepo size: 4
2021-12-04T12:51:23.245Z,1638622283.245 [Micromodem](INFO): Nmea in: $SNTTA,0.036740,,,,125122.54*40

2021-12-04T12:51:23.247Z,1638622283.247 [Micromodem](INFO): Nmea in: $CAREV,125123,AUV,2.1.4000*2C

2021-12-04T12:51:23.620Z,1638622283.620 [Micromodem](INFO): Nmea in: $CAREV,125123,COPROC,0.20.0.39330*7D

2021-12-04T12:51:25.692Z,1638622285.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:26.445Z,1638622286.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:26.856Z,1638622286.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:27.265Z,1638622287.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 177.448410 deg, deltaT: 4.404353 s, deltaX: 0.119999 m, approachRate: 0.027246 m/s, LOS rate: 1.283923 deg/s, posRepo size: 4
2021-12-04T12:51:27.696Z,1638622287.696 [Micromodem](INFO): Nmea in: $SNTTA,0.042945,,,,125126.99*4D

2021-12-04T12:51:27.697Z,1638622287.697 [Micromodem](INFO): Nmea in: $CAREV,125128,AUV,2.1.4000*27

2021-12-04T12:51:28.064Z,1638622288.064 [Micromodem](INFO): Nmea in: $CAREV,125128,COPROC,0.20.0.39330*76

2021-12-04T12:51:30.093Z,1638622290.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:30.885Z,1638622290.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:31.335Z,1638622291.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:31.734Z,1638622291.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 174.974338 deg, deltaT: 4.472604 s, deltaX: 0.300003 m, approachRate: 0.067076 m/s, LOS rate: -0.553161 deg/s, posRepo size: 4
2021-12-04T12:51:32.125Z,1638622292.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125131.43*5C

2021-12-04T12:51:32.127Z,1638622292.127 [Micromodem](INFO): Nmea in: $CAREV,125132,AUV,2.1.4000*2C

2021-12-04T12:51:32.520Z,1638622292.520 [Micromodem](INFO): Nmea in: $CAREV,125132,COPROC,0.20.0.39330*7D

2021-12-04T12:51:34.549Z,1638622294.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:35.357Z,1638622295.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:35.773Z,1638622295.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:36.163Z,1638622296.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 174.150044 deg, deltaT: 4.429424 s, deltaX: -0.060005 m, approachRate: -0.013547 m/s, LOS rate: -0.186095 deg/s, posRepo size: 4
2021-12-04T12:51:36.561Z,1638622296.561 [Micromodem](INFO): Nmea in: $SNTTA,0.052365,,,,125135.90*4F

2021-12-04T12:51:36.567Z,1638622296.567 [Micromodem](INFO): Nmea in: $CAREV,125136,AUV,2.1.4000*28

2021-12-04T12:51:36.944Z,1638622296.944 [Micromodem](INFO): Nmea in: $CAREV,125136,COPROC,0.20.0.39330*79

2021-12-04T12:51:38.587Z,1638622298.587 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:51:38.981Z,1638622298.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:39.783Z,1638622299.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:40.175Z,1638622300.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:40.643Z,1638622300.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.640003 m, bearing: 181.195998 deg, deltaT: 4.470587 s, deltaX: 0.060005 m, approachRate: 0.013422 m/s, LOS rate: 1.576069 deg/s, posRepo size: 4
2021-12-04T12:51:41.012Z,1638622301.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125140.33*5D

2021-12-04T12:51:41.013Z,1638622301.013 [Micromodem](INFO): Nmea in: $CAREV,125141,AUV,2.1.4000*28

2021-12-04T12:51:41.424Z,1638622301.424 [Micromodem](INFO): Nmea in: $CAREV,125141,COPROC,0.20.0.39330*79

2021-12-04T12:51:43.500Z,1638622303.500 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:51:43.511Z,1638622303.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:44.269Z,1638622304.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:44.683Z,1638622304.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:45.134Z,1638622305.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 173.167931 deg, deltaT: 4.481841 s, deltaX: 0.299999 m, approachRate: 0.066937 m/s, LOS rate: -1.791243 deg/s, posRepo size: 4
2021-12-04T12:51:45.525Z,1638622305.525 [Micromodem](INFO): Nmea in: $SNTTA,0.027520,,,,125144.82*4F

2021-12-04T12:51:45.526Z,1638622305.526 [Micromodem](INFO): Nmea in: $CAREV,125145,AUV,2.1.4000*2C

2021-12-04T12:51:45.907Z,1638622305.907 [Micromodem](INFO): Nmea in: $CAREV,125145,COPROC,0.20.0.39330*7D

2021-12-04T12:51:47.937Z,1638622307.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:48.465Z,1638622308.465 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T12:51:48.718Z,1638622308.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:49.124Z,1638622309.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:49.631Z,1638622309.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 176.912432 deg, deltaT: 4.508504 s, deltaX: 0.059998 m, approachRate: 0.013308 m/s, LOS rate: 0.830542 deg/s, posRepo size: 4
2021-12-04T12:51:49.978Z,1638622309.978 [Micromodem](INFO): Nmea in: $SNTTA,0.035809,,,,125149.27*48

2021-12-04T12:51:49.979Z,1638622309.979 [Micromodem](INFO): Nmea in: $CAREV,125150,AUV,2.1.4000*28

2021-12-04T12:51:50.352Z,1638622310.352 [Micromodem](INFO): Nmea in: $CAREV,125150,COPROC,0.20.0.39330*79

2021-12-04T12:51:52.421Z,1638622312.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:53.177Z,1638622313.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:53.584Z,1638622313.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:54.017Z,1638622314.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 175.177468 deg, deltaT: 4.388947 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.395303 deg/s, posRepo size: 4
2021-12-04T12:51:56.823Z,1638622316.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:51:57.605Z,1638622317.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:51:58.011Z,1638622318.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:51:58.525Z,1638622318.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 176.298111 deg, deltaT: 4.502398 s, deltaX: 0.719997 m, approachRate: 0.159914 m/s, LOS rate: 0.248899 deg/s, posRepo size: 4
2021-12-04T12:51:58.868Z,1638622318.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125158.16*53

2021-12-04T12:51:58.869Z,1638622318.869 [Micromodem](INFO): Nmea in: $CAREV,125159,AUV,2.1.4000*21

2021-12-04T12:51:59.244Z,1638622319.244 [Micromodem](INFO): Nmea in: $CAREV,125159,COPROC,0.20.0.39330*70

2021-12-04T12:52:01.308Z,1638622321.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:02.050Z,1638622322.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:02.456Z,1638622322.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:02.886Z,1638622322.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 173.264796 deg, deltaT: 4.371736 s, deltaX: -0.299999 m, approachRate: -0.068622 m/s, LOS rate: -0.693847 deg/s, posRepo size: 4
2021-12-04T12:52:03.300Z,1638622323.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125202.60*5E

2021-12-04T12:52:03.346Z,1638622323.346 [Micromodem](INFO): Nmea in: $CAREV,125203,AUV,2.1.4000*2D

2021-12-04T12:52:03.676Z,1638622323.676 [Micromodem](INFO): Nmea in: $CAREV,125203,COPROC,0.20.0.39330*7C

2021-12-04T12:52:05.743Z,1638622325.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:06.501Z,1638622326.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:06.903Z,1638622326.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:07.423Z,1638622327.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 175.883559 deg, deltaT: 4.537322 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.577160 deg/s, posRepo size: 4
2021-12-04T12:52:07.756Z,1638622327.756 [Micromodem](INFO): Nmea in: $SNTTA,0.060427,,,,125207.05*41

2021-12-04T12:52:07.757Z,1638622327.757 [Micromodem](INFO): Nmea in: $CAREV,125208,AUV,2.1.4000*26

2021-12-04T12:52:08.121Z,1638622328.121 [Micromodem](INFO): Nmea in: $CAREV,125208,COPROC,0.20.0.39330*77

2021-12-04T12:52:10.165Z,1638622330.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:10.949Z,1638622330.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:11.402Z,1638622331.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:11.796Z,1638622331.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.480003 m, bearing: 180.617331 deg, deltaT: 4.368788 s, deltaX: 0.060005 m, approachRate: 0.013735 m/s, LOS rate: 1.083544 deg/s, posRepo size: 4
2021-12-04T12:52:12.188Z,1638622332.188 [Micromodem](INFO): Nmea in: $SNTTA,0.048497,,,,125211.50*47

2021-12-04T12:52:12.189Z,1638622332.189 [Micromodem](INFO): Nmea in: $CAREV,125212,AUV,2.1.4000*2D

2021-12-04T12:52:12.576Z,1638622332.576 [Micromodem](INFO): Nmea in: $CAREV,125212,COPROC,0.20.0.39330*7C

2021-12-04T12:52:14.607Z,1638622334.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:15.405Z,1638622335.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:15.804Z,1638622335.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:16.235Z,1638622336.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 177.932821 deg, deltaT: 4.439517 s, deltaX: 0.119995 m, approachRate: 0.027029 m/s, LOS rate: -0.604685 deg/s, posRepo size: 4
2021-12-04T12:52:16.616Z,1638622336.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125215.95*52

2021-12-04T12:52:16.617Z,1638622336.617 [Micromodem](INFO): Nmea in: $CAREV,125217,AUV,2.1.4000*28

2021-12-04T12:52:17.008Z,1638622337.008 [Micromodem](INFO): Nmea in: $CAREV,125217,COPROC,0.20.0.39330*79

2021-12-04T12:52:19.041Z,1638622339.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:19.828Z,1638622339.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:20.232Z,1638622340.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:20.665Z,1638622340.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 174.411763 deg, deltaT: 4.433540 s, deltaX: 0.180004 m, approachRate: 0.040601 m/s, LOS rate: -0.794187 deg/s, posRepo size: 4
2021-12-04T12:52:21.064Z,1638622341.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125220.38*53

2021-12-04T12:52:21.065Z,1638622341.065 [Micromodem](INFO): Nmea in: $CAREV,125221,AUV,2.1.4000*2D

2021-12-04T12:52:21.203Z,1638622341.203 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-04T12:52:21.456Z,1638622341.456 [Micromodem](INFO): Nmea in: $CAREV,125221,COPROC,0.20.0.39330*7C

2021-12-04T12:52:23.541Z,1638622343.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:24.265Z,1638622344.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:24.688Z,1638622344.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:25.109Z,1638622345.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 172.741918 deg, deltaT: 4.444469 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.375713 deg/s, posRepo size: 4
2021-12-04T12:52:25.516Z,1638622345.516 [Micromodem](INFO): Nmea in: $SNTTA,0.028076,,,,125224.81*40

2021-12-04T12:52:25.517Z,1638622345.517 [Micromodem](INFO): Nmea in: $CAREV,125225,AUV,2.1.4000*29

2021-12-04T12:52:25.908Z,1638622345.908 [Micromodem](INFO): Nmea in: $CAREV,125225,COPROC,0.20.0.39330*78

2021-12-04T12:52:27.929Z,1638622347.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:28.729Z,1638622348.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:29.124Z,1638622349.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:29.608Z,1638622349.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 178.805145 deg, deltaT: 4.498421 s, deltaX: 0.239994 m, approachRate: 0.053351 m/s, LOS rate: 1.347857 deg/s, posRepo size: 4
2021-12-04T12:52:29.956Z,1638622349.956 [Micromodem](INFO): Nmea in: $SNTTA,0.039995,,,,125229.28*4A

2021-12-04T12:52:29.957Z,1638622349.957 [Micromodem](INFO): Nmea in: $CAREV,125230,AUV,2.1.4000*2D

2021-12-04T12:52:30.354Z,1638622350.354 [Micromodem](INFO): Nmea in: $CAREV,125230,COPROC,0.20.0.39330*7C

2021-12-04T12:52:32.102Z,1638622352.102 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005413
CHAN A1 (24V): -0.021598
CHAN A2 (12V): -0.005117
CHAN A3 (5V): -0.001793
CHAN B0 (3.3V): 0.000622
CHAN B1 (3.15aV): 0.000064
CHAN B2 (3.15bV): 0.000801
CHAN B3 (GND): 0.002224
OPEN: 0.006491
Full Scale: +/- 1 mA
2021-12-04T12:52:32.408Z,1638622352.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:33.153Z,1638622353.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:33.597Z,1638622353.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:33.992Z,1638622353.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 91.982219 deg, deltaT: 4.384553 s, deltaX: 0.240002 m, approachRate: 0.054738 m/s, LOS rate: -19.802002 deg/s, posRepo size: 4
2021-12-04T12:52:34.424Z,1638622354.424 [Micromodem](INFO): Nmea in: $SNTTA,0.044540,,,,125233.70*42

2021-12-04T12:52:34.425Z,1638622354.425 [Micromodem](INFO): Nmea in: $CAREV,125234,AUV,2.1.4000*29

2021-12-04T12:52:34.800Z,1638622354.800 [Micromodem](INFO): Nmea in: $CAREV,125234,COPROC,0.20.0.39330*78

2021-12-04T12:52:36.849Z,1638622356.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:37.618Z,1638622357.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:38.015Z,1638622358.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:38.535Z,1638622358.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 75.012710 deg, deltaT: 4.533943 s, deltaX: 0.180000 m, approachRate: 0.039701 m/s, LOS rate: -3.742771 deg/s, posRepo size: 4
2021-12-04T12:52:38.852Z,1638622358.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125238.17*57

2021-12-04T12:52:38.853Z,1638622358.853 [Micromodem](INFO): Nmea in: $CAREV,125239,AUV,2.1.4000*24

2021-12-04T12:52:39.238Z,1638622359.238 [Micromodem](INFO): Nmea in: $CAREV,125239,COPROC,0.20.0.39330*75

2021-12-04T12:52:41.261Z,1638622361.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:42.060Z,1638622362.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:42.459Z,1638622362.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:42.899Z,1638622362.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 80.966094 deg, deltaT: 4.353026 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.367643 deg/s, posRepo size: 4
2021-12-04T12:52:43.288Z,1638622363.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125242.61*5B

2021-12-04T12:52:43.292Z,1638622363.292 [Micromodem](INFO): Nmea in: $CAREV,125243,AUV,2.1.4000*29

2021-12-04T12:52:43.691Z,1638622363.691 [Micromodem](INFO): Nmea in: $CAREV,125243,COPROC,0.20.0.39330*78

2021-12-04T12:52:45.760Z,1638622365.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:46.498Z,1638622366.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:46.903Z,1638622366.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:47.440Z,1638622367.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 95.552898 deg, deltaT: 4.560498 s, deltaX: 0.299999 m, approachRate: 0.065782 m/s, LOS rate: 3.198511 deg/s, posRepo size: 4
2021-12-04T12:52:47.736Z,1638622367.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125247.05*5C

2021-12-04T12:52:47.737Z,1638622367.737 [Micromodem](INFO): Nmea in: $CAREV,125248,AUV,2.1.4000*22

2021-12-04T12:52:48.135Z,1638622368.135 [Micromodem](INFO): Nmea in: $CAREV,125248,COPROC,0.20.0.39330*73

2021-12-04T12:52:50.149Z,1638622370.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:50.933Z,1638622370.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:51.399Z,1638622371.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:51.785Z,1638622371.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 80.030679 deg, deltaT: 4.344421 s, deltaX: 0.060001 m, approachRate: 0.013811 m/s, LOS rate: -3.572909 deg/s, posRepo size: 4
2021-12-04T12:52:52.188Z,1638622372.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125251.48*52

2021-12-04T12:52:52.189Z,1638622372.189 [Micromodem](INFO): Nmea in: $CAREV,125252,AUV,2.1.4000*29

2021-12-04T12:52:52.564Z,1638622372.564 [Micromodem](INFO): Nmea in: $CAREV,125252,COPROC,0.20.0.39330*78

2021-12-04T12:52:54.600Z,1638622374.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:55.407Z,1638622375.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:52:55.843Z,1638622375.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:52:56.278Z,1638622376.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 73.722384 deg, deltaT: 4.493399 s, deltaX: 0.300003 m, approachRate: 0.066765 m/s, LOS rate: -1.403903 deg/s, posRepo size: 4
2021-12-04T12:52:56.672Z,1638622376.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125255.96*55

2021-12-04T12:52:56.673Z,1638622376.673 [Micromodem](INFO): Nmea in: $CAREV,125257,AUV,2.1.4000*2C

2021-12-04T12:52:57.064Z,1638622377.064 [Micromodem](INFO): Nmea in: $CAREV,125257,COPROC,0.20.0.39330*7D

2021-12-04T12:52:59.104Z,1638622379.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:52:59.885Z,1638622379.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:00.291Z,1638622380.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:00.728Z,1638622380.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.220001 m, bearing: 72.399630 deg, deltaT: 4.450188 s, deltaX: 0.119999 m, approachRate: 0.026965 m/s, LOS rate: -0.297236 deg/s, posRepo size: 4
2021-12-04T12:53:01.124Z,1638622381.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125300.44*5B

2021-12-04T12:53:01.125Z,1638622381.125 [Micromodem](INFO): Nmea in: $CAREV,125301,AUV,2.1.4000*2E

2021-12-04T12:53:01.512Z,1638622381.512 [Micromodem](INFO): Nmea in: $CAREV,125301,COPROC,0.20.0.39330*7F

2021-12-04T12:53:03.576Z,1638622383.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:04.337Z,1638622384.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:04.740Z,1638622384.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:05.557Z,1638622385.557 [Micromodem](INFO): Nmea in: $SNTTA,0.046357,,,,125304.89*43

2021-12-04T12:53:05.558Z,1638622385.558 [Micromodem](INFO): Nmea in: $CAREV,125305,AUV,2.1.4000*2A

2021-12-04T12:53:05.953Z,1638622385.953 [Micromodem](INFO): Nmea in: $CAREV,125305,COPROC,0.20.0.39330*7B

2021-12-04T12:53:06.404Z,1638622386.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:07.960Z,1638622387.960 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:53:09.197Z,1638622389.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:09.977Z,1638622389.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:10.410Z,1638622390.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:10.828Z,1638622390.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.220001 m, bearing: 69.303361 deg, deltaT: 10.100529 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.306545 deg/s, posRepo size: 4
2021-12-04T12:53:11.227Z,1638622391.227 [Micromodem](INFO): Nmea in: $SNTTA,0.043794,,,,125310.53*4F

2021-12-04T12:53:11.229Z,1638622391.229 [Micromodem](INFO): Nmea in: $CAREV,125311,AUV,2.1.4000*2F

2021-12-04T12:53:11.608Z,1638622391.608 [Micromodem](INFO): Nmea in: $CAREV,125311,COPROC,0.20.0.39330*7E

2021-12-04T12:53:13.685Z,1638622393.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:14.445Z,1638622394.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:14.839Z,1638622394.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:15.653Z,1638622395.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125314.99*5E

2021-12-04T12:53:15.670Z,1638622395.670 [Micromodem](INFO): Nmea in: $CAREV,125316,AUV,2.1.4000*28

2021-12-04T12:53:16.049Z,1638622396.049 [Micromodem](INFO): Nmea in: $CAREV,125316,COPROC,0.20.0.39330*79

2021-12-04T12:53:16.471Z,1638622396.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:18.064Z,1638622398.064 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:53:19.351Z,1638622399.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:20.097Z,1638622400.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:20.487Z,1638622400.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:20.918Z,1638622400.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 144.377222 deg, deltaT: 10.089528 s, deltaX: 1.020000 m, approachRate: 0.101095 m/s, LOS rate: 7.440771 deg/s, posRepo size: 4
2021-12-04T12:53:21.368Z,1638622401.368 [Micromodem](INFO): Nmea in: $SNTTA,0.045196,,,,125320.65*4B

2021-12-04T12:53:21.372Z,1638622401.372 [Micromodem](INFO): Nmea in: $CAREV,125321,AUV,2.1.4000*2C

2021-12-04T12:53:21.724Z,1638622401.724 [Micromodem](INFO): Nmea in: $CAREV,125321,COPROC,0.20.0.39330*7D

2021-12-04T12:53:23.444Z,1638622403.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:24.138Z,1638622404.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:24.531Z,1638622404.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:25.407Z,1638622405.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125324.69*52

2021-12-04T12:53:25.408Z,1638622405.408 [Micromodem](INFO): Nmea in: $CAREV,125325,AUV,2.1.4000*28

2021-12-04T12:53:25.752Z,1638622405.752 [Micromodem](INFO): Nmea in: $CAREV,125325,COPROC,0.20.0.39330*79

2021-12-04T12:53:26.153Z,1638622406.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:27.756Z,1638622407.756 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:53:29.007Z,1638622409.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:29.802Z,1638622409.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:30.192Z,1638622410.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:31.014Z,1638622411.014 [Micromodem](INFO): Nmea in: $SNTTA,0.050562,,,,125330.35*44

2021-12-04T12:53:31.015Z,1638622411.015 [Micromodem](INFO): Nmea in: $CAREV,125331,AUV,2.1.4000*2D

2021-12-04T12:53:31.437Z,1638622411.437 [Micromodem](INFO): Nmea in: $CAREV,125331,COPROC,0.20.0.39330*7C

2021-12-04T12:53:31.512Z,1638622411.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:33.436Z,1638622413.436 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:53:34.255Z,1638622414.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:35.033Z,1638622415.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:35.462Z,1638622415.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:35.880Z,1638622415.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 152.284395 deg, deltaT: 14.957552 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 0.528641 deg/s, posRepo size: 4
2021-12-04T12:53:36.284Z,1638622416.284 [Micromodem](INFO): Nmea in: $SNTTA,0.047665,,,,125335.58*48

2021-12-04T12:53:36.285Z,1638622416.285 [Micromodem](INFO): Nmea in: $CAREV,125336,AUV,2.1.4000*2A

2021-12-04T12:53:36.660Z,1638622416.660 [Micromodem](INFO): Nmea in: $CAREV,125336,COPROC,0.20.0.39330*7B

2021-12-04T12:53:38.710Z,1638622418.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:39.477Z,1638622419.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:39.883Z,1638622419.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:40.309Z,1638622420.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 87.568312 deg, deltaT: 4.431060 s, deltaX: 0.540001 m, approachRate: 0.121867 m/s, LOS rate: -14.605103 deg/s, posRepo size: 4
2021-12-04T12:53:40.716Z,1638622420.716 [Micromodem](INFO): Nmea in: $SNTTA,0.051344,,,,125340.03*45

2021-12-04T12:53:40.717Z,1638622420.717 [Micromodem](INFO): Nmea in: $CAREV,125341,AUV,2.1.4000*2A

2021-12-04T12:53:41.100Z,1638622421.100 [Micromodem](INFO): Nmea in: $CAREV,125341,COPROC,0.20.0.39330*7B

2021-12-04T12:53:43.130Z,1638622423.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:43.913Z,1638622423.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:44.328Z,1638622424.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:44.770Z,1638622424.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 166.809421 deg, deltaT: 4.463616 s, deltaX: -0.360004 m, approachRate: -0.080653 m/s, LOS rate: 17.752671 deg/s, posRepo size: 4
2021-12-04T12:53:45.164Z,1638622425.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125344.46*59

2021-12-04T12:53:45.165Z,1638622425.165 [Micromodem](INFO): Nmea in: $CAREV,125345,AUV,2.1.4000*2E

2021-12-04T12:53:45.548Z,1638622425.548 [Micromodem](INFO): Nmea in: $CAREV,125345,COPROC,0.20.0.39330*7F

2021-12-04T12:53:47.608Z,1638622427.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:48.380Z,1638622428.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:48.772Z,1638622428.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:49.192Z,1638622429.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 147.005615 deg, deltaT: 4.421905 s, deltaX: 0.420002 m, approachRate: 0.094982 m/s, LOS rate: -4.478569 deg/s, posRepo size: 4
2021-12-04T12:53:49.624Z,1638622429.624 [Micromodem](INFO): Nmea in: $SNTTA,0.050093,,,,125348.93*4C

2021-12-04T12:53:49.625Z,1638622429.625 [Micromodem](INFO): Nmea in: $CAREV,125349,AUV,2.1.4000*22

2021-12-04T12:53:49.992Z,1638622429.992 [Micromodem](INFO): Nmea in: $CAREV,125349,COPROC,0.20.0.39330*73

2021-12-04T12:53:52.029Z,1638622432.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:52.805Z,1638622432.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:53.211Z,1638622433.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:53.697Z,1638622433.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 153.371584 deg, deltaT: 4.500748 s, deltaX: 0.119999 m, approachRate: 0.026662 m/s, LOS rate: 1.414425 deg/s, posRepo size: 4
2021-12-04T12:53:54.048Z,1638622434.048 [Micromodem](INFO): Nmea in: $SNTTA,0.032748,,,,125353.36*4C

2021-12-04T12:53:54.049Z,1638622434.049 [Micromodem](INFO): Nmea in: $CAREV,125354,AUV,2.1.4000*2E

2021-12-04T12:53:54.464Z,1638622434.464 [Micromodem](INFO): Nmea in: $CAREV,125354,COPROC,0.20.0.39330*7F

2021-12-04T12:53:56.476Z,1638622436.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:53:57.255Z,1638622437.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:53:57.673Z,1638622437.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:53:58.100Z,1638622438.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 160.726085 deg, deltaT: 4.402939 s, deltaX: -0.299999 m, approachRate: -0.068136 m/s, LOS rate: 1.670362 deg/s, posRepo size: 4
2021-12-04T12:53:58.536Z,1638622438.536 [Micromodem](INFO): Nmea in: $SNTTA,0.062670,,,,125357.81*4B

2021-12-04T12:53:58.537Z,1638622438.537 [Micromodem](INFO): Nmea in: $CAREV,125358,AUV,2.1.4000*22

2021-12-04T12:53:58.876Z,1638622438.876 [Micromodem](INFO): Nmea in: $CAREV,125358,COPROC,0.20.0.39330*73

2021-12-04T12:54:00.932Z,1638622440.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:01.697Z,1638622441.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:02.107Z,1638622442.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:02.561Z,1638622442.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 149.289180 deg, deltaT: 4.460894 s, deltaX: 0.599998 m, approachRate: 0.134502 m/s, LOS rate: -2.563815 deg/s, posRepo size: 4
2021-12-04T12:54:02.944Z,1638622442.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125402.25*59

2021-12-04T12:54:02.945Z,1638622442.945 [Micromodem](INFO): Nmea in: $CAREV,125403,AUV,2.1.4000*2B

2021-12-04T12:54:03.358Z,1638622443.358 [Micromodem](INFO): Nmea in: $CAREV,125403,COPROC,0.20.0.39330*7A

2021-12-04T12:54:05.467Z,1638622445.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:06.145Z,1638622446.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:06.554Z,1638622446.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:07.401Z,1638622447.401 [Micromodem](INFO): Nmea in: $SNTTA,0.047136,,,,125406.69*4C

2021-12-04T12:54:07.402Z,1638622447.402 [Micromodem](INFO): Nmea in: $CAREV,125407,AUV,2.1.4000*2F

2021-12-04T12:54:07.761Z,1638622447.761 [Micromodem](INFO): Nmea in: $CAREV,125407,COPROC,0.20.0.39330*7E

2021-12-04T12:54:08.173Z,1638622448.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:09.776Z,1638622449.776 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:54:11.004Z,1638622451.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:11.794Z,1638622451.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:12.247Z,1638622452.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:12.669Z,1638622452.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 117.093567 deg, deltaT: 10.112646 s, deltaX: 0.480000 m, approachRate: 0.047465 m/s, LOS rate: -3.183698 deg/s, posRepo size: 4
2021-12-04T12:54:13.056Z,1638622453.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125412.35*59

2021-12-04T12:54:13.057Z,1638622453.057 [Micromodem](INFO): Nmea in: $CAREV,125413,AUV,2.1.4000*2A

2021-12-04T12:54:13.456Z,1638622453.456 [Micromodem](INFO): Nmea in: $CAREV,125413,COPROC,0.20.0.39330*7B

2021-12-04T12:54:15.533Z,1638622455.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:16.273Z,1638622456.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:16.683Z,1638622456.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:17.131Z,1638622457.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 170.260469 deg, deltaT: 4.458070 s, deltaX: -0.540001 m, approachRate: -0.121129 m/s, LOS rate: 11.925991 deg/s, posRepo size: 4
2021-12-04T12:54:17.524Z,1638622457.524 [Micromodem](INFO): Nmea in: $SNTTA,0.048132,,,,125416.82*43

2021-12-04T12:54:17.525Z,1638622457.525 [Micromodem](INFO): Nmea in: $CAREV,125417,AUV,2.1.4000*2E

2021-12-04T12:54:17.908Z,1638622457.908 [Micromodem](INFO): Nmea in: $CAREV,125417,COPROC,0.20.0.39330*7F

2021-12-04T12:54:19.932Z,1638622459.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:20.725Z,1638622460.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:21.127Z,1638622461.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:21.599Z,1638622461.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.739998 m, bearing: 147.696475 deg, deltaT: 4.471751 s, deltaX: 0.540001 m, approachRate: 0.120758 m/s, LOS rate: -5.045897 deg/s, posRepo size: 4
2021-12-04T12:54:21.968Z,1638622461.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125421.27*5A

2021-12-04T12:54:21.969Z,1638622461.969 [Micromodem](INFO): Nmea in: $CAREV,125422,AUV,2.1.4000*28

2021-12-04T12:54:22.345Z,1638622462.345 [Micromodem](INFO): Nmea in: $CAREV,125422,COPROC,0.20.0.39330*79

2021-12-04T12:54:24.415Z,1638622464.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:25.165Z,1638622465.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:25.568Z,1638622465.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:26.001Z,1638622466.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 159.992168 deg, deltaT: 4.401380 s, deltaX: 0.239998 m, approachRate: 0.054528 m/s, LOS rate: 2.793599 deg/s, posRepo size: 4
2021-12-04T12:54:26.432Z,1638622466.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125425.71*5D

2021-12-04T12:54:26.433Z,1638622466.433 [Micromodem](INFO): Nmea in: $CAREV,125426,AUV,2.1.4000*2C

2021-12-04T12:54:26.810Z,1638622466.810 [Micromodem](INFO): Nmea in: $CAREV,125426,COPROC,0.20.0.39330*7D

2021-12-04T12:54:28.809Z,1638622468.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:29.613Z,1638622469.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:30.018Z,1638622470.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:30.835Z,1638622470.835 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125430.16*58

2021-12-04T12:54:30.836Z,1638622470.836 [Micromodem](INFO): Nmea in: $CAREV,125431,AUV,2.1.4000*2A

2021-12-04T12:54:31.229Z,1638622471.229 [Micromodem](INFO): Nmea in: $CAREV,125431,COPROC,0.20.0.39330*7B

2021-12-04T12:54:31.696Z,1638622471.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:33.248Z,1638622473.248 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:54:34.496Z,1638622474.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:35.283Z,1638622475.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:35.681Z,1638622475.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:36.484Z,1638622476.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125435.83*51

2021-12-04T12:54:36.503Z,1638622476.503 [Micromodem](INFO): Nmea in: $CAREV,125436,AUV,2.1.4000*2D

2021-12-04T12:54:36.893Z,1638622476.893 [Micromodem](INFO): Nmea in: $CAREV,125436,COPROC,0.20.0.39330*7C

2021-12-04T12:54:37.371Z,1638622477.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:38.900Z,1638622478.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:54:40.132Z,1638622480.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:40.917Z,1638622480.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:41.381Z,1638622481.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:41.752Z,1638622481.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.560001 m, bearing: 186.891352 deg, deltaT: 15.751977 s, deltaX: -0.419994 m, approachRate: -0.026663 m/s, LOS rate: 1.707670 deg/s, posRepo size: 4
2021-12-04T12:54:41.753Z,1638622481.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 46.56 m. Resuming terminal guidance.
2021-12-04T12:54:41.753Z,1638622481.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T12:54:42.156Z,1638622482.156 [Micromodem](INFO): Nmea in: $SNTTA,,0.070165,,,125441.47*41

2021-12-04T12:54:42.157Z,1638622482.157 [Micromodem](INFO): Nmea in: $CAREV,125442,AUV,2.1.4000*2E

2021-12-04T12:54:42.213Z,1638622482.213 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T12:54:42.213Z,1638622482.213 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T12:54:42.213Z,1638622482.213 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T12:54:42.214Z,1638622482.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T12:54:42.214Z,1638622482.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T12:54:42.214Z,1638622482.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T12:54:42.214Z,1638622482.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T12:54:42.560Z,1638622482.560 [Micromodem](INFO): Nmea in: $CAREV,125442,COPROC,0.20.0.39330*7F

2021-12-04T12:54:44.589Z,1638622484.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:45.396Z,1638622485.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:45.771Z,1638622485.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:46.593Z,1638622486.593 [Micromodem](INFO): Nmea in: $SNTTA,0.045649,,,,125445.95*45

2021-12-04T12:54:46.600Z,1638622486.599 [Micromodem](INFO): Nmea in: $CAREV,125447,AUV,2.1.4000*2B

2021-12-04T12:54:46.977Z,1638622486.977 [Micromodem](INFO): Nmea in: $CAREV,125447,COPROC,0.20.0.39330*7A

2021-12-04T12:54:47.491Z,1638622487.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 812.400085 m, bearing: 164.844143 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T12:54:47.491Z,1638622487.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 164.844143deg and heading rate command to 0 deg/s.
2021-12-04T12:54:50.232Z,1638622490.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:51.025Z,1638622491.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:51.451Z,1638622491.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:51.844Z,1638622491.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 48.120003 m, bearing: 84.947677 deg, deltaT: 4.385583 s, deltaX: -764.280090 m, approachRate: -174.271042 m/s, posRepo size: 1
2021-12-04T12:54:52.272Z,1638622492.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125451.57*5A

2021-12-04T12:54:52.273Z,1638622492.273 [Micromodem](INFO): Nmea in: $CAREV,125452,AUV,2.1.4000*2F

2021-12-04T12:54:52.652Z,1638622492.652 [Micromodem](INFO): Nmea in: $CAREV,125452,COPROC,0.20.0.39330*7E

2021-12-04T12:54:54.692Z,1638622494.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:55.468Z,1638622495.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:54:55.871Z,1638622495.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:54:56.313Z,1638622496.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 49.920002 m, bearing: 89.843318 deg, deltaT: 8.838891 s, deltaX: -762.480103 m, approachRate: -86.264229 m/s, posRepo size: 1
2021-12-04T12:54:56.704Z,1638622496.704 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125456.02*5D

2021-12-04T12:54:56.705Z,1638622496.705 [Micromodem](INFO): Nmea in: $CAREV,125457,AUV,2.1.4000*2A

2021-12-04T12:54:57.100Z,1638622497.100 [Micromodem](INFO): Nmea in: $CAREV,125457,COPROC,0.20.0.39330*7B

2021-12-04T12:54:59.109Z,1638622499.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:54:59.905Z,1638622499.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:00.326Z,1638622500.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:00.759Z,1638622500.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 52.319996 m, bearing: 169.740747 deg, deltaT: 13.299410 s, deltaX: -760.080078 m, approachRate: -57.151413 m/s, posRepo size: 1
2021-12-04T12:55:01.164Z,1638622501.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125500.45*5C

2021-12-04T12:55:01.165Z,1638622501.165 [Micromodem](INFO): Nmea in: $CAREV,125501,AUV,2.1.4000*28

2021-12-04T12:55:01.532Z,1638622501.532 [Micromodem](INFO): Nmea in: $CAREV,125501,COPROC,0.20.0.39330*79

2021-12-04T12:55:03.632Z,1638622503.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:04.364Z,1638622504.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:04.756Z,1638622504.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:05.180Z,1638622505.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 54.540005 m, bearing: 170.930333 deg, deltaT: 17.721216 s, deltaX: -757.860107 m, approachRate: -42.765694 m/s, posRepo size: 1
2021-12-04T12:55:05.592Z,1638622505.592 [Micromodem](INFO): Nmea in: $SNTTA,0.062239,,,,125504.92*40

2021-12-04T12:55:05.593Z,1638622505.593 [Micromodem](INFO): Nmea in: $CAREV,125505,AUV,2.1.4000*2C

2021-12-04T12:55:05.977Z,1638622505.977 [Micromodem](INFO): Nmea in: $CAREV,125505,COPROC,0.20.0.39330*7D

2021-12-04T12:55:07.996Z,1638622507.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:08.797Z,1638622508.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:09.216Z,1638622509.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:09.661Z,1638622509.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 56.520000 m, bearing: 172.468178 deg, deltaT: 22.202985 s, deltaX: -755.880066 m, approachRate: -34.044075 m/s, posRepo size: 1
2021-12-04T12:55:09.662Z,1638622509.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Reached target pos rejection count limit. Clearing pos repo.
2021-12-04T12:55:10.047Z,1638622510.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125509.35*52

2021-12-04T12:55:10.049Z,1638622510.049 [Micromodem](INFO): Nmea in: $CAREV,125510,AUV,2.1.4000*28

2021-12-04T12:55:10.452Z,1638622510.452 [Micromodem](INFO): Nmea in: $CAREV,125510,COPROC,0.20.0.39330*79

2021-12-04T12:55:12.477Z,1638622512.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:13.258Z,1638622513.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:13.656Z,1638622513.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:14.088Z,1638622514.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 198.273807 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T12:55:14.088Z,1638622514.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 198.273807deg and heading rate command to 0 deg/s.
2021-12-04T12:55:14.480Z,1638622514.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125513.81*56

2021-12-04T12:55:14.481Z,1638622514.481 [Micromodem](INFO): Nmea in: $CAREV,125514,AUV,2.1.4000*2C

2021-12-04T12:55:14.892Z,1638622514.892 [Micromodem](INFO): Nmea in: $CAREV,125514,COPROC,0.20.0.39330*7D

2021-12-04T12:55:16.890Z,1638622516.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:17.685Z,1638622517.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:18.110Z,1638622518.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:18.537Z,1638622518.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 176.382313 deg, deltaT: 4.433271 s, deltaX: 2.099991 m, approachRate: 0.473689 m/s, LOS rate: -4.938001 deg/s, posRepo size: 2
2021-12-04T12:55:18.543Z,1638622518.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 176.382313 deg,
      approachRate: 0.473689 m/s,
      LOS rate: -4.938001 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 198.273807 deg,
      new cmd heading: 198.273807 deg.

2021-12-04T12:55:18.932Z,1638622518.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125518.24*52

2021-12-04T12:55:18.933Z,1638622518.933 [Micromodem](INFO): Nmea in: $CAREV,125519,AUV,2.1.4000*21

2021-12-04T12:55:19.336Z,1638622519.336 [Micromodem](INFO): Nmea in: $CAREV,125519,COPROC,0.20.0.39330*70

2021-12-04T12:55:21.443Z,1638622521.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:22.128Z,1638622522.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:22.539Z,1638622522.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:22.973Z,1638622522.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 241.243566 deg, deltaT: 4.452190 s, deltaX: 1.620010 m, approachRate: 0.363868 m/s, LOS rate: 14.568392 deg/s, posRepo size: 3
2021-12-04T12:55:22.990Z,1638622522.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.568392 deg/s. Setting heading cmd to target bearing of 241.243566deg and heading rate command to 0 deg/s.
2021-12-04T12:55:23.398Z,1638622523.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125522.68*53

2021-12-04T12:55:23.399Z,1638622523.399 [Micromodem](INFO): Nmea in: $CAREV,125523,AUV,2.1.4000*28

2021-12-04T12:55:23.765Z,1638622523.765 [Micromodem](INFO): Nmea in: $CAREV,125523,COPROC,0.20.0.39330*79

2021-12-04T12:55:25.773Z,1638622525.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:26.577Z,1638622526.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:26.992Z,1638622526.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:27.484Z,1638622527.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 229.499274 deg, deltaT: 4.506306 s, deltaX: 1.439999 m, approachRate: 0.319552 m/s, LOS rate: -2.606190 deg/s, posRepo size: 4
2021-12-04T12:55:27.486Z,1638622527.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.660007 m,
      bearing: 229.499274 deg,
      approachRate: 0.319552 m/s,
      LOS rate: -2.606190 deg/s,
      cmd update: -7.818571 deg/s,
      cmd heading: 241.243566 deg,
      new cmd heading: 241.243566 deg.

2021-12-04T12:55:27.817Z,1638622527.817 [Micromodem](INFO): Nmea in: $SNTTA,0.060565,,,,125527.13*44

2021-12-04T12:55:27.820Z,1638622527.820 [Micromodem](INFO): Nmea in: $CAREV,125528,AUV,2.1.4000*23

2021-12-04T12:55:28.196Z,1638622528.196 [Micromodem](INFO): Nmea in: $CAREV,125528,COPROC,0.20.0.39330*72

2021-12-04T12:55:30.213Z,1638622530.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:31.009Z,1638622531.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:31.451Z,1638622531.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:31.878Z,1638622531.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 217.129651 deg, deltaT: 4.386236 s, deltaX: 2.039997 m, approachRate: 0.465091 m/s, LOS rate: -2.820100 deg/s, posRepo size: 4
2021-12-04T12:55:31.885Z,1638622531.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.700005 m,
      bearing: 217.129651 deg,
      approachRate: 0.465091 m/s,
      LOS rate: -2.820100 deg/s,
      cmd update: -8.460299 deg/s,
      cmd heading: 206.330126 deg,
      new cmd heading: 203.516347 deg.

2021-12-04T12:55:32.268Z,1638622532.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125531.56*5C

2021-12-04T12:55:32.269Z,1638622532.269 [Micromodem](INFO): Nmea in: $CAREV,125532,AUV,2.1.4000*28

2021-12-04T12:55:32.648Z,1638622532.648 [Micromodem](INFO): Nmea in: $CAREV,125532,COPROC,0.20.0.39330*79

2021-12-04T12:55:34.685Z,1638622534.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:35.464Z,1638622535.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:35.874Z,1638622535.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:36.307Z,1638622536.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 226.223857 deg, deltaT: 4.437459 s, deltaX: 2.040001 m, approachRate: 0.459723 m/s, LOS rate: 2.049417 deg/s, posRepo size: 4
2021-12-04T12:55:36.309Z,1638622536.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.740005 m,
      bearing: 226.223857 deg,
      approachRate: 0.459723 m/s,
      LOS rate: 2.049417 deg/s,
      cmd update: 6.148252 deg/s,
      cmd heading: 169.190140 deg,
      new cmd heading: 165.835344 deg.

2021-12-04T12:55:36.696Z,1638622536.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125536.01*59

2021-12-04T12:55:36.697Z,1638622536.697 [Micromodem](INFO): Nmea in: $CAREV,125537,AUV,2.1.4000*2D

2021-12-04T12:55:37.084Z,1638622537.084 [Micromodem](INFO): Nmea in: $CAREV,125537,COPROC,0.20.0.39330*7C

2021-12-04T12:55:39.109Z,1638622539.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:39.901Z,1638622539.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:40.307Z,1638622540.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:40.742Z,1638622540.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 246.761484 deg, deltaT: 4.438004 s, deltaX: 1.559998 m, approachRate: 0.351509 m/s, LOS rate: 4.627672 deg/s, posRepo size: 4
2021-12-04T12:55:40.744Z,1638622540.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.300003 m,
      bearing: 246.761484 deg,
      approachRate: 0.351509 m/s,
      LOS rate: 4.627672 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 196.794386 deg,
      new cmd heading: 198.918545 deg.

2021-12-04T12:55:41.161Z,1638622541.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125540.45*58

2021-12-04T12:55:41.162Z,1638622541.162 [Micromodem](INFO): Nmea in: $CAREV,125541,AUV,2.1.4000*2C

2021-12-04T12:55:41.524Z,1638622541.524 [Micromodem](INFO): Nmea in: $CAREV,125541,COPROC,0.20.0.39330*7D

2021-12-04T12:55:43.627Z,1638622543.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:44.361Z,1638622544.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:44.765Z,1638622544.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:45.191Z,1638622545.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.159996 m, bearing: 226.707680 deg, deltaT: 4.445993 s, deltaX: 1.859993 m, approachRate: 0.418353 m/s, LOS rate: -4.510534 deg/s, posRepo size: 4
2021-12-04T12:55:45.193Z,1638622545.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.159996 m,
      bearing: 226.707680 deg,
      approachRate: 0.418353 m/s,
      LOS rate: -4.510534 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 249.677607 deg,
      new cmd heading: 254.283447 deg.

2021-12-04T12:55:45.580Z,1638622545.580 [Micromodem](INFO): Nmea in: $SNTTA,0.067227,,,,125544.91*4D

2021-12-04T12:55:45.581Z,1638622545.581 [Micromodem](INFO): Nmea in: $CAREV,125545,AUV,2.1.4000*28

2021-12-04T12:55:45.976Z,1638622545.976 [Micromodem](INFO): Nmea in: $CAREV,125545,COPROC,0.20.0.39330*79

2021-12-04T12:55:48.001Z,1638622548.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:48.790Z,1638622548.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:49.207Z,1638622549.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:49.677Z,1638622549.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.779999 m, bearing: 262.183532 deg, deltaT: 4.485681 s, deltaX: 1.620003 m, approachRate: 0.361150 m/s, LOS rate: 7.908688 deg/s, posRepo size: 4
2021-12-04T12:55:49.684Z,1638622549.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.779999 m,
      bearing: 262.183532 deg,
      approachRate: 0.361150 m/s,
      LOS rate: 7.908688 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 196.435190 deg,
      new cmd heading: 191.192846 deg.

2021-12-04T12:55:50.044Z,1638622550.044 [Micromodem](INFO): Nmea in: $SNTTA,0.048135,,,,125549.34*42

2021-12-04T12:55:50.045Z,1638622550.045 [Micromodem](INFO): Nmea in: $CAREV,125550,AUV,2.1.4000*2C

2021-12-04T12:55:50.436Z,1638622550.436 [Micromodem](INFO): Nmea in: $CAREV,125550,COPROC,0.20.0.39330*7D

2021-12-04T12:55:52.469Z,1638622552.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:53.229Z,1638622553.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:53.673Z,1638622553.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:54.076Z,1638622554.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.860001 m, bearing: 182.288050 deg, deltaT: 4.398474 s, deltaX: 1.080002 m, approachRate: 0.245540 m/s, LOS rate: -18.164364 deg/s, posRepo size: 4
2021-12-04T12:55:54.076Z,1638622554.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.164364 deg/s. Setting heading cmd to target bearing of 182.288050deg and heading rate command to 0 deg/s.
2021-12-04T12:55:54.472Z,1638622554.472 [Micromodem](INFO): Nmea in: $SNTTA,0.069284,,,,125553.78*4B

2021-12-04T12:55:54.473Z,1638622554.473 [Micromodem](INFO): Nmea in: $CAREV,125554,AUV,2.1.4000*28

2021-12-04T12:55:54.871Z,1638622554.871 [Micromodem](INFO): Nmea in: $CAREV,125554,COPROC,0.20.0.39330*79

2021-12-04T12:55:56.889Z,1638622556.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:55:57.677Z,1638622557.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:55:58.084Z,1638622558.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:55:58.513Z,1638622558.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.520004 m, bearing: 259.441020 deg, deltaT: 4.441915 s, deltaX: 0.660004 m, approachRate: 0.148585 m/s, LOS rate: 17.369304 deg/s, posRepo size: 4
2021-12-04T12:55:58.530Z,1638622558.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.369304 deg/s. Setting heading cmd to target bearing of 259.441020deg and heading rate command to 0 deg/s.
2021-12-04T12:56:01.434Z,1638622561.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:02.132Z,1638622562.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:02.531Z,1638622562.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:02.953Z,1638622562.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 199.607648 deg, deltaT: 4.439918 s, deltaX: 0.239998 m, approachRate: 0.054055 m/s, LOS rate: -13.476234 deg/s, posRepo size: 4
2021-12-04T12:56:02.970Z,1638622562.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.476234 deg/s. Setting heading cmd to target bearing of 199.607648deg and heading rate command to 0 deg/s.
2021-12-04T12:56:03.408Z,1638622563.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125602.68*52

2021-12-04T12:56:03.409Z,1638622563.409 [Micromodem](INFO): Nmea in: $CAREV,125603,AUV,2.1.4000*29

2021-12-04T12:56:03.760Z,1638622563.760 [Micromodem](INFO): Nmea in: $CAREV,125603,COPROC,0.20.0.39330*78

2021-12-04T12:56:05.788Z,1638622565.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:06.565Z,1638622566.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:06.982Z,1638622566.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:07.462Z,1638622567.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.659996 m, bearing: 286.138945 deg, deltaT: 4.508347 s, deltaX: 0.899994 m, approachRate: 0.199628 m/s, LOS rate: 19.193576 deg/s, posRepo size: 4
2021-12-04T12:56:07.463Z,1638622567.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.193576 deg/s. Setting heading cmd to target bearing of 286.138945deg and heading rate command to 0 deg/s.
2021-12-04T12:56:07.828Z,1638622567.828 [Micromodem](INFO): Nmea in: $SNTTA,0.060213,,,,125607.12*42

2021-12-04T12:56:07.829Z,1638622567.829 [Micromodem](INFO): Nmea in: $CAREV,125608,AUV,2.1.4000*22

2021-12-04T12:56:08.196Z,1638622568.196 [Micromodem](INFO): Nmea in: $CAREV,125608,COPROC,0.20.0.39330*73

2021-12-04T12:56:10.229Z,1638622570.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:11.021Z,1638622571.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:11.443Z,1638622571.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:11.861Z,1638622571.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 277.763685 deg, deltaT: 4.398752 s, deltaX: 1.080002 m, approachRate: 0.245525 m/s, LOS rate: -1.904008 deg/s, posRepo size: 4
2021-12-04T12:56:11.863Z,1638622571.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 277.763685 deg,
      approachRate: 0.245525 m/s,
      LOS rate: -1.904008 deg/s,
      cmd update: -5.712025 deg/s,
      cmd heading: 286.138945 deg,
      new cmd heading: 286.138945 deg.

2021-12-04T12:56:12.248Z,1638622572.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125611.57*5C

2021-12-04T12:56:12.249Z,1638622572.249 [Micromodem](INFO): Nmea in: $CAREV,125612,AUV,2.1.4000*29

2021-12-04T12:56:12.652Z,1638622572.652 [Micromodem](INFO): Nmea in: $CAREV,125612,COPROC,0.20.0.39330*78

2021-12-04T12:56:14.677Z,1638622574.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:15.454Z,1638622575.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:15.869Z,1638622575.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:16.307Z,1638622576.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 279.801923 deg, deltaT: 4.435173 s, deltaX: 1.379997 m, approachRate: 0.311148 m/s, LOS rate: 0.459562 deg/s, posRepo size: 4
2021-12-04T12:56:16.309Z,1638622576.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.119995 m,
      bearing: 279.801923 deg,
      approachRate: 0.311148 m/s,
      LOS rate: 0.459562 deg/s,
      cmd update: 1.378686 deg/s,
      cmd heading: 260.978064 deg,
      new cmd heading: 258.825208 deg.

2021-12-04T12:56:16.697Z,1638622576.697 [Micromodem](INFO): Nmea in: $SNTTA,0.070496,,,,125616.00*4B

2021-12-04T12:56:16.702Z,1638622576.702 [Micromodem](INFO): Nmea in: $CAREV,125617,AUV,2.1.4000*2C

2021-12-04T12:56:17.090Z,1638622577.090 [Micromodem](INFO): Nmea in: $CAREV,125617,COPROC,0.20.0.39330*7D

2021-12-04T12:56:19.116Z,1638622579.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:19.900Z,1638622579.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:20.307Z,1638622580.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:20.783Z,1638622580.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 268.543012 deg, deltaT: 4.478700 s, deltaX: 0.900009 m, approachRate: 0.200953 m/s, LOS rate: -2.513879 deg/s, posRepo size: 4
2021-12-04T12:56:20.785Z,1638622580.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.020004 m,
      bearing: 268.543012 deg,
      approachRate: 0.200953 m/s,
      LOS rate: -2.513879 deg/s,
      cmd update: -7.541638 deg/s,
      cmd heading: 267.088040 deg,
      new cmd heading: 267.673378 deg.

2021-12-04T12:56:21.152Z,1638622581.152 [Micromodem](INFO): Nmea in: $SNTTA,0.062794,,,,125620.45*4D

2021-12-04T12:56:21.153Z,1638622581.153 [Micromodem](INFO): Nmea in: $CAREV,125621,AUV,2.1.4000*29

2021-12-04T12:56:21.535Z,1638622581.535 [Micromodem](INFO): Nmea in: $CAREV,125621,COPROC,0.20.0.39330*78

2021-12-04T12:56:23.588Z,1638622583.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:24.345Z,1638622584.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:24.751Z,1638622584.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:25.172Z,1638622585.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 306.265027 deg, deltaT: 4.397544 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 8.577973 deg/s, posRepo size: 4
2021-12-04T12:56:25.174Z,1638622585.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.020004 m,
      bearing: 306.265027 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.577973 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.417998 deg,
      new cmd heading: 230.726968 deg.

2021-12-04T12:56:25.587Z,1638622585.587 [Micromodem](INFO): Nmea in: $SNTTA,0.073794,,,,125624.90*41

2021-12-04T12:56:25.589Z,1638622585.589 [Micromodem](INFO): Nmea in: $CAREV,125625,AUV,2.1.4000*2D

2021-12-04T12:56:25.964Z,1638622585.964 [Micromodem](INFO): Nmea in: $CAREV,125625,COPROC,0.20.0.39330*7C

2021-12-04T12:56:28.008Z,1638622588.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:28.782Z,1638622588.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:29.204Z,1638622589.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:29.682Z,1638622589.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.660004 m, bearing: 230.945799 deg, deltaT: 4.485829 s, deltaX: -0.360001 m, approachRate: -0.080253 m/s, LOS rate: -16.790482 deg/s, posRepo size: 4
2021-12-04T12:56:29.683Z,1638622589.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.790482 deg/s. Setting heading cmd to target bearing of 230.945799deg and heading rate command to 0 deg/s.
2021-12-04T12:56:30.032Z,1638622590.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125629.33*55

2021-12-04T12:56:30.033Z,1638622590.033 [Micromodem](INFO): Nmea in: $CAREV,125630,AUV,2.1.4000*29

2021-12-04T12:56:30.432Z,1638622590.432 [Micromodem](INFO): Nmea in: $CAREV,125630,COPROC,0.20.0.39330*78

2021-12-04T12:56:32.471Z,1638622592.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:33.229Z,1638622593.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:33.671Z,1638622593.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:34.064Z,1638622594.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 226.696342 deg, deltaT: 4.405477 s, deltaX: -0.180000 m, approachRate: -0.040858 m/s, LOS rate: -0.964585 deg/s, posRepo size: 4
2021-12-04T12:56:34.066Z,1638622594.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.480003 m,
      bearing: 226.696342 deg,
      approachRate: -0.040858 m/s,
      LOS rate: -0.964585 deg/s,
      cmd update: -2.893755 deg/s,
      cmd heading: 230.945799 deg,
      new cmd heading: 230.945799 deg.

2021-12-04T12:56:34.480Z,1638622594.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125633.78*51

2021-12-04T12:56:34.481Z,1638622594.481 [Micromodem](INFO): Nmea in: $CAREV,125634,AUV,2.1.4000*2D

2021-12-04T12:56:34.856Z,1638622594.856 [Micromodem](INFO): Nmea in: $CAREV,125634,COPROC,0.20.0.39330*7C

2021-12-04T12:56:36.886Z,1638622596.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:37.681Z,1638622597.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:38.084Z,1638622598.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:38.523Z,1638622598.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.540001 m, bearing: 311.307619 deg, deltaT: 4.459331 s, deltaX: 0.059998 m, approachRate: 0.013454 m/s, LOS rate: 18.973984 deg/s, posRepo size: 4
2021-12-04T12:56:38.524Z,1638622598.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.973984 deg/s. Setting heading cmd to target bearing of 311.307619deg and heading rate command to 0 deg/s.
2021-12-04T12:56:38.924Z,1638622598.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125638.23*54

2021-12-04T12:56:38.925Z,1638622598.925 [Micromodem](INFO): Nmea in: $CAREV,125639,AUV,2.1.4000*20

2021-12-04T12:56:39.320Z,1638622599.320 [Micromodem](INFO): Nmea in: $CAREV,125639,COPROC,0.20.0.39330*71

2021-12-04T12:56:41.437Z,1638622601.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:42.121Z,1638622602.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:42.527Z,1638622602.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:42.958Z,1638622602.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 221.480304 deg, deltaT: 4.435727 s, deltaX: -0.059998 m, approachRate: -0.013526 m/s, LOS rate: -20.250867 deg/s, posRepo size: 4
2021-12-04T12:56:42.959Z,1638622602.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.250867 deg/s. Setting heading cmd to target bearing of 221.480304deg and heading rate command to 0 deg/s.
2021-12-04T12:56:43.391Z,1638622603.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125642.67*59

2021-12-04T12:56:43.395Z,1638622603.395 [Micromodem](INFO): Nmea in: $CAREV,125643,AUV,2.1.4000*2D

2021-12-04T12:56:43.748Z,1638622603.748 [Micromodem](INFO): Nmea in: $CAREV,125643,COPROC,0.20.0.39330*7C

2021-12-04T12:56:45.468Z,1638622605.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:46.161Z,1638622606.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:46.559Z,1638622606.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:47.012Z,1638622607.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.779999 m, bearing: 269.634012 deg, deltaT: 4.049247 s, deltaX: 0.299995 m, approachRate: 0.074087 m/s, LOS rate: 11.892015 deg/s, posRepo size: 4
2021-12-04T12:56:47.012Z,1638622607.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.892015 deg/s. Setting heading cmd to target bearing of 269.634012deg and heading rate command to 0 deg/s.
2021-12-04T12:56:47.420Z,1638622607.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125646.71*5A

2021-12-04T12:56:47.421Z,1638622607.421 [Micromodem](INFO): Nmea in: $CAREV,125647,AUV,2.1.4000*29

2021-12-04T12:56:47.784Z,1638622607.784 [Micromodem](INFO): Nmea in: $CAREV,125647,COPROC,0.20.0.39330*78

2021-12-04T12:56:49.814Z,1638622609.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:50.609Z,1638622610.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:51.007Z,1638622611.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:51.513Z,1638622611.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 234.832286 deg, deltaT: 4.489549 s, deltaX: 0.540009 m, approachRate: 0.120281 m/s, LOS rate: -7.751720 deg/s, posRepo size: 4
2021-12-04T12:56:51.519Z,1638622611.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.320007 m,
      bearing: 234.832286 deg,
      approachRate: 0.120281 m/s,
      LOS rate: -7.751720 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 269.634012 deg,
      new cmd heading: 269.634012 deg.

2021-12-04T12:56:51.844Z,1638622611.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125651.16*5D

2021-12-04T12:56:51.846Z,1638622611.846 [Micromodem](INFO): Nmea in: $CAREV,125652,AUV,2.1.4000*2D

2021-12-04T12:56:52.243Z,1638622612.243 [Micromodem](INFO): Nmea in: $CAREV,125652,COPROC,0.20.0.39330*7C

2021-12-04T12:56:54.254Z,1638622614.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:55.049Z,1638622615.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:55.451Z,1638622615.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:56:55.879Z,1638622615.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.740005 m, bearing: 231.039263 deg, deltaT: 4.382222 s, deltaX: 0.419998 m, approachRate: 0.095841 m/s, LOS rate: -0.865548 deg/s, posRepo size: 4
2021-12-04T12:56:55.881Z,1638622615.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.740005 m,
      bearing: 231.039263 deg,
      approachRate: 0.095841 m/s,
      LOS rate: -0.865548 deg/s,
      cmd update: -2.596643 deg/s,
      cmd heading: 216.028714 deg,
      new cmd heading: 211.739866 deg.

2021-12-04T12:56:56.296Z,1638622616.296 [Micromodem](INFO): Nmea in: $SNTTA,0.073694,,,,125655.60*49

2021-12-04T12:56:56.297Z,1638622616.297 [Micromodem](INFO): Nmea in: $CAREV,125656,AUV,2.1.4000*29

2021-12-04T12:56:56.684Z,1638622616.684 [Micromodem](INFO): Nmea in: $CAREV,125656,COPROC,0.20.0.39330*78

2021-12-04T12:56:58.734Z,1638622618.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:56:59.489Z,1638622619.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:56:59.895Z,1638622619.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:00.315Z,1638622620.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 232.707250 deg, deltaT: 4.436221 s, deltaX: 0.299995 m, approachRate: 0.067624 m/s, LOS rate: 0.375993 deg/s, posRepo size: 4
2021-12-04T12:57:00.317Z,1638622620.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 232.707250 deg,
      approachRate: 0.067624 m/s,
      LOS rate: 0.375993 deg/s,
      cmd update: 1.127978 deg/s,
      cmd heading: 204.560753 deg,
      new cmd heading: 203.581374 deg.

2021-12-04T12:57:00.744Z,1638622620.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125700.04*5B

2021-12-04T12:57:00.745Z,1638622620.745 [Micromodem](INFO): Nmea in: $CAREV,125701,AUV,2.1.4000*2A

2021-12-04T12:57:01.116Z,1638622621.116 [Micromodem](INFO): Nmea in: $CAREV,125701,COPROC,0.20.0.39330*7B

2021-12-04T12:57:03.154Z,1638622623.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:03.941Z,1638622623.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:04.349Z,1638622624.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:04.793Z,1638622624.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.880005 m, bearing: 292.661503 deg, deltaT: 4.477875 s, deltaX: 0.840004 m, approachRate: 0.187590 m/s, LOS rate: 13.388997 deg/s, posRepo size: 4
2021-12-04T12:57:04.795Z,1638622624.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.388997 deg/s. Setting heading cmd to target bearing of 292.661503deg and heading rate command to 0 deg/s.
2021-12-04T12:57:05.175Z,1638622625.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125704.49*56

2021-12-04T12:57:05.176Z,1638622625.176 [Micromodem](INFO): Nmea in: $CAREV,125705,AUV,2.1.4000*2E

2021-12-04T12:57:05.576Z,1638622625.576 [Micromodem](INFO): Nmea in: $CAREV,125705,COPROC,0.20.0.39330*7F

2021-12-04T12:57:07.612Z,1638622627.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:08.392Z,1638622628.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:08.800Z,1638622628.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:09.228Z,1638622629.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.680000 m, bearing: 261.490295 deg, deltaT: 4.430544 s, deltaX: 1.799995 m, approachRate: 0.406270 m/s, LOS rate: -7.035526 deg/s, posRepo size: 4
2021-12-04T12:57:09.230Z,1638622629.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.680000 m,
      bearing: 261.490295 deg,
      approachRate: 0.406270 m/s,
      LOS rate: -7.035526 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 292.661503 deg,
      new cmd heading: 292.661503 deg.

2021-12-04T12:57:09.632Z,1638622629.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125708.94*5A

2021-12-04T12:57:09.633Z,1638622629.633 [Micromodem](INFO): Nmea in: $CAREV,125709,AUV,2.1.4000*22

2021-12-04T12:57:10.004Z,1638622630.004 [Micromodem](INFO): Nmea in: $CAREV,125709,COPROC,0.20.0.39330*73

2021-12-04T12:57:12.043Z,1638622632.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:12.823Z,1638622632.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:13.231Z,1638622633.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:13.731Z,1638622633.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 240.506889 deg, deltaT: 4.506718 s, deltaX: 2.039993 m, approachRate: 0.452656 m/s, LOS rate: -4.656028 deg/s, posRepo size: 4
2021-12-04T12:57:13.733Z,1638622633.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.719994 m,
      bearing: 240.506889 deg,
      approachRate: 0.452656 m/s,
      LOS rate: -4.656028 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.860377 deg,
      new cmd heading: 233.864453 deg.

2021-12-04T12:57:14.080Z,1638622634.080 [Micromodem](INFO): Nmea in: $SNTTA,0.081526,,,,125713.38*40

2021-12-04T12:57:14.081Z,1638622634.081 [Micromodem](INFO): Nmea in: $CAREV,125714,AUV,2.1.4000*2E

2021-12-04T12:57:14.461Z,1638622634.461 [Micromodem](INFO): Nmea in: $CAREV,125714,COPROC,0.20.0.39330*7F

2021-12-04T12:57:16.503Z,1638622636.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:17.284Z,1638622637.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:17.671Z,1638622637.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:18.106Z,1638622638.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.400002 m, bearing: 317.853180 deg, deltaT: 4.370759 s, deltaX: 1.680008 m, approachRate: 0.384374 m/s, LOS rate: 17.696306 deg/s, posRepo size: 4
2021-12-04T12:57:18.111Z,1638622638.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.696306 deg/s. Setting heading cmd to target bearing of 317.853180deg and heading rate command to 0 deg/s.
2021-12-04T12:57:18.505Z,1638622638.505 [Micromodem](INFO): Nmea in: $SNTTA,0.086728,,,,125717.84*48

2021-12-04T12:57:18.506Z,1638622638.506 [Micromodem](INFO): Nmea in: $CAREV,125718,AUV,2.1.4000*22

2021-12-04T12:57:18.892Z,1638622638.892 [Micromodem](INFO): Nmea in: $CAREV,125718,COPROC,0.20.0.39330*73

2021-12-04T12:57:20.917Z,1638622640.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:21.709Z,1638622641.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:22.115Z,1638622642.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:22.553Z,1638622642.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.720001 m, bearing: 297.463454 deg, deltaT: 4.452035 s, deltaX: 1.320000 m, approachRate: 0.296494 m/s, LOS rate: -4.579867 deg/s, posRepo size: 4
2021-12-04T12:57:22.556Z,1638622642.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.720001 m,
      bearing: 297.463454 deg,
      approachRate: 0.296494 m/s,
      LOS rate: -4.579867 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 317.853180 deg,
      new cmd heading: 317.853180 deg.

2021-12-04T12:57:22.964Z,1638622642.964 [Micromodem](INFO): Nmea in: $SNTTA,0.078226,,,,125722.26*4C

2021-12-04T12:57:22.965Z,1638622642.965 [Micromodem](INFO): Nmea in: $CAREV,125723,AUV,2.1.4000*2A

2021-12-04T12:57:23.386Z,1638622643.386 [Micromodem](INFO): Nmea in: $CAREV,125723,COPROC,0.20.0.39330*7B

2021-12-04T12:57:25.468Z,1638622645.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:26.153Z,1638622646.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:26.564Z,1638622646.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:27.005Z,1638622647.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.580002 m, bearing: 270.692555 deg, deltaT: 4.451958 s, deltaX: 1.860001 m, approachRate: 0.417794 m/s, LOS rate: -6.013287 deg/s, posRepo size: 4
2021-12-04T12:57:27.008Z,1638622647.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.580002 m,
      bearing: 270.692555 deg,
      approachRate: 0.417794 m/s,
      LOS rate: -6.013287 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.328763 deg,
      new cmd heading: 259.505855 deg.

2021-12-04T12:57:27.416Z,1638622647.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125726.71*5D

2021-12-04T12:57:27.417Z,1638622647.417 [Micromodem](INFO): Nmea in: $CAREV,125727,AUV,2.1.4000*2E

2021-12-04T12:57:27.788Z,1638622647.788 [Micromodem](INFO): Nmea in: $CAREV,125727,COPROC,0.20.0.39330*7F

2021-12-04T12:57:29.809Z,1638622649.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:30.601Z,1638622650.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:31.017Z,1638622651.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:31.516Z,1638622651.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.440002 m, bearing: 307.328351 deg, deltaT: 4.506618 s, deltaX: 1.860001 m, approachRate: 0.412726 m/s, LOS rate: 8.129332 deg/s, posRepo size: 4
2021-12-04T12:57:31.518Z,1638622651.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.440002 m,
      bearing: 307.328351 deg,
      approachRate: 0.412726 m/s,
      LOS rate: 8.129332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 210.958137 deg,
      new cmd heading: 205.429749 deg.

2021-12-04T12:57:31.848Z,1638622651.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125731.15*59

2021-12-04T12:57:31.849Z,1638622651.849 [Micromodem](INFO): Nmea in: $CAREV,125732,AUV,2.1.4000*2A

2021-12-04T12:57:32.228Z,1638622652.228 [Micromodem](INFO): Nmea in: $CAREV,125732,COPROC,0.20.0.39330*7B

2021-12-04T12:57:34.256Z,1638622654.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:35.041Z,1638622655.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:35.447Z,1638622655.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:35.868Z,1638622655.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.639999 m, bearing: 312.583689 deg, deltaT: 4.355809 s, deltaX: 1.199997 m, approachRate: 0.275493 m/s, LOS rate: 1.206513 deg/s, posRepo size: 4
2021-12-04T12:57:35.870Z,1638622655.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.639999 m,
      bearing: 312.583689 deg,
      approachRate: 0.275493 m/s,
      LOS rate: 1.206513 deg/s,
      cmd update: 3.619538 deg/s,
      cmd heading: 264.500111 deg,
      new cmd heading: 268.756307 deg.

2021-12-04T12:57:36.288Z,1638622656.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125735.59*55

2021-12-04T12:57:36.289Z,1638622656.289 [Micromodem](INFO): Nmea in: $CAREV,125736,AUV,2.1.4000*2E

2021-12-04T12:57:36.676Z,1638622656.676 [Micromodem](INFO): Nmea in: $CAREV,125736,COPROC,0.20.0.39330*7F

2021-12-04T12:57:38.749Z,1638622658.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:39.485Z,1638622659.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:39.898Z,1638622659.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:40.325Z,1638622660.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 294.661573 deg, deltaT: 4.456466 s, deltaX: 1.379997 m, approachRate: 0.309662 m/s, LOS rate: -4.021598 deg/s, posRepo size: 4
2021-12-04T12:57:40.327Z,1638622660.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 294.661573 deg,
      approachRate: 0.309662 m/s,
      LOS rate: -4.021598 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.489785 deg,
      new cmd heading: 281.917700 deg.

2021-12-04T12:57:40.741Z,1638622660.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125740.04*5F

2021-12-04T12:57:40.742Z,1638622660.742 [Micromodem](INFO): Nmea in: $CAREV,125741,AUV,2.1.4000*2E

2021-12-04T12:57:41.112Z,1638622661.112 [Micromodem](INFO): Nmea in: $CAREV,125741,COPROC,0.20.0.39330*7F

2021-12-04T12:57:43.145Z,1638622663.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:43.925Z,1638622663.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:44.345Z,1638622664.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:44.783Z,1638622664.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 320.495753 deg, deltaT: 4.459188 s, deltaX: 1.680000 m, approachRate: 0.376750 m/s, LOS rate: 5.793472 deg/s, posRepo size: 4
2021-12-04T12:57:44.785Z,1638622664.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.699997 m,
      bearing: 320.495753 deg,
      approachRate: 0.376750 m/s,
      LOS rate: 5.793472 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 226.637804 deg,
      new cmd heading: 222.256736 deg.

2021-12-04T12:57:45.168Z,1638622665.168 [Micromodem](INFO): Nmea in: $SNTTA,0.083586,,,,125744.48*4D

2021-12-04T12:57:45.169Z,1638622665.169 [Micromodem](INFO): Nmea in: $CAREV,125745,AUV,2.1.4000*2A

2021-12-04T12:57:45.568Z,1638622665.568 [Micromodem](INFO): Nmea in: $CAREV,125745,COPROC,0.20.0.39330*7B

2021-12-04T12:57:47.613Z,1638622667.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:48.393Z,1638622668.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:48.783Z,1638622668.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:49.203Z,1638622669.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 313.552757 deg, deltaT: 4.420023 s, deltaX: 1.020004 m, approachRate: 0.230769 m/s, LOS rate: -1.570806 deg/s, posRepo size: 4
2021-12-04T12:57:49.205Z,1638622669.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.720001 m,
      bearing: 313.552757 deg,
      approachRate: 0.230769 m/s,
      LOS rate: -1.570806 deg/s,
      cmd update: -4.712416 deg/s,
      cmd heading: 279.489489 deg,
      new cmd heading: 284.059005 deg.

2021-12-04T12:57:49.612Z,1638622669.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125748.94*5E

2021-12-04T12:57:49.613Z,1638622669.613 [Micromodem](INFO): Nmea in: $CAREV,125749,AUV,2.1.4000*26

2021-12-04T12:57:50.000Z,1638622670.000 [Micromodem](INFO): Nmea in: $CAREV,125749,COPROC,0.20.0.39330*77

2021-12-04T12:57:52.032Z,1638622672.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:52.837Z,1638622672.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:53.223Z,1638622673.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:53.743Z,1638622673.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.460007 m, bearing: 305.517995 deg, deltaT: 4.528718 s, deltaX: 1.740005 m, approachRate: 0.384216 m/s, LOS rate: -1.774180 deg/s, posRepo size: 4
2021-12-04T12:57:53.745Z,1638622673.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.460007 m,
      bearing: 305.517995 deg,
      approachRate: 0.384216 m/s,
      LOS rate: -1.774180 deg/s,
      cmd update: -5.322540 deg/s,
      cmd heading: 258.269087 deg,
      new cmd heading: 256.333872 deg.

2021-12-04T12:57:54.052Z,1638622674.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125753.39*53

2021-12-04T12:57:54.053Z,1638622674.053 [Micromodem](INFO): Nmea in: $CAREV,125754,AUV,2.1.4000*2A

2021-12-04T12:57:54.460Z,1638622674.460 [Micromodem](INFO): Nmea in: $CAREV,125754,COPROC,0.20.0.39330*7B

2021-12-04T12:57:56.483Z,1638622676.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:57:57.268Z,1638622677.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:57:57.684Z,1638622677.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:57:58.087Z,1638622678.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.599998 m, bearing: 335.650413 deg, deltaT: 4.355170 s, deltaX: 1.139992 m, approachRate: 0.261756 m/s, LOS rate: 6.918769 deg/s, posRepo size: 4
2021-12-04T12:57:58.089Z,1638622678.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.599998 m,
      bearing: 335.650413 deg,
      approachRate: 0.261756 m/s,
      LOS rate: 6.918769 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.631383 deg,
      new cmd heading: 232.925077 deg.

2021-12-04T12:57:58.516Z,1638622678.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125757.82*57

2021-12-04T12:57:58.517Z,1638622678.517 [Micromodem](INFO): Nmea in: $CAREV,125758,AUV,2.1.4000*26

2021-12-04T12:57:58.892Z,1638622678.892 [Micromodem](INFO): Nmea in: $CAREV,125758,COPROC,0.20.0.39330*77

2021-12-04T12:58:00.921Z,1638622680.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:01.737Z,1638622681.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:02.115Z,1638622682.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:02.565Z,1638622682.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.099998 m, bearing: 301.344094 deg, deltaT: 4.477402 s, deltaX: 1.500000 m, approachRate: 0.335016 m/s, LOS rate: -7.662104 deg/s, posRepo size: 4
2021-12-04T12:58:02.584Z,1638622682.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.099998 m,
      bearing: 301.344094 deg,
      approachRate: 0.335016 m/s,
      LOS rate: -7.662104 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.191924 deg,
      new cmd heading: 292.214968 deg.

2021-12-04T12:58:02.952Z,1638622682.952 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125802.29*59

2021-12-04T12:58:02.953Z,1638622682.953 [Micromodem](INFO): Nmea in: $CAREV,125803,AUV,2.1.4000*27

2021-12-04T12:58:03.408Z,1638622683.408 [Micromodem](INFO): Nmea in: $CAREV,125803,COPROC,0.20.0.39330*76

2021-12-04T12:58:05.454Z,1638622685.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:06.161Z,1638622686.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:06.570Z,1638622686.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:06.998Z,1638622686.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.020004 m, bearing: 298.751928 deg, deltaT: 4.432689 s, deltaX: 1.920006 m, approachRate: 0.433147 m/s, LOS rate: -0.584784 deg/s, posRepo size: 4
2021-12-04T12:58:07.000Z,1638622687.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.020004 m,
      bearing: 298.751928 deg,
      approachRate: 0.433147 m/s,
      LOS rate: -0.584784 deg/s,
      cmd update: -1.754352 deg/s,
      cmd heading: 233.423402 deg,
      new cmd heading: 228.975290 deg.

2021-12-04T12:58:07.420Z,1638622687.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125806.71*50

2021-12-04T12:58:07.421Z,1638622687.421 [Micromodem](INFO): Nmea in: $CAREV,125807,AUV,2.1.4000*23

2021-12-04T12:58:07.780Z,1638622687.780 [Micromodem](INFO): Nmea in: $CAREV,125807,COPROC,0.20.0.39330*72

2021-12-04T12:58:09.812Z,1638622689.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:10.601Z,1638622690.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:11.011Z,1638622691.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:11.504Z,1638622691.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 324.911470 deg, deltaT: 4.506558 s, deltaX: 1.620003 m, approachRate: 0.359477 m/s, LOS rate: 5.804772 deg/s, posRepo size: 4
2021-12-04T12:58:11.506Z,1638622691.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.640007 m,
      bearing: 324.911470 deg,
      approachRate: 0.359477 m/s,
      LOS rate: 5.804772 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 225.677685 deg,
      new cmd heading: 224.868411 deg.

2021-12-04T12:58:11.844Z,1638622691.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125811.15*54

2021-12-04T12:58:11.845Z,1638622691.845 [Micromodem](INFO): Nmea in: $CAREV,125812,AUV,2.1.4000*27

2021-12-04T12:58:12.232Z,1638622692.232 [Micromodem](INFO): Nmea in: $CAREV,125812,COPROC,0.20.0.39330*76

2021-12-04T12:58:14.245Z,1638622694.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:15.033Z,1638622695.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:15.458Z,1638622695.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:15.864Z,1638622695.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.260002 m, bearing: 297.782123 deg, deltaT: 4.359235 s, deltaX: 1.619995 m, approachRate: 0.371624 m/s, LOS rate: -6.223419 deg/s, posRepo size: 4
2021-12-04T12:58:15.866Z,1638622695.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.260002 m,
      bearing: 297.782123 deg,
      approachRate: 0.371624 m/s,
      LOS rate: -6.223419 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 279.916750 deg,
      new cmd heading: 283.523938 deg.

2021-12-04T12:58:16.288Z,1638622696.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125815.58*59

2021-12-04T12:58:16.289Z,1638622696.289 [Micromodem](INFO): Nmea in: $CAREV,125816,AUV,2.1.4000*23

2021-12-04T12:58:16.660Z,1638622696.660 [Micromodem](INFO): Nmea in: $CAREV,125816,COPROC,0.20.0.39330*72

2021-12-04T12:58:18.698Z,1638622698.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:19.485Z,1638622699.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:19.896Z,1638622699.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:20.321Z,1638622700.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 289.627123 deg, deltaT: 4.457294 s, deltaX: 2.160004 m, approachRate: 0.484600 m/s, LOS rate: -1.829585 deg/s, posRepo size: 4
2021-12-04T12:58:20.323Z,1638622700.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.420006 m,
      bearing: 289.627123 deg,
      approachRate: 0.484600 m/s,
      LOS rate: -1.829585 deg/s,
      cmd update: -5.488756 deg/s,
      cmd heading: 227.547321 deg,
      new cmd heading: 222.818865 deg.

2021-12-04T12:58:20.736Z,1638622700.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125820.04*56

2021-12-04T12:58:20.737Z,1638622700.737 [Micromodem](INFO): Nmea in: $CAREV,125821,AUV,2.1.4000*27

2021-12-04T12:58:21.116Z,1638622701.116 [Micromodem](INFO): Nmea in: $CAREV,125821,COPROC,0.20.0.39330*76

2021-12-04T12:58:23.152Z,1638622703.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:23.932Z,1638622703.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:24.338Z,1638622704.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:24.767Z,1638622704.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.860008 m, bearing: 319.946469 deg, deltaT: 4.437984 s, deltaX: 1.440002 m, approachRate: 0.324472 m/s, LOS rate: 6.831784 deg/s, posRepo size: 4
2021-12-04T12:58:24.769Z,1638622704.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.860008 m,
      bearing: 319.946469 deg,
      approachRate: 0.324472 m/s,
      LOS rate: 6.831784 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 202.945288 deg,
      new cmd heading: 201.022467 deg.

2021-12-04T12:58:25.164Z,1638622705.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125824.49*5B

2021-12-04T12:58:25.165Z,1638622705.165 [Micromodem](INFO): Nmea in: $CAREV,125825,AUV,2.1.4000*23

2021-12-04T12:58:25.564Z,1638622705.564 [Micromodem](INFO): Nmea in: $CAREV,125825,COPROC,0.20.0.39330*72

2021-12-04T12:58:25.574Z,1638622705.574 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-12-04T12:58:27.611Z,1638622707.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:28.391Z,1638622708.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:28.805Z,1638622708.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:29.197Z,1638622709.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 303.891673 deg, deltaT: 4.438777 s, deltaX: 1.979996 m, approachRate: 0.446068 m/s, LOS rate: -3.616942 deg/s, posRepo size: 4
2021-12-04T12:58:29.199Z,1638622709.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.840004 m,
      bearing: 303.891673 deg,
      approachRate: 0.446068 m/s,
      LOS rate: -3.616942 deg/s,
      cmd update: -10.850824 deg/s,
      cmd heading: 256.103166 deg,
      new cmd heading: 260.407698 deg.

2021-12-04T12:58:29.600Z,1638622709.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125828.94*57

2021-12-04T12:58:29.601Z,1638622709.601 [Micromodem](INFO): Nmea in: $CAREV,125830,AUV,2.1.4000*27

2021-12-04T12:58:29.996Z,1638622709.996 [Micromodem](INFO): Nmea in: $CAREV,125830,COPROC,0.20.0.39330*76

2021-12-04T12:58:32.024Z,1638622712.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:32.825Z,1638622712.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:33.219Z,1638622713.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:33.697Z,1638622713.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.419998 m, bearing: 286.096871 deg, deltaT: 4.499787 s, deltaX: 2.579994 m, approachRate: 0.573359 m/s, LOS rate: -3.954587 deg/s, posRepo size: 4
2021-12-04T12:58:33.699Z,1638622713.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 286.096871 deg,
      approachRate: 0.573359 m/s,
      LOS rate: -3.954587 deg/s,
      cmd update: -11.863762 deg/s,
      cmd heading: 208.096807 deg,
      new cmd heading: 203.384793 deg.

2021-12-04T12:58:34.052Z,1638622714.052 [Micromodem](INFO): Nmea in: $SNTTA,0.075780,,,,125833.38*48

2021-12-04T12:58:34.053Z,1638622714.053 [Micromodem](INFO): Nmea in: $CAREV,125834,AUV,2.1.4000*23

2021-12-04T12:58:34.464Z,1638622714.464 [Micromodem](INFO): Nmea in: $CAREV,125834,COPROC,0.20.0.39330*72

2021-12-04T12:58:36.479Z,1638622716.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:37.261Z,1638622717.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:37.680Z,1638622717.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:38.103Z,1638622718.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 219.981433 deg, deltaT: 4.405543 s, deltaX: 2.760002 m, approachRate: 0.626484 m/s, LOS rate: -15.007331 deg/s, posRepo size: 4
2021-12-04T12:58:38.104Z,1638622718.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.007331 deg/s. Setting heading cmd to target bearing of 219.981433deg and heading rate command to 0 deg/s.
2021-12-04T12:58:38.516Z,1638622718.516 [Micromodem](INFO): Nmea in: $SNTTA,0.093891,,,,125837.82*4A

2021-12-04T12:58:38.517Z,1638622718.517 [Micromodem](INFO): Nmea in: $CAREV,125838,AUV,2.1.4000*2F

2021-12-04T12:58:38.892Z,1638622718.892 [Micromodem](INFO): Nmea in: $CAREV,125838,COPROC,0.20.0.39330*7E

2021-12-04T12:58:40.912Z,1638622720.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:41.713Z,1638622721.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:42.107Z,1638622722.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:42.941Z,1638622722.941 [Micromodem](INFO): Nmea in: $SNTTA,0.082143,,,,125842.26*40

2021-12-04T12:58:42.942Z,1638622722.942 [Micromodem](INFO): Nmea in: $CAREV,125843,AUV,2.1.4000*23

2021-12-04T12:58:43.390Z,1638622723.390 [Micromodem](INFO): Nmea in: $CAREV,125843,COPROC,0.20.0.39330*72

2021-12-04T12:58:43.428Z,1638622723.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:45.374Z,1638622725.374 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:58:45.420Z,1638622725.420 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T12:58:46.180Z,1638622726.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:46.953Z,1638622726.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:47.402Z,1638622727.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:47.812Z,1638622727.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.139999 m, bearing: 214.029770 deg, deltaT: 9.705355 s, deltaX: 6.959999 m, approachRate: 0.717130 m/s, LOS rate: -0.613235 deg/s, posRepo size: 4
2021-12-04T12:58:47.814Z,1638622727.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.139999 m,
      bearing: 214.029770 deg,
      approachRate: 0.717130 m/s,
      LOS rate: -0.613235 deg/s,
      cmd update: -1.839705 deg/s,
      cmd heading: 219.981433 deg,
      new cmd heading: 219.981433 deg.

2021-12-04T12:58:48.196Z,1638622728.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125847.51*57

2021-12-04T12:58:48.197Z,1638622728.197 [Micromodem](INFO): Nmea in: $CAREV,125848,AUV,2.1.4000*28

2021-12-04T12:58:48.588Z,1638622728.588 [Micromodem](INFO): Nmea in: $CAREV,125848,COPROC,0.20.0.39330*79

2021-12-04T12:58:50.631Z,1638622730.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:51.440Z,1638622731.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:51.806Z,1638622731.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:52.620Z,1638622732.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125851.99*54

2021-12-04T12:58:52.623Z,1638622732.623 [Micromodem](INFO): Nmea in: $CAREV,125853,AUV,2.1.4000*22

2021-12-04T12:58:53.017Z,1638622733.017 [Micromodem](INFO): Nmea in: $CAREV,125853,COPROC,0.20.0.39330*73

2021-12-04T12:58:53.495Z,1638622733.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 857.520020 m, bearing: 288.609561 deg, deltaT: 5.687553 s, deltaX: 733.380005 m, approachRate: 128.944733 m/s, posRepo size: 4
2021-12-04T12:58:56.266Z,1638622736.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:58:57.073Z,1638622737.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:58:57.467Z,1638622737.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:58:58.281Z,1638622738.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125857.63*57

2021-12-04T12:58:58.283Z,1638622738.283 [Micromodem](INFO): Nmea in: $CAREV,125858,AUV,2.1.4000*29

2021-12-04T12:58:58.695Z,1638622738.695 [Micromodem](INFO): Nmea in: $CAREV,125858,COPROC,0.20.0.39330*78

2021-12-04T12:58:59.085Z,1638622739.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:00.688Z,1638622740.688 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T12:59:01.945Z,1638622741.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:02.715Z,1638622742.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:03.123Z,1638622743.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:03.594Z,1638622743.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.840012 m, bearing: 206.433110 deg, deltaT: 15.785981 s, deltaX: 11.700012 m, approachRate: 0.741165 m/s, LOS rate: -0.481228 deg/s, posRepo size: 4
2021-12-04T12:59:03.612Z,1638622743.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.840012 m,
      bearing: 206.433110 deg,
      approachRate: 0.741165 m/s,
      LOS rate: -0.481228 deg/s,
      cmd update: -1.443684 deg/s,
      cmd heading: 191.102272 deg,
      new cmd heading: 190.295670 deg.

2021-12-04T12:59:03.964Z,1638622743.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125903.27*57

2021-12-04T12:59:03.965Z,1638622743.965 [Micromodem](INFO): Nmea in: $CAREV,125904,AUV,2.1.4000*21

2021-12-04T12:59:04.360Z,1638622744.360 [Micromodem](INFO): Nmea in: $CAREV,125904,COPROC,0.20.0.39330*70

2021-12-04T12:59:06.399Z,1638622746.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:07.162Z,1638622747.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:07.559Z,1638622747.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:07.978Z,1638622747.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.259995 m, bearing: 182.341489 deg, deltaT: 4.384243 s, deltaX: 3.419983 m, approachRate: 0.780062 m/s, LOS rate: -5.495047 deg/s, posRepo size: 4
2021-12-04T12:59:07.980Z,1638622747.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.259995 m,
      bearing: 182.341489 deg,
      approachRate: 0.780062 m/s,
      LOS rate: -5.495047 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 184.598696 deg,
      new cmd heading: 184.139853 deg.

2021-12-04T12:59:08.418Z,1638622748.418 [Micromodem](INFO): Nmea in: $SNTTA,0.094793,,,,125907.72*4D

2021-12-04T12:59:08.420Z,1638622748.420 [Micromodem](INFO): Nmea in: $CAREV,125908,AUV,2.1.4000*2D

2021-12-04T12:59:08.804Z,1638622748.804 [Micromodem](INFO): Nmea in: $CAREV,125908,COPROC,0.20.0.39330*7C

2021-12-04T12:59:10.816Z,1638622750.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:11.597Z,1638622751.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:12.019Z,1638622752.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:12.498Z,1638622752.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.620010 m, bearing: 193.911379 deg, deltaT: 4.510303 s, deltaX: 3.360016 m, approachRate: 0.744965 m/s, LOS rate: 2.565213 deg/s, posRepo size: 4
2021-12-04T12:59:12.502Z,1638622752.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.620010 m,
      bearing: 193.911379 deg,
      approachRate: 0.744965 m/s,
      LOS rate: 2.565213 deg/s,
      cmd update: 7.695640 deg/s,
      cmd heading: 131.722134 deg,
      new cmd heading: 126.550818 deg.

2021-12-04T12:59:12.848Z,1638622752.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125912.15*56

2021-12-04T12:59:12.849Z,1638622752.849 [Micromodem](INFO): Nmea in: $CAREV,125913,AUV,2.1.4000*27

2021-12-04T12:59:13.228Z,1638622753.228 [Micromodem](INFO): Nmea in: $CAREV,125913,COPROC,0.20.0.39330*76

2021-12-04T12:59:15.276Z,1638622755.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:16.057Z,1638622756.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:16.451Z,1638622756.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:16.901Z,1638622756.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 120.225427 deg, deltaT: 4.412417 s, deltaX: 2.940002 m, approachRate: 0.666302 m/s, LOS rate: -16.699679 deg/s, posRepo size: 4
2021-12-04T12:59:16.902Z,1638622756.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.699679 deg/s. Setting heading cmd to target bearing of 120.225427deg and heading rate command to 0 deg/s.
2021-12-04T12:59:17.280Z,1638622757.280 [Micromodem](INFO): Nmea in: $SNTTA,0.109758,,,,125916.61*4D

2021-12-04T12:59:17.283Z,1638622757.283 [Micromodem](INFO): Nmea in: $CAREV,125917,AUV,2.1.4000*23

2021-12-04T12:59:17.672Z,1638622757.672 [Micromodem](INFO): Nmea in: $CAREV,125917,COPROC,0.20.0.39330*72

2021-12-04T12:59:19.725Z,1638622759.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:20.490Z,1638622760.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:20.900Z,1638622760.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:21.432Z,1638622761.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.139999 m, bearing: 119.315509 deg, deltaT: 4.520006 s, deltaX: 2.579987 m, approachRate: 0.570793 m/s, LOS rate: -0.201309 deg/s, posRepo size: 4
2021-12-04T12:59:21.438Z,1638622761.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.139999 m,
      bearing: 119.315509 deg,
      approachRate: 0.570793 m/s,
      LOS rate: -0.201309 deg/s,
      cmd update: -0.603927 deg/s,
      cmd heading: 120.225427 deg,
      new cmd heading: 120.225427 deg.

2021-12-04T12:59:21.744Z,1638622761.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125921.04*56

2021-12-04T12:59:21.745Z,1638622761.745 [Micromodem](INFO): Nmea in: $CAREV,125922,AUV,2.1.4000*25

2021-12-04T12:59:22.108Z,1638622762.108 [Micromodem](INFO): Nmea in: $CAREV,125922,COPROC,0.20.0.39330*74

2021-12-04T12:59:24.145Z,1638622764.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:24.933Z,1638622764.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:25.398Z,1638622765.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:25.785Z,1638622765.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.539993 m, bearing: 92.899493 deg, deltaT: 4.359901 s, deltaX: 2.399994 m, approachRate: 0.550470 m/s, LOS rate: -6.058857 deg/s, posRepo size: 4
2021-12-04T12:59:25.791Z,1638622765.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.539993 m,
      bearing: 92.899493 deg,
      approachRate: 0.550470 m/s,
      LOS rate: -6.058857 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 117.493887 deg,
      new cmd heading: 117.301112 deg.

2021-12-04T12:59:26.184Z,1638622766.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125925.49*5B

2021-12-04T12:59:26.185Z,1638622766.185 [Micromodem](INFO): Nmea in: $CAREV,125926,AUV,2.1.4000*21

2021-12-04T12:59:26.560Z,1638622766.560 [Micromodem](INFO): Nmea in: $CAREV,125926,COPROC,0.20.0.39330*70

2021-12-04T12:59:28.595Z,1638622768.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:29.392Z,1638622769.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:29.789Z,1638622769.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:30.228Z,1638622770.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.539993 m, bearing: 105.618528 deg, deltaT: 4.442713 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 2.862898 deg/s, posRepo size: 4
2021-12-04T12:59:30.229Z,1638622770.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.539993 m,
      bearing: 105.618528 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.862898 deg/s,
      cmd update: 8.588695 deg/s,
      cmd heading: 65.210654 deg,
      new cmd heading: 60.400982 deg.

2021-12-04T12:59:30.616Z,1638622770.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125929.95*56

2021-12-04T12:59:30.617Z,1638622770.617 [Micromodem](INFO): Nmea in: $CAREV,125931,AUV,2.1.4000*27

2021-12-04T12:59:30.996Z,1638622770.996 [Micromodem](INFO): Nmea in: $CAREV,125931,COPROC,0.20.0.39330*76

2021-12-04T12:59:33.033Z,1638622773.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:33.865Z,1638622773.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:34.223Z,1638622774.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:34.696Z,1638622774.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.539993 m, bearing: 80.798044 deg, deltaT: 4.451125 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -5.576227 deg/s, posRepo size: 4
2021-12-04T12:59:34.697Z,1638622774.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.539993 m,
      bearing: 80.798044 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.576227 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.275122 deg,
      new cmd heading: 106.889941 deg.

2021-12-04T12:59:35.054Z,1638622775.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125934.42*50

2021-12-04T12:59:35.056Z,1638622775.056 [Micromodem](INFO): Nmea in: $CAREV,125935,AUV,2.1.4000*23

2021-12-04T12:59:35.464Z,1638622775.464 [Micromodem](INFO): Nmea in: $CAREV,125935,COPROC,0.20.0.39330*72

2021-12-04T12:59:37.525Z,1638622777.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:38.261Z,1638622778.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:38.675Z,1638622778.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:39.114Z,1638622779.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.779999 m, bearing: 77.913559 deg, deltaT: 4.439305 s, deltaX: 3.240005 m, approachRate: 0.729845 m/s, LOS rate: -0.649760 deg/s, posRepo size: 4
2021-12-04T12:59:39.116Z,1638622779.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.779999 m,
      bearing: 77.913559 deg,
      approachRate: 0.729845 m/s,
      LOS rate: -0.649760 deg/s,
      cmd update: -1.949281 deg/s,
      cmd heading: 49.584949 deg,
      new cmd heading: 44.960340 deg.

2021-12-04T12:59:39.512Z,1638622779.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125938.81*53

2021-12-04T12:59:39.513Z,1638622779.513 [Micromodem](INFO): Nmea in: $CAREV,125939,AUV,2.1.4000*2F

2021-12-04T12:59:39.892Z,1638622779.892 [Micromodem](INFO): Nmea in: $CAREV,125939,COPROC,0.20.0.39330*7E

2021-12-04T12:59:41.925Z,1638622781.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:42.713Z,1638622782.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:43.121Z,1638622783.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:43.616Z,1638622783.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.419998 m, bearing: 23.214819 deg, deltaT: 4.497868 s, deltaX: -0.360001 m, approachRate: -0.080038 m/s, LOS rate: -12.161037 deg/s, posRepo size: 4
2021-12-04T12:59:43.617Z,1638622783.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.161037 deg/s. Setting heading cmd to target bearing of 23.214819deg and heading rate command to 0 deg/s.
2021-12-04T12:59:43.961Z,1638622783.961 [Micromodem](INFO): Nmea in: $SNTTA,0.107855,,,,125943.27*43

2021-12-04T12:59:43.963Z,1638622783.963 [Micromodem](INFO): Nmea in: $CAREV,125944,AUV,2.1.4000*25

2021-12-04T12:59:44.344Z,1638622784.344 [Micromodem](INFO): Nmea in: $CAREV,125944,COPROC,0.20.0.39330*74

2021-12-04T12:59:46.405Z,1638622786.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:47.145Z,1638622787.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:47.571Z,1638622787.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:47.995Z,1638622787.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.279999 m, bearing: 20.401498 deg, deltaT: 4.382094 s, deltaX: -1.139999 m, approachRate: -0.260149 m/s, LOS rate: -0.642004 deg/s, posRepo size: 4
2021-12-04T12:59:47.997Z,1638622787.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.279999 m,
      bearing: 20.401498 deg,
      approachRate: -0.260149 m/s,
      LOS rate: -0.642004 deg/s,
      cmd update: -1.926011 deg/s,
      cmd heading: 23.214819 deg,
      new cmd heading: 23.214819 deg.

2021-12-04T12:59:48.460Z,1638622788.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125947.70*55

2021-12-04T12:59:48.461Z,1638622788.461 [Micromodem](INFO): Nmea in: $CAREV,125948,AUV,2.1.4000*29

2021-12-04T12:59:48.795Z,1638622788.795 [Micromodem](INFO): Nmea in: $CAREV,125948,COPROC,0.20.0.39330*78

2021-12-04T12:59:50.811Z,1638622790.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:51.607Z,1638622791.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:51.999Z,1638622791.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:52.471Z,1638622792.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.120010 m, bearing: 14.074124 deg, deltaT: 4.477357 s, deltaX: -2.159988 m, approachRate: -0.482425 m/s, LOS rate: -1.413194 deg/s, posRepo size: 4
2021-12-04T12:59:52.473Z,1638622792.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.120010 m,
      bearing: 14.074124 deg,
      approachRate: -0.482425 m/s,
      LOS rate: -1.413194 deg/s,
      cmd update: -4.239582 deg/s,
      cmd heading: 14.750508 deg,
      new cmd heading: 13.914193 deg.

2021-12-04T12:59:52.836Z,1638622792.836 [Micromodem](INFO): Nmea in: $SNTTA,0.111468,,,,125952.16*44

2021-12-04T12:59:52.837Z,1638622792.837 [Micromodem](INFO): Nmea in: $CAREV,125953,AUV,2.1.4000*23

2021-12-04T12:59:53.235Z,1638622793.235 [Micromodem](INFO): Nmea in: $CAREV,125953,COPROC,0.20.0.39330*72

2021-12-04T12:59:55.240Z,1638622795.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T12:59:56.041Z,1638622796.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T12:59:56.460Z,1638622796.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T12:59:56.884Z,1638622796.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.540009 m, bearing: 13.882597 deg, deltaT: 4.413263 s, deltaX: -2.580002 m, approachRate: -0.584602 m/s, LOS rate: -0.043398 deg/s, posRepo size: 4
2021-12-04T12:59:56.887Z,1638622796.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.540009 m,
      bearing: 13.882597 deg,
      approachRate: -0.584602 m/s,
      LOS rate: -0.043398 deg/s,
      cmd update: -0.130194 deg/s,
      cmd heading: 355.775741 deg,
      new cmd heading: 354.198307 deg.

2021-12-04T12:59:57.304Z,1638622797.304 [Micromodem](INFO): Nmea in: $SNTTA,0.129671,,,,125956.60*40

2021-12-04T12:59:57.312Z,1638622797.312 [Micromodem](INFO): Nmea in: $CAREV,125957,AUV,2.1.4000*27

2021-12-04T12:59:57.668Z,1638622797.668 [Micromodem](INFO): Nmea in: $CAREV,125957,COPROC,0.20.0.39330*76

2021-12-04T12:59:59.739Z,1638622799.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:00.485Z,1638622800.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:00.891Z,1638622800.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:01.402Z,1638622801.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.959991 m, bearing: 14.914524 deg, deltaT: 4.511904 s, deltaX: -2.580017 m, approachRate: -0.571824 m/s, LOS rate: 0.228712 deg/s, posRepo size: 4
2021-12-04T13:00:01.408Z,1638622801.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 14.914524 deg,
      approachRate: -0.571824 m/s,
      LOS rate: 0.228712 deg/s,
      cmd update: 0.686136 deg/s,
      cmd heading: 355.199965 deg,
      new cmd heading: 355.139186 deg.

2021-12-04T13:00:01.720Z,1638622801.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130001.04*59

2021-12-04T13:00:01.721Z,1638622801.721 [Micromodem](INFO): Nmea in: $CAREV,130002,AUV,2.1.4000*2A

2021-12-04T13:00:02.108Z,1638622802.108 [Micromodem](INFO): Nmea in: $CAREV,130002,COPROC,0.20.0.39330*7B

2021-12-04T13:00:04.132Z,1638622804.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:04.921Z,1638622804.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:05.384Z,1638622805.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:06.027Z,1638622806.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.380005 m, bearing: 11.627145 deg, deltaT: 4.630520 s, deltaX: -2.579987 m, approachRate: -0.557170 m/s, LOS rate: -0.709937 deg/s, posRepo size: 4
2021-12-04T13:00:06.029Z,1638622806.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.380005 m,
      bearing: 11.627145 deg,
      approachRate: -0.557170 m/s,
      LOS rate: -0.709937 deg/s,
      cmd update: -2.129812 deg/s,
      cmd heading: 358.310104 deg,
      new cmd heading: 358.693648 deg.

2021-12-04T13:00:06.188Z,1638622806.188 [Micromodem](INFO): Nmea in: $SNTTA,0.096946,,,,130005.47*40

2021-12-04T13:00:06.191Z,1638622806.191 [Micromodem](INFO): Nmea in: $CAREV,130006,AUV,2.1.4000*2E

2021-12-04T13:00:06.588Z,1638622806.588 [Micromodem](INFO): Nmea in: $CAREV,130006,COPROC,0.20.0.39330*7F

2021-12-04T13:00:08.632Z,1638622808.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:09.433Z,1638622809.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:09.811Z,1638622809.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:10.244Z,1638622810.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.619995 m, bearing: 11.808250 deg, deltaT: 4.217007 s, deltaX: -2.760010 m, approachRate: -0.654495 m/s, LOS rate: 0.042946 deg/s, posRepo size: 4
2021-12-04T13:00:10.246Z,1638622810.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.619995 m,
      bearing: 11.808250 deg,
      approachRate: -0.654495 m/s,
      LOS rate: 0.042946 deg/s,
      cmd update: 0.128839 deg/s,
      cmd heading: 348.950269 deg,
      new cmd heading: 348.138112 deg.

2021-12-04T13:00:10.648Z,1638622810.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130009.99*55

2021-12-04T13:00:10.649Z,1638622810.649 [Micromodem](INFO): Nmea in: $CAREV,130011,AUV,2.1.4000*28

2021-12-04T13:00:11.036Z,1638622811.036 [Micromodem](INFO): Nmea in: $CAREV,130011,COPROC,0.20.0.39330*79

2021-12-04T13:00:13.057Z,1638622813.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:13.881Z,1638622813.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:14.259Z,1638622814.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:14.701Z,1638622814.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.639999 m, bearing: 10.774890 deg, deltaT: 4.456501 s, deltaX: -1.979996 m, approachRate: -0.444294 m/s, LOS rate: -0.231877 deg/s, posRepo size: 4
2021-12-04T13:00:14.707Z,1638622814.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.639999 m,
      bearing: 10.774890 deg,
      approachRate: -0.444294 m/s,
      LOS rate: -0.231877 deg/s,
      cmd update: -0.695631 deg/s,
      cmd heading: 349.523469 deg,
      new cmd heading: 349.573605 deg.

2021-12-04T13:00:15.081Z,1638622815.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130014.44*59

2021-12-04T13:00:15.083Z,1638622815.083 [Micromodem](INFO): Nmea in: $CAREV,130015,AUV,2.1.4000*2C

2021-12-04T13:00:15.472Z,1638622815.472 [Micromodem](INFO): Nmea in: $CAREV,130015,COPROC,0.20.0.39330*7D

2021-12-04T13:00:17.548Z,1638622817.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:18.311Z,1638622818.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:18.711Z,1638622818.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:19.160Z,1638622819.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.119995 m, bearing: 13.407310 deg, deltaT: 4.454758 s, deltaX: -2.520004 m, approachRate: -0.565688 m/s, LOS rate: 0.590923 deg/s, posRepo size: 4
2021-12-04T13:00:19.162Z,1638622819.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.119995 m,
      bearing: 13.407310 deg,
      approachRate: -0.565688 m/s,
      LOS rate: 0.590923 deg/s,
      cmd update: 1.772770 deg/s,
      cmd heading: 346.432373 deg,
      new cmd heading: 346.154071 deg.

2021-12-04T13:00:19.536Z,1638622819.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130018.86*5B

2021-12-04T13:00:19.537Z,1638622819.537 [Micromodem](INFO): Nmea in: $CAREV,130019,AUV,2.1.4000*20

2021-12-04T13:00:19.932Z,1638622819.932 [Micromodem](INFO): Nmea in: $CAREV,130019,COPROC,0.20.0.39330*71

2021-12-04T13:00:21.952Z,1638622821.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:22.752Z,1638622822.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:23.148Z,1638622823.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:23.621Z,1638622823.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 13.222543 deg, deltaT: 4.465649 s, deltaX: -2.219986 m, approachRate: -0.497125 m/s, LOS rate: -0.041375 deg/s, posRepo size: 4
2021-12-04T13:00:23.623Z,1638622823.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.900009 m,
      bearing: 13.222543 deg,
      approachRate: -0.497125 m/s,
      LOS rate: -0.041375 deg/s,
      cmd update: -0.124125 deg/s,
      cmd heading: 354.289044 deg,
      new cmd heading: 355.058536 deg.

2021-12-04T13:00:26.420Z,1638622826.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:27.193Z,1638622827.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:27.595Z,1638622827.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:28.031Z,1638622828.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.500000 m, bearing: 15.278361 deg, deltaT: 4.410071 s, deltaX: -2.400009 m, approachRate: -0.544211 m/s, LOS rate: 0.466165 deg/s, posRepo size: 4
2021-12-04T13:00:28.033Z,1638622828.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 15.278361 deg,
      approachRate: -0.544211 m/s,
      LOS rate: 0.466165 deg/s,
      cmd update: 1.398494 deg/s,
      cmd heading: 353.731989 deg,
      new cmd heading: 353.687789 deg.

2021-12-04T13:00:28.448Z,1638622828.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130027.75*5B

2021-12-04T13:00:28.449Z,1638622828.449 [Micromodem](INFO): Nmea in: $CAREV,130028,AUV,2.1.4000*22

2021-12-04T13:00:28.816Z,1638622828.816 [Micromodem](INFO): Nmea in: $CAREV,130028,COPROC,0.20.0.39330*73

2021-12-04T13:00:30.852Z,1638622830.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:31.629Z,1638622831.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:32.035Z,1638622832.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:32.488Z,1638622832.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 15.294494 deg, deltaT: 4.457066 s, deltaX: -2.519997 m, approachRate: -0.565394 m/s, LOS rate: 0.003620 deg/s, posRepo size: 4
2021-12-04T13:00:32.490Z,1638622832.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 15.294494 deg,
      approachRate: -0.565394 m/s,
      LOS rate: 0.003620 deg/s,
      cmd update: 0.010859 deg/s,
      cmd heading: 359.890911 deg,
      new cmd heading: 0.463127 deg.

2021-12-04T13:00:32.868Z,1638622832.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130032.18*54

2021-12-04T13:00:32.869Z,1638622832.869 [Micromodem](INFO): Nmea in: $CAREV,130033,AUV,2.1.4000*28

2021-12-04T13:00:33.269Z,1638622833.269 [Micromodem](INFO): Nmea in: $CAREV,130033,COPROC,0.20.0.39330*79

2021-12-04T13:00:35.342Z,1638622835.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:36.081Z,1638622836.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:36.483Z,1638622836.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:36.903Z,1638622836.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.459999 m, bearing: 16.411145 deg, deltaT: 4.415128 s, deltaX: -2.520004 m, approachRate: -0.570766 m/s, LOS rate: 0.252915 deg/s, posRepo size: 4
2021-12-04T13:00:36.905Z,1638622836.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.459999 m,
      bearing: 16.411145 deg,
      approachRate: -0.570766 m/s,
      LOS rate: 0.252915 deg/s,
      cmd update: 0.758744 deg/s,
      cmd heading: 359.939243 deg,
      new cmd heading: 359.943298 deg.

2021-12-04T13:00:37.344Z,1638622837.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130036.64*5B

2021-12-04T13:00:37.345Z,1638622837.345 [Micromodem](INFO): Nmea in: $CAREV,130037,AUV,2.1.4000*2C

2021-12-04T13:00:37.696Z,1638622837.696 [Micromodem](INFO): Nmea in: $CAREV,130037,COPROC,0.20.0.39330*7D

2021-12-04T13:00:39.417Z,1638622839.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:40.121Z,1638622840.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:40.523Z,1638622840.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:40.957Z,1638622840.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 17.069678 deg, deltaT: 4.053706 s, deltaX: -2.519997 m, approachRate: -0.621653 m/s, LOS rate: 0.162452 deg/s, posRepo size: 4
2021-12-04T13:00:40.959Z,1638622840.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 17.069678 deg,
      approachRate: -0.621653 m/s,
      LOS rate: 0.162452 deg/s,
      cmd update: 0.487356 deg/s,
      cmd heading: 2.999327 deg,
      new cmd heading: 3.298425 deg.

2021-12-04T13:00:41.392Z,1638622841.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130040.67*59

2021-12-04T13:00:41.393Z,1638622841.393 [Micromodem](INFO): Nmea in: $CAREV,130041,AUV,2.1.4000*2D

2021-12-04T13:00:41.736Z,1638622841.736 [Micromodem](INFO): Nmea in: $CAREV,130041,COPROC,0.20.0.39330*7C

2021-12-04T13:00:43.772Z,1638622843.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:44.561Z,1638622844.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:44.959Z,1638622844.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:45.483Z,1638622845.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.360008 m, bearing: 16.686565 deg, deltaT: 4.522800 s, deltaX: -2.579994 m, approachRate: -0.570442 m/s, LOS rate: -0.084707 deg/s, posRepo size: 4
2021-12-04T13:00:45.485Z,1638622845.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.360008 m,
      bearing: 16.686565 deg,
      approachRate: -0.570442 m/s,
      LOS rate: -0.084707 deg/s,
      cmd update: -0.254121 deg/s,
      cmd heading: 5.161771 deg,
      new cmd heading: 5.397097 deg.

2021-12-04T13:00:45.796Z,1638622845.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130045.11*5D

2021-12-04T13:00:45.797Z,1638622845.797 [Micromodem](INFO): Nmea in: $CAREV,130046,AUV,2.1.4000*2A

2021-12-04T13:00:46.195Z,1638622846.195 [Micromodem](INFO): Nmea in: $CAREV,130046,COPROC,0.20.0.39330*7B

2021-12-04T13:00:48.201Z,1638622848.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:49.005Z,1638622849.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:49.435Z,1638622849.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:49.856Z,1638622849.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.540001 m, bearing: 18.140115 deg, deltaT: 4.376634 s, deltaX: -2.820007 m, approachRate: -0.644332 m/s, LOS rate: 0.332116 deg/s, posRepo size: 4
2021-12-04T13:00:49.858Z,1638622849.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.540001 m,
      bearing: 18.140115 deg,
      approachRate: -0.644332 m/s,
      LOS rate: 0.332116 deg/s,
      cmd update: 0.996348 deg/s,
      cmd heading: 4.017309 deg,
      new cmd heading: 3.927611 deg.

2021-12-04T13:00:50.252Z,1638622850.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130049.56*52

2021-12-04T13:00:50.253Z,1638622850.253 [Micromodem](INFO): Nmea in: $CAREV,130050,AUV,2.1.4000*2D

2021-12-04T13:00:50.632Z,1638622850.632 [Micromodem](INFO): Nmea in: $CAREV,130050,COPROC,0.20.0.39330*7C

2021-12-04T13:00:52.677Z,1638622852.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:53.459Z,1638622853.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:53.877Z,1638622853.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:54.301Z,1638622854.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.960007 m, bearing: 18.643497 deg, deltaT: 4.444223 s, deltaX: -2.579994 m, approachRate: -0.580528 m/s, LOS rate: 0.113266 deg/s, posRepo size: 4
2021-12-04T13:00:54.303Z,1638622854.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 18.643497 deg,
      approachRate: -0.580528 m/s,
      LOS rate: 0.113266 deg/s,
      cmd update: 0.339799 deg/s,
      cmd heading: 8.405568 deg,
      new cmd heading: 8.796957 deg.

2021-12-04T13:00:54.684Z,1638622854.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130054.01*5C

2021-12-04T13:00:54.685Z,1638622854.685 [Micromodem](INFO): Nmea in: $CAREV,130055,AUV,2.1.4000*28

2021-12-04T13:00:55.080Z,1638622855.080 [Micromodem](INFO): Nmea in: $CAREV,130055,COPROC,0.20.0.39330*79

2021-12-04T13:00:57.115Z,1638622857.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:00:57.885Z,1638622857.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:00:58.312Z,1638622858.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:00:58.753Z,1638622858.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.140007 m, bearing: 18.582428 deg, deltaT: 4.448865 s, deltaX: -2.820000 m, approachRate: -0.633869 m/s, LOS rate: -0.013727 deg/s, posRepo size: 4
2021-12-04T13:00:58.759Z,1638622858.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.140007 m,
      bearing: 18.582428 deg,
      approachRate: -0.633869 m/s,
      LOS rate: -0.013727 deg/s,
      cmd update: -0.041180 deg/s,
      cmd heading: 9.929705 deg,
      new cmd heading: 10.052136 deg.

2021-12-04T13:00:59.139Z,1638622859.139 [Micromodem](INFO): Nmea in: $SNTTA,0.115381,,,,130058.44*40

2021-12-04T13:00:59.141Z,1638622859.141 [Micromodem](INFO): Nmea in: $CAREV,130059,AUV,2.1.4000*24

2021-12-04T13:00:59.516Z,1638622859.516 [Micromodem](INFO): Nmea in: $CAREV,130059,COPROC,0.20.0.39330*75

2021-12-04T13:01:01.611Z,1638622861.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:02.334Z,1638622862.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:02.743Z,1638622862.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:03.176Z,1638622863.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.440010 m, bearing: 18.255530 deg, deltaT: 4.422927 s, deltaX: -2.699997 m, approachRate: -0.610455 m/s, LOS rate: -0.073910 deg/s, posRepo size: 4
2021-12-04T13:01:03.179Z,1638622863.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.440010 m,
      bearing: 18.255530 deg,
      approachRate: -0.610455 m/s,
      LOS rate: -0.073910 deg/s,
      cmd update: -0.221730 deg/s,
      cmd heading: 9.749095 deg,
      new cmd heading: 9.732837 deg.

2021-12-04T13:01:03.568Z,1638622863.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130102.89*5E

2021-12-04T13:01:03.569Z,1638622863.569 [Micromodem](INFO): Nmea in: $CAREV,130103,AUV,2.1.4000*2A

2021-12-04T13:01:03.960Z,1638622863.960 [Micromodem](INFO): Nmea in: $CAREV,130103,COPROC,0.20.0.39330*7B

2021-12-04T13:01:05.989Z,1638622865.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:06.783Z,1638622866.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:07.183Z,1638622867.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:07.662Z,1638622867.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 23.333034 deg, deltaT: 4.485502 s, deltaX: -2.760010 m, approachRate: -0.615318 m/s, LOS rate: 1.131981 deg/s, posRepo size: 4
2021-12-04T13:01:07.668Z,1638622867.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.680000 m,
      bearing: 23.333034 deg,
      approachRate: -0.615318 m/s,
      LOS rate: 1.131981 deg/s,
      cmd update: 3.395944 deg/s,
      cmd heading: 8.764046 deg,
      new cmd heading: 8.666401 deg.

2021-12-04T13:01:08.024Z,1638622868.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130107.34*5D

2021-12-04T13:01:08.025Z,1638622868.025 [Micromodem](INFO): Nmea in: $CAREV,130108,AUV,2.1.4000*21

2021-12-04T13:01:08.436Z,1638622868.436 [Micromodem](INFO): Nmea in: $CAREV,130108,COPROC,0.20.0.39330*70

2021-12-04T13:01:10.472Z,1638622870.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:11.221Z,1638622871.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:11.624Z,1638622871.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:12.058Z,1638622872.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.440002 m, bearing: 19.541181 deg, deltaT: 4.399746 s, deltaX: -3.239998 m, approachRate: -0.736406 m/s, LOS rate: -0.861834 deg/s, posRepo size: 4
2021-12-04T13:01:12.060Z,1638622872.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.440002 m,
      bearing: 19.541181 deg,
      approachRate: -0.736406 m/s,
      LOS rate: -0.861834 deg/s,
      cmd update: -2.585503 deg/s,
      cmd heading: 23.956213 deg,
      new cmd heading: 25.187045 deg.

2021-12-04T13:01:12.476Z,1638622872.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130111.78*52

2021-12-04T13:01:12.477Z,1638622872.477 [Micromodem](INFO): Nmea in: $CAREV,130112,AUV,2.1.4000*2A

2021-12-04T13:01:12.844Z,1638622872.844 [Micromodem](INFO): Nmea in: $CAREV,130112,COPROC,0.20.0.39330*7B

2021-12-04T13:01:14.870Z,1638622874.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:15.669Z,1638622875.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:16.100Z,1638622876.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:16.533Z,1638622876.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.860001 m, bearing: 21.717544 deg, deltaT: 4.471362 s, deltaX: -2.580002 m, approachRate: -0.577006 m/s, LOS rate: 0.486734 deg/s, posRepo size: 4
2021-12-04T13:01:16.539Z,1638622876.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.860001 m,
      bearing: 21.717544 deg,
      approachRate: -0.577006 m/s,
      LOS rate: 0.486734 deg/s,
      cmd update: 1.460201 deg/s,
      cmd heading: 12.488843 deg,
      new cmd heading: 11.448106 deg.

2021-12-04T13:01:16.916Z,1638622876.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130116.22*5A

2021-12-04T13:01:16.917Z,1638622876.917 [Micromodem](INFO): Nmea in: $CAREV,130117,AUV,2.1.4000*2F

2021-12-04T13:01:17.330Z,1638622877.330 [Micromodem](INFO): Nmea in: $CAREV,130117,COPROC,0.20.0.39330*7E

2021-12-04T13:01:19.424Z,1638622879.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:20.121Z,1638622880.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:20.540Z,1638622880.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:20.975Z,1638622880.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.739998 m, bearing: 21.110318 deg, deltaT: 4.445211 s, deltaX: -3.120003 m, approachRate: -0.701880 m/s, LOS rate: -0.136602 deg/s, posRepo size: 4
2021-12-04T13:01:20.977Z,1638622880.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.739998 m,
      bearing: 21.110318 deg,
      approachRate: -0.701880 m/s,
      LOS rate: -0.136602 deg/s,
      cmd update: -0.409807 deg/s,
      cmd heading: 18.983946 deg,
      new cmd heading: 19.562229 deg.

2021-12-04T13:01:21.400Z,1638622881.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130120.67*5E

2021-12-04T13:01:21.401Z,1638622881.401 [Micromodem](INFO): Nmea in: $CAREV,130121,AUV,2.1.4000*2A

2021-12-04T13:01:21.748Z,1638622881.748 [Micromodem](INFO): Nmea in: $CAREV,130121,COPROC,0.20.0.39330*7B

2021-12-04T13:01:23.784Z,1638622883.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:24.565Z,1638622884.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:24.975Z,1638622884.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:25.468Z,1638622885.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 20.639756 deg, deltaT: 4.494101 s, deltaX: -2.939995 m, approachRate: -0.654190 m/s, LOS rate: -0.104707 deg/s, posRepo size: 4
2021-12-04T13:01:25.470Z,1638622885.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 20.639756 deg,
      approachRate: -0.654190 m/s,
      LOS rate: -0.104707 deg/s,
      cmd update: -0.314120 deg/s,
      cmd heading: 17.167607 deg,
      new cmd heading: 16.980083 deg.

2021-12-04T13:01:25.819Z,1638622885.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130125.12*59

2021-12-04T13:01:25.820Z,1638622885.820 [Micromodem](INFO): Nmea in: $CAREV,130126,AUV,2.1.4000*2D

2021-12-04T13:01:26.200Z,1638622886.200 [Micromodem](INFO): Nmea in: $CAREV,130126,COPROC,0.20.0.39330*7C

2021-12-04T13:01:28.229Z,1638622888.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:29.025Z,1638622889.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:29.435Z,1638622889.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:29.854Z,1638622889.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 21.713965 deg, deltaT: 4.385968 s, deltaX: -2.760002 m, approachRate: -0.629280 m/s, LOS rate: 0.244920 deg/s, posRepo size: 4
2021-12-04T13:01:29.856Z,1638622889.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.040001 m,
      bearing: 21.713965 deg,
      approachRate: -0.629280 m/s,
      LOS rate: 0.244920 deg/s,
      cmd update: 0.734759 deg/s,
      cmd heading: 15.756996 deg,
      new cmd heading: 15.646139 deg.

2021-12-04T13:01:30.264Z,1638622890.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130129.58*5B

2021-12-04T13:01:30.265Z,1638622890.265 [Micromodem](INFO): Nmea in: $CAREV,130130,AUV,2.1.4000*2A

2021-12-04T13:01:30.652Z,1638622890.652 [Micromodem](INFO): Nmea in: $CAREV,130130,COPROC,0.20.0.39330*7B

2021-12-04T13:01:32.685Z,1638622892.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:33.477Z,1638622893.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:33.907Z,1638622893.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:34.304Z,1638622894.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 21.246538 deg, deltaT: 4.449305 s, deltaX: -2.879997 m, approachRate: -0.647291 m/s, LOS rate: -0.105056 deg/s, posRepo size: 4
2021-12-04T13:01:34.305Z,1638622894.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.160004 m,
      bearing: 21.246538 deg,
      approachRate: -0.647291 m/s,
      LOS rate: -0.105056 deg/s,
      cmd update: -0.315169 deg/s,
      cmd heading: 19.017306 deg,
      new cmd heading: 19.285270 deg.

2021-12-04T13:01:34.700Z,1638622894.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130134.03*59

2021-12-04T13:01:34.701Z,1638622894.701 [Micromodem](INFO): Nmea in: $CAREV,130135,AUV,2.1.4000*2F

2021-12-04T13:01:35.100Z,1638622895.100 [Micromodem](INFO): Nmea in: $CAREV,130135,COPROC,0.20.0.39330*7E

2021-12-04T13:01:37.120Z,1638622897.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:37.909Z,1638622897.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:38.317Z,1638622898.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:38.760Z,1638622898.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.340004 m, bearing: 22.368893 deg, deltaT: 4.456276 s, deltaX: -2.820000 m, approachRate: -0.632815 m/s, LOS rate: 0.251860 deg/s, posRepo size: 4
2021-12-04T13:01:38.762Z,1638622898.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 22.368893 deg,
      approachRate: -0.632815 m/s,
      LOS rate: 0.251860 deg/s,
      cmd update: 0.755579 deg/s,
      cmd heading: 17.613260 deg,
      new cmd heading: 17.497893 deg.

2021-12-04T13:01:39.156Z,1638622899.156 [Micromodem](INFO): Nmea in: $SNTTA,0.083245,,,,130138.46*42

2021-12-04T13:01:39.157Z,1638622899.157 [Micromodem](INFO): Nmea in: $CAREV,130139,AUV,2.1.4000*23

2021-12-04T13:01:39.544Z,1638622899.544 [Micromodem](INFO): Nmea in: $CAREV,130139,COPROC,0.20.0.39330*72

2021-12-04T13:01:41.598Z,1638622901.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:42.369Z,1638622902.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:42.767Z,1638622902.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:43.207Z,1638622903.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.519997 m, bearing: 23.139484 deg, deltaT: 4.438838 s, deltaX: -2.820007 m, approachRate: -0.635303 m/s, LOS rate: 0.173602 deg/s, posRepo size: 4
2021-12-04T13:01:43.209Z,1638622903.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.519997 m,
      bearing: 23.139484 deg,
      approachRate: -0.635303 m/s,
      LOS rate: 0.173602 deg/s,
      cmd update: 0.520806 deg/s,
      cmd heading: 20.951050 deg,
      new cmd heading: 21.247302 deg.

2021-12-04T13:01:43.584Z,1638622903.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130142.92*50

2021-12-04T13:01:43.585Z,1638622903.585 [Micromodem](INFO): Nmea in: $CAREV,130143,AUV,2.1.4000*2E

2021-12-04T13:01:43.988Z,1638622903.988 [Micromodem](INFO): Nmea in: $CAREV,130143,COPROC,0.20.0.39330*7F

2021-12-04T13:01:46.012Z,1638622906.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:46.793Z,1638622906.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:47.211Z,1638622907.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:47.663Z,1638622907.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 25.390369 deg, deltaT: 4.464481 s, deltaX: -2.879997 m, approachRate: -0.645091 m/s, LOS rate: 0.504176 deg/s, posRepo size: 4
2021-12-04T13:01:47.665Z,1638622907.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.639999 m,
      bearing: 25.390369 deg,
      approachRate: -0.645091 m/s,
      LOS rate: 0.504176 deg/s,
      cmd update: 1.512529 deg/s,
      cmd heading: 23.258959 deg,
      new cmd heading: 23.477937 deg.

2021-12-04T13:01:48.048Z,1638622908.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130147.35*58

2021-12-04T13:01:48.049Z,1638622908.049 [Micromodem](INFO): Nmea in: $CAREV,130148,AUV,2.1.4000*25

2021-12-04T13:01:48.464Z,1638622908.464 [Micromodem](INFO): Nmea in: $CAREV,130148,COPROC,0.20.0.39330*74

2021-12-04T13:01:50.464Z,1638622910.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:51.249Z,1638622911.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:51.655Z,1638622911.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:52.095Z,1638622912.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.280006 m, bearing: 24.307619 deg, deltaT: 4.427551 s, deltaX: -3.359993 m, approachRate: -0.758883 m/s, LOS rate: -0.244548 deg/s, posRepo size: 4
2021-12-04T13:01:52.097Z,1638622912.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.280006 m,
      bearing: 24.307619 deg,
      approachRate: -0.758883 m/s,
      LOS rate: -0.244548 deg/s,
      cmd update: -0.733645 deg/s,
      cmd heading: 30.040843 deg,
      new cmd heading: 30.592094 deg.

2021-12-04T13:01:52.487Z,1638622912.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130151.80*51

2021-12-04T13:01:52.489Z,1638622912.489 [Micromodem](INFO): Nmea in: $CAREV,130152,AUV,2.1.4000*2E

2021-12-04T13:01:52.877Z,1638622912.877 [Micromodem](INFO): Nmea in: $CAREV,130152,COPROC,0.20.0.39330*7F

2021-12-04T13:01:54.905Z,1638622914.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:01:55.693Z,1638622915.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:01:56.105Z,1638622916.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:01:56.541Z,1638622916.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 24.715801 deg, deltaT: 4.445972 s, deltaX: -2.699997 m, approachRate: -0.607291 m/s, LOS rate: 0.091809 deg/s, posRepo size: 4
2021-12-04T13:01:56.543Z,1638622916.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.580009 m,
      bearing: 24.715801 deg,
      approachRate: -0.607291 m/s,
      LOS rate: 0.091809 deg/s,
      cmd update: 0.275428 deg/s,
      cmd heading: 26.782451 deg,
      new cmd heading: 26.508635 deg.

2021-12-04T13:01:56.924Z,1638622916.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130156.25*59

2021-12-04T13:01:56.926Z,1638622916.926 [Micromodem](INFO): Nmea in: $CAREV,130157,AUV,2.1.4000*2B

2021-12-04T13:01:57.340Z,1638622917.340 [Micromodem](INFO): Nmea in: $CAREV,130157,COPROC,0.20.0.39330*7A

2021-12-04T13:01:59.452Z,1638622919.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:00.133Z,1638622920.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:00.544Z,1638622920.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:00.982Z,1638622920.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 25.279003 deg, deltaT: 4.441930 s, deltaX: -3.180008 m, approachRate: -0.715907 m/s, LOS rate: 0.126792 deg/s, posRepo size: 4
2021-12-04T13:02:00.985Z,1638622920.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.400002 m,
      bearing: 25.279003 deg,
      approachRate: -0.715907 m/s,
      LOS rate: 0.126792 deg/s,
      cmd update: 0.380377 deg/s,
      cmd heading: 28.003979 deg,
      new cmd heading: 28.108198 deg.

2021-12-04T13:02:01.440Z,1638622921.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130200.69*51

2021-12-04T13:02:01.441Z,1638622921.441 [Micromodem](INFO): Nmea in: $CAREV,130201,AUV,2.1.4000*2B

2021-12-04T13:02:01.764Z,1638622921.764 [Micromodem](INFO): Nmea in: $CAREV,130201,COPROC,0.20.0.39330*7A

2021-12-04T13:02:03.780Z,1638622923.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:04.577Z,1638622924.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:04.979Z,1638622924.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:05.475Z,1638622925.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 25.648259 deg, deltaT: 4.476069 s, deltaX: -2.999992 m, approachRate: -0.670229 m/s, LOS rate: 0.082495 deg/s, posRepo size: 4
2021-12-04T13:02:05.477Z,1638622925.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.400009 m,
      bearing: 25.648259 deg,
      approachRate: -0.670229 m/s,
      LOS rate: 0.082495 deg/s,
      cmd update: 0.247486 deg/s,
      cmd heading: 29.681366 deg,
      new cmd heading: 29.855649 deg.

2021-12-04T13:02:05.822Z,1638622925.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130205.13*59

2021-12-04T13:02:05.824Z,1638622925.824 [Micromodem](INFO): Nmea in: $CAREV,130206,AUV,2.1.4000*2C

2021-12-04T13:02:06.200Z,1638622926.200 [Micromodem](INFO): Nmea in: $CAREV,130206,COPROC,0.20.0.39330*7D

2021-12-04T13:02:08.228Z,1638622928.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:09.025Z,1638622929.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:09.437Z,1638622929.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:09.859Z,1638622929.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 25.369011 deg, deltaT: 4.404453 s, deltaX: -2.940002 m, approachRate: -0.667507 m/s, LOS rate: -0.063401 deg/s, posRepo size: 4
2021-12-04T13:02:09.861Z,1638622929.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.460007 m,
      bearing: 25.369011 deg,
      approachRate: -0.667507 m/s,
      LOS rate: -0.063401 deg/s,
      cmd update: -0.190203 deg/s,
      cmd heading: 30.793312 deg,
      new cmd heading: 30.880792 deg.

2021-12-04T13:02:10.252Z,1638622930.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130209.58*5A

2021-12-04T13:02:10.253Z,1638622930.253 [Micromodem](INFO): Nmea in: $CAREV,130210,AUV,2.1.4000*2B

2021-12-04T13:02:10.640Z,1638622930.640 [Micromodem](INFO): Nmea in: $CAREV,130210,COPROC,0.20.0.39330*7A

2021-12-04T13:02:12.675Z,1638622932.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:13.465Z,1638622933.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:13.872Z,1638622933.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:14.308Z,1638622934.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 25.009318 deg, deltaT: 4.444343 s, deltaX: -3.060001 m, approachRate: -0.688516 m/s, LOS rate: -0.080933 deg/s, posRepo size: 4
2021-12-04T13:02:14.309Z,1638622934.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 25.009318 deg,
      approachRate: -0.688516 m/s,
      LOS rate: -0.080933 deg/s,
      cmd update: -0.242798 deg/s,
      cmd heading: 29.956925 deg,
      new cmd heading: 29.880752 deg.

2021-12-04T13:02:14.711Z,1638622934.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130214.02*59

2021-12-04T13:02:14.712Z,1638622934.712 [Micromodem](INFO): Nmea in: $CAREV,130215,AUV,2.1.4000*2E

2021-12-04T13:02:15.092Z,1638622935.092 [Micromodem](INFO): Nmea in: $CAREV,130215,COPROC,0.20.0.39330*7F

2021-12-04T13:02:17.119Z,1638622937.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:17.905Z,1638622937.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:18.315Z,1638622938.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:18.756Z,1638622938.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 26.060730 deg, deltaT: 4.452919 s, deltaX: -2.700001 m, approachRate: -0.606344 m/s, LOS rate: 0.236117 deg/s, posRepo size: 4
2021-12-04T13:02:18.758Z,1638622938.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.700005 m,
      bearing: 26.060730 deg,
      approachRate: -0.606344 m/s,
      LOS rate: 0.236117 deg/s,
      cmd update: 0.708352 deg/s,
      cmd heading: 28.877733 deg,
      new cmd heading: 28.778469 deg.

2021-12-04T13:02:19.151Z,1638622939.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130218.46*55

2021-12-04T13:02:19.152Z,1638622939.152 [Micromodem](INFO): Nmea in: $CAREV,130219,AUV,2.1.4000*22

2021-12-04T13:02:19.532Z,1638622939.532 [Micromodem](INFO): Nmea in: $CAREV,130219,COPROC,0.20.0.39330*73

2021-12-04T13:02:21.589Z,1638622941.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:22.345Z,1638622942.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:22.755Z,1638622942.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:23.186Z,1638622943.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 23.863269 deg, deltaT: 4.429428 s, deltaX: -3.299999 m, approachRate: -0.745017 m/s, LOS rate: -0.496105 deg/s, posRepo size: 4
2021-12-04T13:02:23.188Z,1638622943.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.400005 m,
      bearing: 23.863269 deg,
      approachRate: -0.745017 m/s,
      LOS rate: -0.496105 deg/s,
      cmd update: -1.488315 deg/s,
      cmd heading: 32.027723 deg,
      new cmd heading: 32.304919 deg.

2021-12-04T13:02:23.588Z,1638622943.588 [Micromodem](INFO): Nmea in: $SNTTA,0.051514,,,,130222.90*4D

2021-12-04T13:02:23.589Z,1638622943.589 [Micromodem](INFO): Nmea in: $CAREV,130223,AUV,2.1.4000*2B

2021-12-04T13:02:24.004Z,1638622944.004 [Micromodem](INFO): Nmea in: $CAREV,130223,COPROC,0.20.0.39330*7A

2021-12-04T13:02:25.993Z,1638622945.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:26.801Z,1638622946.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:27.195Z,1638622947.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:27.664Z,1638622947.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.339996 m, bearing: 24.901808 deg, deltaT: 4.478655 s, deltaX: -3.060009 m, approachRate: -0.683243 m/s, LOS rate: 0.231886 deg/s, posRepo size: 4
2021-12-04T13:02:27.683Z,1638622947.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 24.901808 deg,
      approachRate: -0.683243 m/s,
      LOS rate: 0.231886 deg/s,
      cmd update: 0.695659 deg/s,
      cmd heading: 25.424383 deg,
      new cmd heading: 24.779612 deg.

2021-12-04T13:02:28.035Z,1638622948.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130227.36*5E

2021-12-04T13:02:28.036Z,1638622948.036 [Micromodem](INFO): Nmea in: $CAREV,130228,AUV,2.1.4000*20

2021-12-04T13:02:28.451Z,1638622948.451 [Micromodem](INFO): Nmea in: $CAREV,130228,COPROC,0.20.0.39330*71

2021-12-04T13:02:30.463Z,1638622950.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:31.241Z,1638622951.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:31.651Z,1638622951.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:32.072Z,1638622952.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 24.172376 deg, deltaT: 4.407358 s, deltaX: -2.999996 m, approachRate: -0.680679 m/s, LOS rate: -0.165503 deg/s, posRepo size: 4
2021-12-04T13:02:32.079Z,1638622952.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 24.172376 deg,
      approachRate: -0.680679 m/s,
      LOS rate: -0.165503 deg/s,
      cmd update: -0.496510 deg/s,
      cmd heading: 28.548550 deg,
      new cmd heading: 28.791574 deg.

2021-12-04T13:02:32.487Z,1638622952.487 [Micromodem](INFO): Nmea in: $SNTTA,0.056215,,,,130231.80*4F

2021-12-04T13:02:32.488Z,1638622952.488 [Micromodem](INFO): Nmea in: $CAREV,130232,AUV,2.1.4000*2B

2021-12-04T13:02:32.864Z,1638622952.864 [Micromodem](INFO): Nmea in: $CAREV,130232,COPROC,0.20.0.39330*7A

2021-12-04T13:02:34.895Z,1638622954.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:35.681Z,1638622955.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:36.096Z,1638622956.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:36.526Z,1638622956.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 24.064215 deg, deltaT: 4.454027 s, deltaX: -2.940002 m, approachRate: -0.660077 m/s, LOS rate: -0.024284 deg/s, posRepo size: 4
2021-12-04T13:02:36.528Z,1638622956.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.399998 m,
      bearing: 24.064215 deg,
      approachRate: -0.660077 m/s,
      LOS rate: -0.024284 deg/s,
      cmd update: -0.072852 deg/s,
      cmd heading: 26.361788 deg,
      new cmd heading: 26.163488 deg.

2021-12-04T13:02:36.936Z,1638622956.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130236.24*5D

2021-12-04T13:02:36.937Z,1638622956.937 [Micromodem](INFO): Nmea in: $CAREV,130237,AUV,2.1.4000*2E

2021-12-04T13:02:37.328Z,1638622957.328 [Micromodem](INFO): Nmea in: $CAREV,130237,COPROC,0.20.0.39330*7F

2021-12-04T13:02:39.441Z,1638622959.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:40.129Z,1638622960.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:40.536Z,1638622960.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:40.963Z,1638622960.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 24.057075 deg, deltaT: 4.436541 s, deltaX: -3.119999 m, approachRate: -0.703250 m/s, LOS rate: -0.001609 deg/s, posRepo size: 4
2021-12-04T13:02:40.964Z,1638622960.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.279999 m,
      bearing: 24.057075 deg,
      approachRate: -0.703250 m/s,
      LOS rate: -0.001609 deg/s,
      cmd update: -0.004828 deg/s,
      cmd heading: 26.038019 deg,
      new cmd heading: 26.009484 deg.

2021-12-04T13:02:41.400Z,1638622961.400 [Micromodem](INFO): Nmea in: $SNTTA,0.044789,,,,130240.68*4C

2021-12-04T13:02:41.401Z,1638622961.401 [Micromodem](INFO): Nmea in: $CAREV,130241,AUV,2.1.4000*2F

2021-12-04T13:02:41.760Z,1638622961.760 [Micromodem](INFO): Nmea in: $CAREV,130241,COPROC,0.20.0.39330*7E

2021-12-04T13:02:43.781Z,1638622963.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:44.565Z,1638622964.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:44.987Z,1638622964.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:45.475Z,1638622965.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 24.081432 deg, deltaT: 4.512780 s, deltaX: -2.759998 m, approachRate: -0.611596 m/s, LOS rate: 0.005397 deg/s, posRepo size: 4
2021-12-04T13:02:45.477Z,1638622965.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.520000 m,
      bearing: 24.081432 deg,
      approachRate: -0.611596 m/s,
      LOS rate: 0.005397 deg/s,
      cmd update: 0.016192 deg/s,
      cmd heading: 26.016449 deg,
      new cmd heading: 26.014343 deg.

2021-12-04T13:02:48.239Z,1638622968.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:49.011Z,1638622969.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:49.431Z,1638622969.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:49.882Z,1638622969.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 24.706917 deg, deltaT: 4.398176 s, deltaX: -3.000000 m, approachRate: -0.682101 m/s, LOS rate: 0.142215 deg/s, posRepo size: 4
2021-12-04T13:02:49.883Z,1638622969.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 38.52 m.
2021-12-04T13:02:49.885Z,1638622969.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.520000 m,
      bearing: 24.706917 deg,
      approachRate: -0.682101 m/s,
      LOS rate: 0.142215 deg/s,
      cmd update: 0.426644 deg/s,
      cmd heading: 26.088757 deg,
      new cmd heading: 26.094810 deg.

2021-12-04T13:02:50.276Z,1638622970.276 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130249.57*51

2021-12-04T13:02:50.277Z,1638622970.277 [Micromodem](INFO): Nmea in: $CAREV,130250,AUV,2.1.4000*2F

2021-12-04T13:02:50.296Z,1638622970.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T13:02:50.296Z,1638622970.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:02:50.296Z,1638622970.296 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T13:02:50.297Z,1638622970.297 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 38.520000 m (mode 1 count ).
2021-12-04T13:02:50.298Z,1638622970.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T13:02:50.298Z,1638622970.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T13:02:50.669Z,1638622970.669 [Micromodem](INFO): Nmea in: $CAREV,130250,COPROC,0.20.0.39330*7E

2021-12-04T13:02:50.709Z,1638622970.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T13:02:50.709Z,1638622970.709 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:02:50.710Z,1638622970.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T13:02:50.710Z,1638622970.710 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:02:51.024Z,1638622971.024 [DDM](ERROR): Could not parse whisker state
2021-12-04T13:02:52.671Z,1638622972.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:53.461Z,1638622973.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:53.855Z,1638622973.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:54.295Z,1638622974.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:02:54.304Z,1638622974.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.579998 m, bearing: 26.387157 deg, deltaT: 4.426545 s, deltaX: -2.940002 m, approachRate: -0.664175 m/s, LOS rate: 0.379583 deg/s, posRepo size: 4
2021-12-04T13:02:54.304Z,1638622974.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 35.58 m.
2021-12-04T13:02:54.306Z,1638622974.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.579998 m,
      bearing: 26.387157 deg,
      approachRate: -0.664175 m/s,
      LOS rate: 0.379583 deg/s,
      cmd update: 1.138748 deg/s,
      cmd heading: 27.964784 deg,
      new cmd heading: 28.134632 deg.

2021-12-04T13:02:54.692Z,1638622974.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130254.02*5D

2021-12-04T13:02:54.693Z,1638622974.693 [Micromodem](INFO): Nmea in: $CAREV,130255,AUV,2.1.4000*2A

2021-12-04T13:02:55.096Z,1638622975.096 [Micromodem](INFO): Nmea in: $CAREV,130255,COPROC,0.20.0.39330*7B

2021-12-04T13:02:57.128Z,1638622977.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:02:57.900Z,1638622977.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:02:58.312Z,1638622978.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:02:58.758Z,1638622978.758 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:02:58.773Z,1638622978.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 26.673198 deg, deltaT: 4.462631 s, deltaX: -2.880001 m, approachRate: -0.645359 m/s, LOS rate: 0.064097 deg/s, posRepo size: 4
2021-12-04T13:02:58.774Z,1638622978.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 32.70 m.
2021-12-04T13:02:58.779Z,1638622978.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.70 m.
2021-12-04T13:02:58.779Z,1638622978.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T13:02:58.782Z,1638622978.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.027016 deg,
      new cmd heading: 33.512110 deg.

2021-12-04T13:02:59.148Z,1638622979.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130258.46*51

2021-12-04T13:02:59.149Z,1638622979.149 [Micromodem](INFO): Nmea in: $CAREV,130259,AUV,2.1.4000*26

2021-12-04T13:02:59.185Z,1638622979.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.108930 deg,
      new cmd heading: 33.188119 deg.

2021-12-04T13:02:59.524Z,1638622979.524 [Micromodem](INFO): Nmea in: $CAREV,130259,COPROC,0.20.0.39330*77

2021-12-04T13:02:59.580Z,1638622979.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.188119 deg,
      new cmd heading: 33.263810 deg.

2021-12-04T13:02:59.962Z,1638622979.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.263810 deg,
      new cmd heading: 33.334610 deg.

2021-12-04T13:03:00.407Z,1638622980.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.334610 deg,
      new cmd heading: 33.422189 deg.

2021-12-04T13:03:00.813Z,1638622980.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.422189 deg,
      new cmd heading: 33.501175 deg.

2021-12-04T13:03:01.159Z,1638622981.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.501175 deg,
      new cmd heading: 33.567743 deg.

2021-12-04T13:03:01.581Z,1638622981.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:01.600Z,1638622981.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.567743 deg,
      new cmd heading: 33.649338 deg.

2021-12-04T13:03:01.975Z,1638622981.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.649338 deg,
      new cmd heading: 33.724650 deg.

2021-12-04T13:03:02.345Z,1638622982.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:02.418Z,1638622982.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.724650 deg,
      new cmd heading: 33.808493 deg.

2021-12-04T13:03:02.751Z,1638622982.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:02.808Z,1638622982.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 26.673198 deg,
      approachRate: -0.645359 m/s,
      LOS rate: 0.064097 deg/s,
      cmd update: 0.192291 deg/s,
      cmd heading: 33.808493 deg,
      new cmd heading: 33.884693 deg.

2021-12-04T13:03:03.171Z,1638622983.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:03.175Z,1638622983.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.939999 m, bearing: 26.087491 deg, deltaT: 4.413026 s, deltaX: -2.759998 m, approachRate: -0.625421 m/s, LOS rate: -0.132722 deg/s, posRepo size: 4
2021-12-04T13:03:03.177Z,1638622983.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 33.884693 deg,
      new cmd heading: 33.955459 deg.

2021-12-04T13:03:03.580Z,1638622983.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130302.90*54

2021-12-04T13:03:03.581Z,1638622983.581 [Micromodem](INFO): Nmea in: $CAREV,130303,AUV,2.1.4000*28

2021-12-04T13:03:03.665Z,1638622983.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 33.738164 deg,
      new cmd heading: 33.543337 deg.

2021-12-04T13:03:03.988Z,1638622983.988 [Micromodem](INFO): Nmea in: $CAREV,130303,COPROC,0.20.0.39330*79

2021-12-04T13:03:04.027Z,1638622984.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 33.543337 deg,
      new cmd heading: 33.407119 deg.

2021-12-04T13:03:04.418Z,1638622984.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 33.407119 deg,
      new cmd heading: 33.243357 deg.

2021-12-04T13:03:04.804Z,1638622984.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 33.243357 deg,
      new cmd heading: 33.090214 deg.

2021-12-04T13:03:05.206Z,1638622985.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 33.090214 deg,
      new cmd heading: 32.929769 deg.

2021-12-04T13:03:05.654Z,1638622985.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 32.929769 deg,
      new cmd heading: 32.751343 deg.

2021-12-04T13:03:05.993Z,1638622985.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:06.012Z,1638622986.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 32.751343 deg,
      new cmd heading: 32.615117 deg.

2021-12-04T13:03:06.452Z,1638622986.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 32.615117 deg,
      new cmd heading: 32.433679 deg.

2021-12-04T13:03:06.789Z,1638622986.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:06.893Z,1638622986.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 32.433679 deg,
      new cmd heading: 32.260219 deg.

2021-12-04T13:03:07.205Z,1638622987.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:07.239Z,1638622987.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 26.087491 deg,
      approachRate: -0.625421 m/s,
      LOS rate: -0.132722 deg/s,
      cmd update: -0.398167 deg/s,
      cmd heading: 32.260219 deg,
      new cmd heading: 32.120244 deg.

2021-12-04T13:03:07.673Z,1638622987.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:07.678Z,1638622987.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 29.110977 deg, deltaT: 4.502644 s, deltaX: -2.100002 m, approachRate: -0.466393 m/s, LOS rate: 0.671491 deg/s, posRepo size: 4
2021-12-04T13:03:07.680Z,1638622987.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 32.120244 deg,
      new cmd heading: 31.945250 deg.

2021-12-04T13:03:08.032Z,1638622988.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130307.35*5E

2021-12-04T13:03:08.033Z,1638622988.033 [Micromodem](INFO): Nmea in: $CAREV,130308,AUV,2.1.4000*23

2021-12-04T13:03:08.080Z,1638622988.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 33.005605 deg,
      new cmd heading: 33.805339 deg.

2021-12-04T13:03:08.452Z,1638622988.452 [Micromodem](INFO): Nmea in: $CAREV,130308,COPROC,0.20.0.39330*72

2021-12-04T13:03:08.477Z,1638622988.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 33.805339 deg,
      new cmd heading: 34.614469 deg.

2021-12-04T13:03:08.843Z,1638622988.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 34.614469 deg,
      new cmd heading: 35.351609 deg.

2021-12-04T13:03:09.256Z,1638622989.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 35.351609 deg,
      new cmd heading: 36.182950 deg.

2021-12-04T13:03:09.695Z,1638622989.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 36.182950 deg,
      new cmd heading: 37.060355 deg.

2021-12-04T13:03:10.047Z,1638622990.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 37.060355 deg,
      new cmd heading: 37.776652 deg.

2021-12-04T13:03:10.491Z,1638622990.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:10.493Z,1638622990.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 37.776652 deg,
      new cmd heading: 38.676704 deg.

2021-12-04T13:03:10.863Z,1638622990.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 38.676704 deg,
      new cmd heading: 39.421620 deg.

2021-12-04T13:03:11.233Z,1638622991.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:11.347Z,1638622991.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 39.421620 deg,
      new cmd heading: 40.387089 deg.

2021-12-04T13:03:11.636Z,1638622991.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:11.701Z,1638622991.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 29.110977 deg,
      approachRate: -0.466393 m/s,
      LOS rate: 0.671491 deg/s,
      cmd update: 2.014473 deg/s,
      cmd heading: 40.387089 deg,
      new cmd heading: 41.109334 deg.

2021-12-04T13:03:12.063Z,1638622992.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:12.068Z,1638622992.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 26.334969 deg, deltaT: 4.389644 s, deltaX: -3.719994 m, approachRate: -0.847448 m/s, LOS rate: -0.632399 deg/s, posRepo size: 4
2021-12-04T13:03:12.070Z,1638622992.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 41.109334 deg,
      new cmd heading: 41.847840 deg.

2021-12-04T13:03:12.488Z,1638622992.488 [Micromodem](INFO): Nmea in: $SNTTA,0.035766,,,,130311.79*4E

2021-12-04T13:03:12.489Z,1638622992.489 [Micromodem](INFO): Nmea in: $CAREV,130312,AUV,2.1.4000*28

2021-12-04T13:03:12.514Z,1638622992.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 40.413821 deg,
      new cmd heading: 39.567776 deg.

2021-12-04T13:03:12.860Z,1638622992.860 [Micromodem](INFO): Nmea in: $CAREV,130312,COPROC,0.20.0.39330*79

2021-12-04T13:03:12.879Z,1638622992.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 39.567776 deg,
      new cmd heading: 38.875162 deg.

2021-12-04T13:03:13.357Z,1638622993.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 38.875162 deg,
      new cmd heading: 37.982999 deg.

2021-12-04T13:03:13.726Z,1638622993.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 37.982999 deg,
      new cmd heading: 37.267461 deg.

2021-12-04T13:03:14.087Z,1638622994.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 37.267461 deg,
      new cmd heading: 36.583358 deg.

2021-12-04T13:03:14.507Z,1638622994.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 36.583358 deg,
      new cmd heading: 35.785433 deg.

2021-12-04T13:03:14.880Z,1638622994.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:14.884Z,1638622994.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 35.785433 deg,
      new cmd heading: 35.071846 deg.

2021-12-04T13:03:15.385Z,1638622995.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 35.071846 deg,
      new cmd heading: 34.146317 deg.

2021-12-04T13:03:15.677Z,1638622995.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:15.803Z,1638622995.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 34.146317 deg,
      new cmd heading: 33.326731 deg.

2021-12-04T13:03:16.094Z,1638622996.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:16.127Z,1638622996.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 26.334969 deg,
      approachRate: -0.847448 m/s,
      LOS rate: -0.632399 deg/s,
      cmd update: -1.897198 deg/s,
      cmd heading: 33.326731 deg,
      new cmd heading: 32.712642 deg.

2021-12-04T13:03:16.524Z,1638622996.524 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:16.533Z,1638622996.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 24.558191 deg, deltaT: 4.461087 s, deltaX: -3.060005 m, approachRate: -0.685933 m/s, LOS rate: -0.398284 deg/s, posRepo size: 4
2021-12-04T13:03:16.539Z,1638622996.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 32.712642 deg,
      new cmd heading: 31.942139 deg.

2021-12-04T13:03:16.912Z,1638622996.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130316.23*59

2021-12-04T13:03:16.913Z,1638622996.913 [Micromodem](INFO): Nmea in: $CAREV,130317,AUV,2.1.4000*2D

2021-12-04T13:03:16.950Z,1638622996.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 32.227381 deg,
      new cmd heading: 31.729635 deg.

2021-12-04T13:03:17.326Z,1638622997.326 [Micromodem](INFO): Nmea in: $CAREV,130317,COPROC,0.20.0.39330*7C

2021-12-04T13:03:17.416Z,1638622997.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 31.729635 deg,
      new cmd heading: 31.173015 deg.

2021-12-04T13:03:17.719Z,1638622997.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 31.173015 deg,
      new cmd heading: 30.809999 deg.

2021-12-04T13:03:18.140Z,1638622998.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 30.809999 deg,
      new cmd heading: 30.308067 deg.

2021-12-04T13:03:18.540Z,1638622998.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 30.308067 deg,
      new cmd heading: 29.829985 deg.

2021-12-04T13:03:18.940Z,1638622998.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 29.829985 deg,
      new cmd heading: 29.351478 deg.

2021-12-04T13:03:19.419Z,1638622999.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:19.422Z,1638622999.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 29.351478 deg,
      new cmd heading: 28.775545 deg.

2021-12-04T13:03:19.753Z,1638622999.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 28.775545 deg,
      new cmd heading: 28.380408 deg.

2021-12-04T13:03:20.111Z,1638623000.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:20.197Z,1638623000.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 28.380408 deg,
      new cmd heading: 27.857963 deg.

2021-12-04T13:03:20.540Z,1638623000.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:20.592Z,1638623000.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 24.558191 deg,
      approachRate: -0.685933 m/s,
      LOS rate: -0.398284 deg/s,
      cmd update: -1.194851 deg/s,
      cmd heading: 27.857963 deg,
      new cmd heading: 27.378044 deg.

2021-12-04T13:03:20.949Z,1638623000.949 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:20.955Z,1638623000.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 25.081032 deg, deltaT: 4.425241 s, deltaX: -2.580000 m, approachRate: -0.583019 m/s, LOS rate: 0.118150 deg/s, posRepo size: 4
2021-12-04T13:03:20.957Z,1638623000.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 27.378044 deg,
      new cmd heading: 26.944616 deg.

2021-12-04T13:03:21.396Z,1638623001.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130320.67*5C

2021-12-04T13:03:21.397Z,1638623001.397 [Micromodem](INFO): Nmea in: $CAREV,130321,AUV,2.1.4000*28

2021-12-04T13:03:21.481Z,1638623001.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 27.506619 deg,
      new cmd heading: 27.692300 deg.

2021-12-04T13:03:21.756Z,1638623001.756 [Micromodem](INFO): Nmea in: $CAREV,130321,COPROC,0.20.0.39330*79

2021-12-04T13:03:21.775Z,1638623001.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 27.692300 deg,
      new cmd heading: 27.797453 deg.

2021-12-04T13:03:22.181Z,1638623002.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 27.797453 deg,
      new cmd heading: 27.941358 deg.

2021-12-04T13:03:22.576Z,1638623002.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 27.941358 deg,
      new cmd heading: 28.081504 deg.

2021-12-04T13:03:22.976Z,1638623002.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 28.081504 deg,
      new cmd heading: 28.223320 deg.

2021-12-04T13:03:23.447Z,1638623003.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 28.223320 deg,
      new cmd heading: 28.390178 deg.

2021-12-04T13:03:23.768Z,1638623003.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:23.771Z,1638623003.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 28.390178 deg,
      new cmd heading: 28.504905 deg.

2021-12-04T13:03:24.199Z,1638623004.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 28.504905 deg,
      new cmd heading: 28.656570 deg.

2021-12-04T13:03:24.561Z,1638623004.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:24.664Z,1638623004.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 28.656570 deg,
      new cmd heading: 28.820992 deg.

2021-12-04T13:03:24.978Z,1638623004.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:25.012Z,1638623005.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 25.081032 deg,
      approachRate: -0.583019 m/s,
      LOS rate: 0.118150 deg/s,
      cmd update: 0.354449 deg/s,
      cmd heading: 28.820992 deg,
      new cmd heading: 28.944742 deg.

2021-12-04T13:03:25.462Z,1638623005.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:25.467Z,1638623005.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 24.464027 deg, deltaT: 4.512995 s, deltaX: -2.759998 m, approachRate: -0.611567 m/s, LOS rate: -0.136717 deg/s, posRepo size: 4
2021-12-04T13:03:25.469Z,1638623005.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 28.944742 deg,
      new cmd heading: 29.106143 deg.

2021-12-04T13:03:25.808Z,1638623005.808 [Micromodem](INFO): Nmea in: $SNTTA,0.029495,,,,130325.12*46

2021-12-04T13:03:25.809Z,1638623005.809 [Micromodem](INFO): Nmea in: $CAREV,130326,AUV,2.1.4000*2F

2021-12-04T13:03:25.849Z,1638623005.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 28.757975 deg,
      new cmd heading: 28.601398 deg.

2021-12-04T13:03:26.192Z,1638623006.192 [Micromodem](INFO): Nmea in: $CAREV,130326,COPROC,0.20.0.39330*7E

2021-12-04T13:03:26.207Z,1638623006.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 28.601398 deg,
      new cmd heading: 28.454407 deg.

2021-12-04T13:03:26.629Z,1638623006.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 28.454407 deg,
      new cmd heading: 28.281541 deg.

2021-12-04T13:03:27.031Z,1638623007.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 28.281541 deg,
      new cmd heading: 28.123102 deg.

2021-12-04T13:03:27.471Z,1638623007.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 28.123102 deg,
      new cmd heading: 27.936220 deg.

2021-12-04T13:03:27.839Z,1638623007.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 27.936220 deg,
      new cmd heading: 27.785187 deg.

2021-12-04T13:03:28.230Z,1638623008.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:28.233Z,1638623008.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 27.785187 deg,
      new cmd heading: 27.623605 deg.

2021-12-04T13:03:28.647Z,1638623008.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 27.623605 deg,
      new cmd heading: 27.453604 deg.

2021-12-04T13:03:29.037Z,1638623009.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:29.140Z,1638623009.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 27.453604 deg,
      new cmd heading: 27.253430 deg.

2021-12-04T13:03:29.439Z,1638623009.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:29.505Z,1638623009.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 24.464027 deg,
      approachRate: -0.611567 m/s,
      LOS rate: -0.136717 deg/s,
      cmd update: -0.410152 deg/s,
      cmd heading: 27.253430 deg,
      new cmd heading: 27.101576 deg.

2021-12-04T13:03:29.855Z,1638623009.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:29.864Z,1638623009.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.840000 m, bearing: 21.271540 deg, deltaT: 4.392413 s, deltaX: -2.879999 m, approachRate: -0.655676 m/s, LOS rate: -0.726818 deg/s, posRepo size: 4
2021-12-04T13:03:29.865Z,1638623009.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 27.101576 deg,
      new cmd heading: 26.956408 deg.

2021-12-04T13:03:30.244Z,1638623010.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130329.60*52

2021-12-04T13:03:30.245Z,1638623010.245 [Micromodem](INFO): Nmea in: $CAREV,130330,AUV,2.1.4000*28

2021-12-04T13:03:30.283Z,1638623010.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 26.329834 deg,
      new cmd heading: 25.407098 deg.

2021-12-04T13:03:30.648Z,1638623010.648 [Micromodem](INFO): Nmea in: $CAREV,130330,COPROC,0.20.0.39330*79

2021-12-04T13:03:30.673Z,1638623010.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 25.407098 deg,
      new cmd heading: 24.556179 deg.

2021-12-04T13:03:31.066Z,1638623011.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 24.556179 deg,
      new cmd heading: 23.729963 deg.

2021-12-04T13:03:31.503Z,1638623011.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 23.729963 deg,
      new cmd heading: 22.747492 deg.

2021-12-04T13:03:31.869Z,1638623011.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 22.747492 deg,
      new cmd heading: 21.948420 deg.

2021-12-04T13:03:32.283Z,1638623012.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 21.948420 deg,
      new cmd heading: 21.045812 deg.

2021-12-04T13:03:32.673Z,1638623012.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:32.676Z,1638623012.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 21.045812 deg,
      new cmd heading: 20.189418 deg.

2021-12-04T13:03:33.086Z,1638623013.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 20.189418 deg,
      new cmd heading: 19.295379 deg.

2021-12-04T13:03:33.449Z,1638623013.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:33.569Z,1638623013.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 19.295379 deg,
      new cmd heading: 18.242226 deg.

2021-12-04T13:03:33.871Z,1638623013.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:33.919Z,1638623013.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 21.271540 deg,
      approachRate: -0.655676 m/s,
      LOS rate: -0.726818 deg/s,
      cmd update: -2.180456 deg/s,
      cmd heading: 18.242226 deg,
      new cmd heading: 17.478689 deg.

2021-12-04T13:03:34.309Z,1638623014.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:34.314Z,1638623014.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 22.797640 deg, deltaT: 4.454405 s, deltaX: -2.759999 m, approachRate: -0.619611 m/s, LOS rate: 0.342605 deg/s, posRepo size: 4
2021-12-04T13:03:34.316Z,1638623014.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 17.478689 deg,
      new cmd heading: 16.616594 deg.

2021-12-04T13:03:34.688Z,1638623014.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130334.01*59

2021-12-04T13:03:34.689Z,1638623014.689 [Micromodem](INFO): Nmea in: $CAREV,130335,AUV,2.1.4000*2D

2021-12-04T13:03:34.738Z,1638623014.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 17.885060 deg,
      new cmd heading: 18.320566 deg.

2021-12-04T13:03:35.076Z,1638623015.076 [Micromodem](INFO): Nmea in: $CAREV,130335,COPROC,0.20.0.39330*7C

2021-12-04T13:03:35.095Z,1638623015.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 18.320566 deg,
      new cmd heading: 18.687347 deg.

2021-12-04T13:03:35.546Z,1638623015.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 18.687347 deg,
      new cmd heading: 19.150812 deg.

2021-12-04T13:03:35.909Z,1638623015.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 19.150812 deg,
      new cmd heading: 19.524055 deg.

2021-12-04T13:03:36.324Z,1638623016.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 19.524055 deg,
      new cmd heading: 19.950729 deg.

2021-12-04T13:03:36.716Z,1638623016.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 19.950729 deg,
      new cmd heading: 20.353365 deg.

2021-12-04T13:03:37.122Z,1638623017.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:37.125Z,1638623017.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 20.353365 deg,
      new cmd heading: 20.773821 deg.

2021-12-04T13:03:37.554Z,1638623017.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 20.773821 deg,
      new cmd heading: 21.214927 deg.

2021-12-04T13:03:37.899Z,1638623017.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:37.000Z,1638623018.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 21.214927 deg,
      new cmd heading: 21.666510 deg.

2021-12-04T13:03:38.308Z,1638623018.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:38.343Z,1638623018.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 22.797640 deg,
      approachRate: -0.619611 m/s,
      LOS rate: 0.342605 deg/s,
      cmd update: 1.027814 deg/s,
      cmd heading: 21.666510 deg,
      new cmd heading: 22.026201 deg.

2021-12-04T13:03:38.754Z,1638623018.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:38.759Z,1638623018.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 22.572669 deg, deltaT: 4.444697 s, deltaX: -2.760001 m, approachRate: -0.620965 m/s, LOS rate: -0.050616 deg/s, posRepo size: 4
2021-12-04T13:03:38.761Z,1638623018.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 22.026201 deg,
      new cmd heading: 22.453330 deg.

2021-12-04T13:03:39.132Z,1638623019.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130338.46*56

2021-12-04T13:03:39.133Z,1638623019.133 [Micromodem](INFO): Nmea in: $CAREV,130339,AUV,2.1.4000*21

2021-12-04T13:03:39.184Z,1638623019.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.963098 deg,
      new cmd heading: 21.902895 deg.

2021-12-04T13:03:39.533Z,1638623019.533 [Micromodem](INFO): Nmea in: $CAREV,130339,COPROC,0.20.0.39330*70

2021-12-04T13:03:39.607Z,1638623019.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.902895 deg,
      new cmd heading: 21.836760 deg.

2021-12-04T13:03:39.947Z,1638623019.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.836760 deg,
      new cmd heading: 21.782683 deg.

2021-12-04T13:03:40.386Z,1638623020.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.782683 deg,
      new cmd heading: 21.716745 deg.

2021-12-04T13:03:40.783Z,1638623020.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.716745 deg,
      new cmd heading: 21.655729 deg.

2021-12-04T13:03:41.175Z,1638623021.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.655729 deg,
      new cmd heading: 21.596182 deg.

2021-12-04T13:03:41.586Z,1638623021.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:41.589Z,1638623021.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.596182 deg,
      new cmd heading: 21.533301 deg.

2021-12-04T13:03:41.979Z,1638623021.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.533301 deg,
      new cmd heading: 21.474121 deg.

2021-12-04T13:03:42.341Z,1638623022.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:42.449Z,1638623022.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.474121 deg,
      new cmd heading: 21.402744 deg.

2021-12-04T13:03:42.746Z,1638623022.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:42.808Z,1638623022.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 22.572669 deg,
      approachRate: -0.620965 m/s,
      LOS rate: -0.050616 deg/s,
      cmd update: -0.151847 deg/s,
      cmd heading: 21.402744 deg,
      new cmd heading: 21.348159 deg.

2021-12-04T13:03:43.163Z,1638623023.163 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:43.168Z,1638623023.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 21.613498 deg, deltaT: 4.409331 s, deltaX: -2.400002 m, approachRate: -0.544301 m/s, LOS rate: -0.217532 deg/s, posRepo size: 4
2021-12-04T13:03:43.170Z,1638623023.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 21.348159 deg,
      new cmd heading: 21.293594 deg.

2021-12-04T13:03:43.589Z,1638623023.589 [Micromodem](INFO): Nmea in: $SNTTA,0.003090,,,,130342.90*44

2021-12-04T13:03:43.590Z,1638623023.590 [Micromodem](INFO): Nmea in: $CAREV,130343,AUV,2.1.4000*2C

2021-12-04T13:03:43.656Z,1638623023.656 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T13:03:43.657Z,1638623023.657 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:03:43.657Z,1638623023.657 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T13:03:43.657Z,1638623023.657 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:03:43.657Z,1638623023.657 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T13:03:43.658Z,1638623023.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.919998 m 
2021-12-04T13:03:43.658Z,1638623023.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T13:03:43.658Z,1638623023.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T13:03:43.658Z,1638623023.658 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T13:03:43.665Z,1638623023.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 21.113651 deg,
      new cmd heading: 20.789422 deg.

2021-12-04T13:03:43.976Z,1638623023.976 [Micromodem](INFO): Nmea in: $CAREV,130343,COPROC,0.20.0.39330*7D

2021-12-04T13:03:44.027Z,1638623024.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T130344: (41.552319, -70.708603)
2021-12-04T13:03:44.027Z,1638623024.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T13:03:44.027Z,1638623024.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T13:03:44.027Z,1638623024.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:03:44.027Z,1638623024.027 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T13:03:44.028Z,1638623024.028 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:03:44.028Z,1638623024.028 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T13:03:44.028Z,1638623024.028 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T13:03:44.028Z,1638623024.028 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:03:44.031Z,1638623024.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 20.789422 deg,
      new cmd heading: 20.550652 deg.

2021-12-04T13:03:44.421Z,1638623024.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 20.550652 deg,
      new cmd heading: 20.295514 deg.

2021-12-04T13:03:44.812Z,1638623024.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 20.295514 deg,
      new cmd heading: 20.040456 deg.

2021-12-04T13:03:45.218Z,1638623025.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 20.040456 deg,
      new cmd heading: 19.775946 deg.

2021-12-04T13:03:45.636Z,1638623025.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 19.775946 deg,
      new cmd heading: 19.503271 deg.

2021-12-04T13:03:46.008Z,1638623026.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:46.012Z,1638623026.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 19.503271 deg,
      new cmd heading: 19.258500 deg.

2021-12-04T13:03:46.436Z,1638623026.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 19.258500 deg,
      new cmd heading: 18.981105 deg.

2021-12-04T13:03:46.793Z,1638623026.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:46.893Z,1638623026.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 18.981105 deg,
      new cmd heading: 18.686275 deg.

2021-12-04T13:03:47.191Z,1638623027.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:47.247Z,1638623027.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 21.613498 deg,
      approachRate: -0.544301 m/s,
      LOS rate: -0.217532 deg/s,
      cmd update: -0.652596 deg/s,
      cmd heading: 18.686275 deg,
      new cmd heading: 18.452984 deg.

2021-12-04T13:03:47.674Z,1638623027.674 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:47.696Z,1638623027.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.240000 m, bearing: 34.763706 deg, deltaT: 4.511755 s, deltaX: -1.679999 m, approachRate: -0.372360 m/s, LOS rate: 2.914655 deg/s, posRepo size: 4
2021-12-04T13:03:47.698Z,1638623027.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 18.452984 deg,
      new cmd heading: 18.169274 deg.

2021-12-04T13:03:48.032Z,1638623028.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130347.35*5A

2021-12-04T13:03:48.033Z,1638623028.033 [Micromodem](INFO): Nmea in: $CAREV,130348,AUV,2.1.4000*27

2021-12-04T13:03:48.073Z,1638623028.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 22.254344 deg,
      new cmd heading: 25.695225 deg.

2021-12-04T13:03:48.445Z,1638623028.445 [Micromodem](INFO): Nmea in: $CAREV,130348,COPROC,0.20.0.39330*76

2021-12-04T13:03:48.509Z,1638623028.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 25.695225 deg,
      new cmd heading: 29.503378 deg.

2021-12-04T13:03:48.837Z,1638623028.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 29.503378 deg,
      new cmd heading: 32.372046 deg.

2021-12-04T13:03:49.234Z,1638623029.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.24 m.
2021-12-04T13:03:49.234Z,1638623029.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting latch delay timer at range: 3.24 m.
2021-12-04T13:03:49.250Z,1638623029.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Cable is present.
2021-12-04T13:03:49.253Z,1638623029.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 32.372046 deg,
      new cmd heading: 35.855754 deg.

2021-12-04T13:03:49.684Z,1638623029.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 35.855754 deg,
      new cmd heading: 39.776670 deg.

2021-12-04T13:03:50.047Z,1638623030.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 39.776670 deg,
      new cmd heading: 42.951254 deg.

2021-12-04T13:03:50.470Z,1638623030.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:50.477Z,1638623030.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 42.951254 deg,
      new cmd heading: 46.714866 deg.

2021-12-04T13:03:50.859Z,1638623030.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 46.714866 deg,
      new cmd heading: 50.053993 deg.

2021-12-04T13:03:51.229Z,1638623031.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:51.341Z,1638623031.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 50.053993 deg,
      new cmd heading: 54.266782 deg.

2021-12-04T13:03:51.635Z,1638623031.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:51.747Z,1638623031.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 34.763706 deg,
      approachRate: -0.372360 m/s,
      LOS rate: 2.914655 deg/s,
      cmd update: 8.743964 deg/s,
      cmd heading: 54.266782 deg,
      new cmd heading: 57.705232 deg.

2021-12-04T13:03:52.047Z,1638623032.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:52.052Z,1638623032.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.000000 m, bearing: 329.903137 deg, deltaT: 4.372142 s, deltaX: -0.239999 m, approachRate: -0.054893 m/s, LOS rate: -14.834963 deg/s, posRepo size: 4
2021-12-04T13:03:52.053Z,1638623032.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:52.498Z,1638623032.498 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130351.78*54

2021-12-04T13:03:52.500Z,1638623032.500 [Micromodem](INFO): Nmea in: $CAREV,130352,AUV,2.1.4000*2C

2021-12-04T13:03:52.537Z,1638623032.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:52.864Z,1638623032.864 [Micromodem](INFO): Nmea in: $CAREV,130352,COPROC,0.20.0.39330*7D

2021-12-04T13:03:52.882Z,1638623032.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:53.360Z,1638623033.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:53.713Z,1638623033.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:54.093Z,1638623034.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:54.499Z,1638623034.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:54.872Z,1638623034.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:54.874Z,1638623034.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:55.341Z,1638623035.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:55.673Z,1638623035.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:03:55.849Z,1638623035.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:56.082Z,1638623036.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:03:56.114Z,1638623036.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.834963 deg/s. Setting heading cmd to target bearing of 329.903137deg and heading rate command to 0 deg/s.
2021-12-04T13:03:56.517Z,1638623036.517 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:03:56.522Z,1638623036.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2.940000 m, bearing: 24.760920 deg, deltaT: 4.469793 s, deltaX: -0.060000 m, approachRate: -0.013424 m/s, LOS rate: 12.273001 deg/s, posRepo size: 4
2021-12-04T13:03:56.523Z,1638623036.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:56.919Z,1638623036.919 [Micromodem](INFO): Nmea in: $SNTTA,0.006310,,,,130356.23*47

2021-12-04T13:03:56.920Z,1638623036.920 [Micromodem](INFO): Nmea in: $CAREV,130357,AUV,2.1.4000*29

2021-12-04T13:03:56.934Z,1638623036.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:57.320Z,1638623037.320 [Micromodem](INFO): Nmea in: $CAREV,130357,COPROC,0.20.0.39330*78

2021-12-04T13:03:57.427Z,1638623037.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:57.728Z,1638623037.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:58.129Z,1638623038.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:58.546Z,1638623038.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:58.934Z,1638623038.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:59.439Z,1638623039.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:03:59.441Z,1638623039.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.273001 deg/s. Setting heading cmd to target bearing of 24.760920deg and heading rate command to 0 deg/s.
2021-12-04T13:03:59.771Z,1638623039.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 2.94 m. Cable present.
2021-12-04T13:03:59.771Z,1638623039.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T13:03:59.771Z,1638623039.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T13:03:59.771Z,1638623039.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-12-04T13:04:00.083Z,1638623040.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:00.166Z,1638623040.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-12-04T13:04:00.166Z,1638623040.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-12-04T13:04:00.166Z,1638623040.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-12-04T13:04:00.520Z,1638623040.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:00.569Z,1638623040.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-12-04T13:04:00.570Z,1638623040.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:04:00.570Z,1638623040.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T13:04:00.570Z,1638623040.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:04:00.571Z,1638623040.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T13:04:00.571Z,1638623040.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T13:04:00.571Z,1638623040.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T13:04:00.571Z,1638623040.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:04:00.923Z,1638623040.923 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T13:04:00.923Z,1638623040.923 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T13:04:00.923Z,1638623040.923 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T13:04:00.923Z,1638623040.923 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T13:04:00.923Z,1638623040.923 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T13:04:00.923Z,1638623040.923 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-12-04T13:04:00.924Z,1638623040.924 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T13:04:00.924Z,1638623040.924 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-12-04T13:04:00.924Z,1638623040.924 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:04:00.927Z,1638623040.927 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T13:04:00.927Z,1638623040.927 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T13:04:00.927Z,1638623040.927 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T13:04:00.928Z,1638623040.928 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T13:04:00.928Z,1638623040.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T13:04:00.928Z,1638623040.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:04:00.928Z,1638623040.928 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T13:04:00.928Z,1638623040.928 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T13:04:01.344Z,1638623041.344 [Micromodem](INFO): Nmea in: $SNTTA,0.053803,,,,130400.64*49

2021-12-04T13:04:01.345Z,1638623041.345 [Micromodem](INFO): Nmea in: $CAREV,130401,AUV,2.1.4000*2D

2021-12-04T13:04:01.456Z,1638623041.456 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-12-04T13:04:01.456Z,1638623041.456 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T13:04:01.712Z,1638623041.712 [Micromodem](INFO): Nmea in: $CAREV,130401,COPROC,0.20.0.39330*7C

2021-12-04T13:04:03.431Z,1638623043.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:04.129Z,1638623044.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:04.540Z,1638623044.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:04.576Z,1638623044.576 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T13:04:04.576Z,1638623044.576 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T13:04:04.576Z,1638623044.576 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T13:04:04.576Z,1638623044.576 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T13:04:04.969Z,1638623044.969 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-12-04T13:04:04.969Z,1638623044.969 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T13:04:04.975Z,1638623044.975 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T13:04:04.975Z,1638623044.975 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T13:04:04.976Z,1638623044.976 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T13:04:04.977Z,1638623044.977 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T13:04:04.977Z,1638623044.977 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T13:04:04.977Z,1638623044.977 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T13:04:05.372Z,1638623045.372 [Micromodem](INFO): Nmea in: $SNTTA,0.073816,,,,130404.68*47

2021-12-04T13:04:05.385Z,1638623045.385 [Micromodem](INFO): Nmea in: $CAREV,130405,AUV,2.1.4000*29

2021-12-04T13:04:05.448Z,1638623045.448 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T13:04:05.448Z,1638623045.448 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T13:04:05.448Z,1638623045.448 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T13:04:05.448Z,1638623045.448 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T13:04:05.760Z,1638623045.760 [Micromodem](INFO): Nmea in: $CAREV,130405,COPROC,0.20.0.39330*78

2021-12-04T13:04:05.796Z,1638623045.796 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T13:04:05.796Z,1638623045.796 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T13:04:06.172Z,1638623046.172 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-12-04T13:04:06.173Z,1638623046.173 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T13:04:06.173Z,1638623046.173 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T13:04:06.173Z,1638623046.173 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T13:04:06.173Z,1638623046.173 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T13:04:06.589Z,1638623046.589 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-12-04T13:04:06.589Z,1638623046.589 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T13:04:06.589Z,1638623046.589 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-12-04T13:04:06.589Z,1638623046.589 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-12-04T13:04:06.589Z,1638623046.589 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T13:04:06.589Z,1638623046.589 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-12-04T13:04:06.590Z,1638623046.590 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-12-04T13:04:07.878Z,1638623047.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:08.605Z,1638623048.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:09.040Z,1638623049.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:09.848Z,1638623049.848 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130409.16*56

2021-12-04T13:04:09.849Z,1638623049.849 [Micromodem](INFO): Nmea in: $CAREV,130410,AUV,2.1.4000*2D

2021-12-04T13:04:10.232Z,1638623050.232 [Micromodem](INFO): Nmea in: $CAREV,130410,COPROC,0.20.0.39330*7C

2021-12-04T13:04:12.252Z,1638623052.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:13.045Z,1638623053.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:13.451Z,1638623053.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:14.280Z,1638623054.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130413.60*5C

2021-12-04T13:04:14.281Z,1638623054.281 [Micromodem](INFO): Nmea in: $CAREV,130414,AUV,2.1.4000*29

2021-12-04T13:04:14.676Z,1638623054.676 [Micromodem](INFO): Nmea in: $CAREV,130414,COPROC,0.20.0.39330*78

2021-12-04T13:04:16.721Z,1638623056.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:17.481Z,1638623057.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:17.896Z,1638623057.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:18.704Z,1638623058.704 [Micromodem](INFO): Nmea in: $SNTTA,0.047677,,,,130418.04*4E

2021-12-04T13:04:18.705Z,1638623058.705 [Micromodem](INFO): Nmea in: $CAREV,130419,AUV,2.1.4000*24

2021-12-04T13:04:19.120Z,1638623059.120 [Micromodem](INFO): Nmea in: $CAREV,130419,COPROC,0.20.0.39330*75

2021-12-04T13:04:21.145Z,1638623061.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:21.937Z,1638623061.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:22.343Z,1638623062.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:23.176Z,1638623063.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130422.49*55

2021-12-04T13:04:23.177Z,1638623063.177 [Micromodem](INFO): Nmea in: $CAREV,130423,AUV,2.1.4000*2D

2021-12-04T13:04:23.572Z,1638623063.572 [Micromodem](INFO): Nmea in: $CAREV,130423,COPROC,0.20.0.39330*7C

2021-12-04T13:04:25.613Z,1638623065.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:26.396Z,1638623066.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:26.787Z,1638623066.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:27.615Z,1638623067.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130426.95*50

2021-12-04T13:04:27.616Z,1638623067.616 [Micromodem](INFO): Nmea in: $CAREV,130428,AUV,2.1.4000*26

2021-12-04T13:04:27.000Z,1638623068.000 [Micromodem](INFO): Nmea in: $CAREV,130428,COPROC,0.20.0.39330*77

2021-12-04T13:04:30.019Z,1638623070.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:30.830Z,1638623070.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:31.240Z,1638623071.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:32.051Z,1638623072.051 [Micromodem](INFO): Nmea in: $SNTTA,0.004362,,,,130431.43*40

2021-12-04T13:04:32.468Z,1638623072.468 [Micromodem](INFO): Nmea in: $CAREV,130432,AUV,2.1.4000*2D

2021-12-04T13:04:32.469Z,1638623072.469 [Micromodem](INFO): Nmea in: $CAREV,130432,COPROC,0.20.0.39330*7C

2021-12-04T13:04:34.495Z,1638623074.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:35.272Z,1638623075.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:35.673Z,1638623075.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:36.500Z,1638623076.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130435.83*55

2021-12-04T13:04:36.501Z,1638623076.501 [Micromodem](INFO): Nmea in: $CAREV,130436,AUV,2.1.4000*29

2021-12-04T13:04:36.900Z,1638623076.900 [Micromodem](INFO): Nmea in: $CAREV,130436,COPROC,0.20.0.39330*78

2021-12-04T13:04:38.897Z,1638623078.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:39.681Z,1638623079.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:40.081Z,1638623080.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:40.948Z,1638623080.948 [Micromodem](INFO): Nmea in: $SNTTA,0.095470,,,,130440.24*4B

2021-12-04T13:04:40.949Z,1638623080.949 [Micromodem](INFO): Nmea in: $CAREV,130441,AUV,2.1.4000*29

2021-12-04T13:04:41.379Z,1638623081.379 [Micromodem](INFO): Nmea in: $CAREV,130441,COPROC,0.20.0.39330*78

2021-12-04T13:04:43.440Z,1638623083.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:44.153Z,1638623084.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:44.564Z,1638623084.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:45.400Z,1638623085.400 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130444.71*5E

2021-12-04T13:04:45.401Z,1638623085.401 [Micromodem](INFO): Nmea in: $CAREV,130445,AUV,2.1.4000*2D

2021-12-04T13:04:45.777Z,1638623085.777 [Micromodem](INFO): Nmea in: $CAREV,130445,COPROC,0.20.0.39330*7C

2021-12-04T13:04:47.821Z,1638623087.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:48.597Z,1638623088.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:48.975Z,1638623088.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:49.820Z,1638623089.820 [Micromodem](INFO): Nmea in: $SNTTA,0.006408,,,,130449.15*45

2021-12-04T13:04:49.821Z,1638623089.821 [Micromodem](INFO): Nmea in: $CAREV,130450,AUV,2.1.4000*29

2021-12-04T13:04:50.192Z,1638623090.192 [Micromodem](INFO): Nmea in: $CAREV,130450,COPROC,0.20.0.39330*78

2021-12-04T13:04:52.267Z,1638623092.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:53.033Z,1638623093.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:53.455Z,1638623093.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:54.284Z,1638623094.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130453.59*52

2021-12-04T13:04:54.285Z,1638623094.285 [Micromodem](INFO): Nmea in: $CAREV,130454,AUV,2.1.4000*2D

2021-12-04T13:04:54.668Z,1638623094.668 [Micromodem](INFO): Nmea in: $CAREV,130454,COPROC,0.20.0.39330*7C

2021-12-04T13:04:56.720Z,1638623096.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:04:57.493Z,1638623097.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:04:57.887Z,1638623097.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:04:58.724Z,1638623098.724 [Micromodem](INFO): Nmea in: $SNTTA,0.006828,,,,130458.05*4A

2021-12-04T13:04:58.725Z,1638623098.725 [Micromodem](INFO): Nmea in: $CAREV,130459,AUV,2.1.4000*20

2021-12-04T13:04:59.092Z,1638623099.092 [Micromodem](INFO): Nmea in: $CAREV,130459,COPROC,0.20.0.39330*71

2021-12-04T13:05:00.833Z,1638623100.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:01.525Z,1638623101.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:01.927Z,1638623101.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:02.772Z,1638623102.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130502.08*53

2021-12-04T13:05:02.773Z,1638623102.773 [Micromodem](INFO): Nmea in: $CAREV,130503,AUV,2.1.4000*2E

2021-12-04T13:05:03.148Z,1638623103.148 [Micromodem](INFO): Nmea in: $CAREV,130503,COPROC,0.20.0.39330*7F

2021-12-04T13:05:05.169Z,1638623105.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:05.974Z,1638623105.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:06.391Z,1638623106.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:07.204Z,1638623107.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130506.53*59

2021-12-04T13:05:07.205Z,1638623107.205 [Micromodem](INFO): Nmea in: $CAREV,130507,AUV,2.1.4000*2A

2021-12-04T13:05:07.592Z,1638623107.592 [Micromodem](INFO): Nmea in: $CAREV,130507,COPROC,0.20.0.39330*7B

2021-12-04T13:05:09.659Z,1638623109.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:10.399Z,1638623110.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:10.883Z,1638623110.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:11.648Z,1638623111.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130510.95*54

2021-12-04T13:05:11.649Z,1638623111.649 [Micromodem](INFO): Nmea in: $CAREV,130512,AUV,2.1.4000*2E

2021-12-04T13:05:12.040Z,1638623112.040 [Micromodem](INFO): Nmea in: $CAREV,130512,COPROC,0.20.0.39330*7F

2021-12-04T13:05:14.102Z,1638623114.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:14.865Z,1638623114.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:15.273Z,1638623115.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:16.104Z,1638623116.104 [Micromodem](INFO): Nmea in: $SNTTA,0.006496,,,,130515.42*48

2021-12-04T13:05:16.105Z,1638623116.105 [Micromodem](INFO): Nmea in: $CAREV,130516,AUV,2.1.4000*2A

2021-12-04T13:05:16.488Z,1638623116.488 [Micromodem](INFO): Nmea in: $CAREV,130516,COPROC,0.20.0.39330*7B

2021-12-04T13:05:18.531Z,1638623118.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:19.319Z,1638623119.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:19.711Z,1638623119.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:20.518Z,1638623120.518 [Micromodem](INFO): Nmea in: $SNTTA,0.048628,,,,130519.88*4F

2021-12-04T13:05:20.520Z,1638623120.520 [Micromodem](INFO): Nmea in: $CAREV,130520,AUV,2.1.4000*2F

2021-12-04T13:05:20.998Z,1638623120.998 [Micromodem](INFO): Nmea in: $CAREV,130520,COPROC,0.20.0.39330*7E

2021-12-04T13:05:22.965Z,1638623122.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:23.749Z,1638623123.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:24.159Z,1638623124.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:24.980Z,1638623124.980 [Micromodem](INFO): Nmea in: $SNTTA,0.077025,,,,130524.31*44

2021-12-04T13:05:24.981Z,1638623124.981 [Micromodem](INFO): Nmea in: $CAREV,130525,AUV,2.1.4000*2A

2021-12-04T13:05:25.412Z,1638623125.412 [Micromodem](INFO): Nmea in: $CAREV,130525,COPROC,0.20.0.39330*7B

2021-12-04T13:05:27.434Z,1638623127.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:28.196Z,1638623128.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:28.597Z,1638623128.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:29.433Z,1638623129.433 [Micromodem](INFO): Nmea in: $SNTTA,0.018538,,,,130528.75*48

2021-12-04T13:05:29.434Z,1638623129.434 [Micromodem](INFO): Nmea in: $CAREV,130529,AUV,2.1.4000*26

2021-12-04T13:05:29.832Z,1638623129.832 [Micromodem](INFO): Nmea in: $CAREV,130529,COPROC,0.20.0.39330*77

2021-12-04T13:05:31.845Z,1638623131.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:32.642Z,1638623132.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:33.043Z,1638623133.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:33.876Z,1638623133.876 [Micromodem](INFO): Nmea in: $SNTTA,0.006611,,,,130533.20*45

2021-12-04T13:05:33.877Z,1638623133.877 [Micromodem](INFO): Nmea in: $CAREV,130534,AUV,2.1.4000*2A

2021-12-04T13:05:34.269Z,1638623134.269 [Micromodem](INFO): Nmea in: $CAREV,130534,COPROC,0.20.0.39330*7B

2021-12-04T13:05:36.281Z,1638623136.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:37.073Z,1638623137.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:37.479Z,1638623137.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:38.316Z,1638623138.316 [Micromodem](INFO): Nmea in: $SNTTA,,0.033833,,,130537.63*4E

2021-12-04T13:05:38.317Z,1638623138.317 [Micromodem](INFO): Nmea in: $CAREV,130538,AUV,2.1.4000*26

2021-12-04T13:05:38.701Z,1638623138.701 [Micromodem](INFO): Nmea in: $CAREV,130538,COPROC,0.20.0.39330*77

2021-12-04T13:05:40.724Z,1638623140.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:41.525Z,1638623141.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:41.935Z,1638623141.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:42.752Z,1638623142.752 [Micromodem](INFO): Nmea in: $SNTTA,0.020162,,,,130542.08*4E

2021-12-04T13:05:42.753Z,1638623142.753 [Micromodem](INFO): Nmea in: $CAREV,130543,AUV,2.1.4000*2A

2021-12-04T13:05:43.148Z,1638623143.148 [Micromodem](INFO): Nmea in: $CAREV,130543,COPROC,0.20.0.39330*7B

2021-12-04T13:05:45.169Z,1638623145.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:45.965Z,1638623145.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:46.392Z,1638623146.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:47.196Z,1638623147.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130546.52*5C

2021-12-04T13:05:47.197Z,1638623147.197 [Micromodem](INFO): Nmea in: $CAREV,130547,AUV,2.1.4000*2E

2021-12-04T13:05:47.588Z,1638623147.588 [Micromodem](INFO): Nmea in: $CAREV,130547,COPROC,0.20.0.39330*7F

2021-12-04T13:05:49.643Z,1638623149.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:50.406Z,1638623150.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:50.785Z,1638623150.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:51.652Z,1638623151.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130550.96*53

2021-12-04T13:05:51.653Z,1638623151.653 [Micromodem](INFO): Nmea in: $CAREV,130552,AUV,2.1.4000*2A

2021-12-04T13:05:52.044Z,1638623152.044 [Micromodem](INFO): Nmea in: $CAREV,130552,COPROC,0.20.0.39330*7B

2021-12-04T13:05:54.060Z,1638623154.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:54.858Z,1638623154.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:55.305Z,1638623155.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:05:56.100Z,1638623156.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130555.41*5C

2021-12-04T13:05:56.101Z,1638623156.101 [Micromodem](INFO): Nmea in: $CAREV,130556,AUV,2.1.4000*2E

2021-12-04T13:05:56.484Z,1638623156.484 [Micromodem](INFO): Nmea in: $CAREV,130556,COPROC,0.20.0.39330*7F

2021-12-04T13:05:58.518Z,1638623158.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:05:59.341Z,1638623159.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:05:59.673Z,1638623159.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:00.898Z,1638623160.898 [Micromodem](INFO): Nmea in: $SNTTA,0.039725,,,,130559.90*48

2021-12-04T13:06:00.899Z,1638623160.899 [Micromodem](INFO): Nmea in: $CAREV,130600,AUV,2.1.4000*2E

2021-12-04T13:06:01.436Z,1638623161.436 [Micromodem](INFO): Nmea in: $CAREV,130600,COPROC,0.20.0.39330*7F

2021-12-04T13:06:02.953Z,1638623162.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:03.753Z,1638623163.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:04.187Z,1638623164.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:04.992Z,1638623164.992 [Micromodem](INFO): Nmea in: $SNTTA,0.066659,,,,130604.31*48

2021-12-04T13:06:04.993Z,1638623164.993 [Micromodem](INFO): Nmea in: $CAREV,130605,AUV,2.1.4000*2B

2021-12-04T13:06:05.400Z,1638623165.400 [Micromodem](INFO): Nmea in: $CAREV,130605,COPROC,0.20.0.39330*7A

2021-12-04T13:06:07.442Z,1638623167.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:08.189Z,1638623168.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:08.587Z,1638623168.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:09.452Z,1638623169.452 [Micromodem](INFO): Nmea in: $SNTTA,,0.014931,,,130608.75*40

2021-12-04T13:06:09.453Z,1638623169.453 [Micromodem](INFO): Nmea in: $CAREV,130609,AUV,2.1.4000*27

2021-12-04T13:06:09.784Z,1638623169.784 [Micromodem](INFO): Nmea in: $CAREV,130609,COPROC,0.20.0.39330*76

2021-12-04T13:06:11.544Z,1638623171.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:12.226Z,1638623172.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:12.635Z,1638623172.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:13.492Z,1638623173.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130612.78*56

2021-12-04T13:06:13.493Z,1638623173.493 [Micromodem](INFO): Nmea in: $CAREV,130613,AUV,2.1.4000*2C

2021-12-04T13:06:13.856Z,1638623173.856 [Micromodem](INFO): Nmea in: $CAREV,130613,COPROC,0.20.7D

2021-12-04T13:06:13.856Z,1638623173.856 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,130613,COPROC,0.20.7D
 expected 2D
2021-12-04T13:06:15.885Z,1638623175.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:16.685Z,1638623176.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:17.079Z,1638623177.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:17.904Z,1638623177.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130617.25*5B

2021-12-04T13:06:17.905Z,1638623177.905 [Micromodem](INFO): Nmea in: $CAREV,130618,AUV,2.1.4000*27

2021-12-04T13:06:18.312Z,1638623178.312 [Micromodem](INFO): Nmea in: $CAREV,130618,COPROC,0.20.0.39330*76

2021-12-04T13:06:20.340Z,1638623180.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:21.089Z,1638623181.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:21.596Z,1638623181.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:22.363Z,1638623182.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130621.65*5A

2021-12-04T13:06:22.368Z,1638623182.368 [Micromodem](INFO): Nmea in: $CAREV,130622,AUV,2.1.4000*2E

2021-12-04T13:06:22.751Z,1638623182.751 [Micromodem](INFO): Nmea in: $CAREV,130622,COPROC,0.20.0.39330*7F

2021-12-04T13:06:24.818Z,1638623184.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:25.574Z,1638623185.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:25.968Z,1638623185.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:26.796Z,1638623186.796 [Micromodem](INFO): Nmea in: $SNTTA,0.083802,,,,130626.13*43

2021-12-04T13:06:26.797Z,1638623186.797 [Micromodem](INFO): Nmea in: $CAREV,130627,AUV,2.1.4000*2B

2021-12-04T13:06:27.197Z,1638623187.197 [Micromodem](INFO): Nmea in: $CAREV,130627,COPROC,0.20.0.39330*7A

2021-12-04T13:06:29.229Z,1638623189.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:29.977Z,1638623189.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:30.431Z,1638623190.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:31.206Z,1638623191.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130630.54*58

2021-12-04T13:06:31.208Z,1638623191.208 [Micromodem](INFO): Nmea in: $CAREV,130631,AUV,2.1.4000*2C

2021-12-04T13:06:31.700Z,1638623191.700 [Micromodem](INFO): Nmea in: $CAREV,130631,COPROC,0.20.0.39330*7D

2021-12-04T13:06:33.325Z,1638623193.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:34.037Z,1638623194.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:34.455Z,1638623194.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:35.295Z,1638623195.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130634.60*5B

2021-12-04T13:06:35.307Z,1638623195.307 [Micromodem](INFO): Nmea in: $CAREV,130635,AUV,2.1.4000*28

2021-12-04T13:06:35.664Z,1638623195.664 [Micromodem](INFO): Nmea in: $CAREV,130635,COPROC,0.20.0.39330*79

2021-12-04T13:06:37.733Z,1638623197.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:38.505Z,1638623198.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:38.902Z,1638623198.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:39.740Z,1638623199.740 [Micromodem](INFO): Nmea in: $SNTTA,0.021093,,,,130639.06*41

2021-12-04T13:06:39.741Z,1638623199.741 [Micromodem](INFO): Nmea in: $CAREV,130640,AUV,2.1.4000*2A

2021-12-04T13:06:40.092Z,1638623200.092 [Micromodem](INFO): Nmea in: $CAREV,130640,COPROC,0.20.0.39330*7B

2021-12-04T13:06:42.137Z,1638623202.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:42.933Z,1638623202.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:43.377Z,1638623203.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:44.204Z,1638623204.204 [Micromodem](INFO): Nmea in: $SNTTA,0.027370,,,,130643.49*4F

2021-12-04T13:06:44.205Z,1638623204.205 [Micromodem](INFO): Nmea in: $CAREV,130644,AUV,2.1.4000*2E

2021-12-04T13:06:44.564Z,1638623204.564 [Micromodem](INFO): Nmea in: $CAREV,130644,COPROC,0.20.0.39330*7F

2021-12-04T13:06:46.596Z,1638623206.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:47.387Z,1638623207.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:47.795Z,1638623207.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:48.616Z,1638623208.616 [Micromodem](INFO): Nmea in: $SNTTA,0.045610,,,,130647.95*4D

2021-12-04T13:06:48.617Z,1638623208.617 [Micromodem](INFO): Nmea in: $CAREV,130649,AUV,2.1.4000*23

2021-12-04T13:06:49.008Z,1638623209.008 [Micromodem](INFO): Nmea in: $CAREV,130649,COPROC,0.20.0.39330*72

2021-12-04T13:06:51.003Z,1638623211.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:51.901Z,1638623211.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:52.234Z,1638623212.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:53.456Z,1638623213.456 [Micromodem](INFO): Nmea in: $SNTTA,0.008134,,,,130652.46*4F

2021-12-04T13:06:53.457Z,1638623213.457 [Micromodem](INFO): Nmea in: $CAREV,130653,AUV,2.1.4000*28

2021-12-04T13:06:53.860Z,1638623213.860 [Micromodem](INFO): Nmea in: $CAREV,130653,COPROC,0.20.0.39330*79

2021-12-04T13:06:55.505Z,1638623215.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:06:56.269Z,1638623216.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:06:56.679Z,1638623216.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:06:57.524Z,1638623217.524 [Micromodem](INFO): Nmea in: $SNTTA,0.001728,,,,130656.83*40

2021-12-04T13:06:57.525Z,1638623217.525 [Micromodem](INFO): Nmea in: $CAREV,130657,AUV,2.1.4000*2C

2021-12-04T13:06:57.900Z,1638623217.900 [Micromodem](INFO): Nmea in: $CAREV,130657,COPROC,0.20.0.39330*7D

2021-12-04T13:06:59.929Z,1638623219.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:00.721Z,1638623220.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:01.090Z,1638623221.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:02.020Z,1638623222.020 [Micromodem](INFO): Nmea in: $SNTTA,0.006484,,,,130701.28*40

2021-12-04T13:07:02.021Z,1638623222.021 [Micromodem](INFO): Nmea in: $CAREV,130702,AUV,2.1.4000*2D

2021-12-04T13:07:02.355Z,1638623222.355 [Micromodem](INFO): Nmea in: $CAREV,130702,COPROC,0.20.0.39330*7C

2021-12-04T13:07:04.418Z,1638623224.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:05.157Z,1638623225.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:05.574Z,1638623225.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:06.423Z,1638623226.423 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130705.71*58

2021-12-04T13:07:06.424Z,1638623226.424 [Micromodem](INFO): Nmea in: $CAREV,130706,AUV,2.1.4000*29

2021-12-04T13:07:06.788Z,1638623226.788 [Micromodem](INFO): Nmea in: $CAREV,130706,COPROC,0.20.0.39330*78

2021-12-04T13:07:08.828Z,1638623228.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:09.620Z,1638623229.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:10.025Z,1638623230.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:10.836Z,1638623230.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130710.18*53

2021-12-04T13:07:10.837Z,1638623230.837 [Micromodem](INFO): Nmea in: $CAREV,130711,AUV,2.1.4000*2F

2021-12-04T13:07:11.205Z,1638623231.205 [Micromodem](INFO): Nmea in: $CAREV,130711,COPROC,0.20.0.39330*7E

2021-12-04T13:07:13.288Z,1638623233.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:14.049Z,1638623234.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:14.469Z,1638623234.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:15.302Z,1638623235.302 [Micromodem](INFO): Nmea in: $SNTTA,0.004275,,,,130714.61*43

2021-12-04T13:07:15.311Z,1638623235.311 [Micromodem](INFO): Nmea in: $CAREV,130715,AUV,2.1.4000*2B

2021-12-04T13:07:15.676Z,1638623235.676 [Micromodem](INFO): Nmea in: $CAREV,130715,COPROC,0.20.0.39330*7A

2021-12-04T13:07:17.392Z,1638623237.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:18.089Z,1638623238.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:18.495Z,1638623238.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:19.385Z,1638623239.385 [Micromodem](INFO): Nmea in: $SNTTA,0.001783,,,,130718.65*42

2021-12-04T13:07:19.388Z,1638623239.388 [Micromodem](INFO): Nmea in: $CAREV,130719,AUV,2.1.4000*27

2021-12-04T13:07:19.716Z,1638623239.716 [Micromodem](INFO): Nmea in: $CAREV,130719,COPROC,0.20.0.39330*76

2021-12-04T13:07:21.703Z,1638623241.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:22.533Z,1638623242.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:22.942Z,1638623242.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:23.772Z,1638623243.772 [Micromodem](INFO): Nmea in: $SNTTA,0.001831,,,,130723.09*46

2021-12-04T13:07:23.773Z,1638623243.773 [Micromodem](INFO): Nmea in: $CAREV,130724,AUV,2.1.4000*29

2021-12-04T13:07:24.162Z,1638623244.162 [Micromodem](INFO): Nmea in: $CAREV,130724,COPROC,0.20.0.39330*78

2021-12-04T13:07:26.180Z,1638623246.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:26.977Z,1638623246.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:27.387Z,1638623247.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:28.212Z,1638623248.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130727.54*5F

2021-12-04T13:07:28.213Z,1638623248.213 [Micromodem](INFO): Nmea in: $CAREV,130728,AUV,2.1.4000*25

2021-12-04T13:07:28.611Z,1638623248.611 [Micromodem](INFO): Nmea in: $CAREV,130728,COPROC,0.20.0.39330*74

2021-12-04T13:07:30.608Z,1638623250.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:31.395Z,1638623251.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:31.800Z,1638623251.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:32.656Z,1638623252.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130731.95*55

2021-12-04T13:07:32.657Z,1638623252.657 [Micromodem](INFO): Nmea in: $CAREV,130733,AUV,2.1.4000*2F

2021-12-04T13:07:33.044Z,1638623253.044 [Micromodem](INFO): Nmea in: $CAREV,130733,COPROC,0.20.0.39330*7E

2021-12-04T13:07:35.069Z,1638623255.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:35.865Z,1638623255.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:36.271Z,1638623256.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:37.108Z,1638623257.108 [Micromodem](INFO): Nmea in: $SNTTA,0.019949,,,,130736.42*4A

2021-12-04T13:07:37.109Z,1638623257.109 [Micromodem](INFO): Nmea in: $CAREV,130737,AUV,2.1.4000*2B

2021-12-04T13:07:37.488Z,1638623257.488 [Micromodem](INFO): Nmea in: $CAREV,130737,COPROC,0.20.0.39330*7A

2021-12-04T13:07:39.567Z,1638623259.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:40.309Z,1638623260.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:40.697Z,1638623260.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:41.516Z,1638623261.516 [Micromodem](INFO): Nmea in: $SNTTA,0.031722,,,,130740.87*4B

2021-12-04T13:07:41.517Z,1638623261.517 [Micromodem](INFO): Nmea in: $CAREV,130741,AUV,2.1.4000*2A

2021-12-04T13:07:41.908Z,1638623261.908 [Micromodem](INFO): Nmea in: $CAREV,130741,COPROC,0.20.0.39330*7B

2021-12-04T13:07:43.966Z,1638623263.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:44.766Z,1638623264.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:45.162Z,1638623265.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:45.988Z,1638623265.988 [Micromodem](INFO): Nmea in: $SNTTA,,0.001671,,,130745.32*44

2021-12-04T13:07:45.989Z,1638623265.989 [Micromodem](INFO): Nmea in: $CAREV,130746,AUV,2.1.4000*2D

2021-12-04T13:07:46.404Z,1638623266.404 [Micromodem](INFO): Nmea in: $CAREV,130746,COPROC,0.20.0.39330*7C

2021-12-04T13:07:48.481Z,1638623268.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:49.211Z,1638623269.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:49.613Z,1638623269.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:50.456Z,1638623270.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130749.77*56

2021-12-04T13:07:50.457Z,1638623270.457 [Micromodem](INFO): Nmea in: $CAREV,130750,AUV,2.1.4000*2A

2021-12-04T13:07:50.792Z,1638623270.792 [Micromodem](INFO): Nmea in: $CAREV,130750,COPROC,0.20.0.39330*7B

2021-12-04T13:07:52.538Z,1638623272.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:53.241Z,1638623273.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:53.639Z,1638623273.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:54.476Z,1638623274.476 [Micromodem](INFO): Nmea in: $SNTTA,0.004232,,,,130753.80*4C

2021-12-04T13:07:54.477Z,1638623274.477 [Micromodem](INFO): Nmea in: $CAREV,130754,AUV,2.1.4000*2E

2021-12-04T13:07:54.864Z,1638623274.864 [Micromodem](INFO): Nmea in: $CAREV,130754,COPROC,0.20.0.39330*7F

2021-12-04T13:07:56.893Z,1638623276.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:07:57.685Z,1638623277.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:07:58.079Z,1638623278.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:07:58.920Z,1638623278.920 [Micromodem](INFO): Nmea in: $SNTTA,0.032391,,,,130758.24*44

2021-12-04T13:07:58.921Z,1638623278.921 [Micromodem](INFO): Nmea in: $CAREV,130759,AUV,2.1.4000*23

2021-12-04T13:07:59.377Z,1638623279.377 [Micromodem](INFO): Nmea in: $CAREV,130759,COPROC,0.20.0.39330*72

2021-12-04T13:08:01.420Z,1638623281.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:02.091Z,1638623282.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:02.604Z,1638623282.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:03.389Z,1638623283.389 [Micromodem](INFO): Nmea in: $SNTTA,0.004008,,,,130802.65*47

2021-12-04T13:08:03.390Z,1638623283.390 [Micromodem](INFO): Nmea in: $CAREV,130803,AUV,2.1.4000*23

2021-12-04T13:08:03.756Z,1638623283.756 [Micromodem](INFO): Nmea in: $CAREV,130803,COPROC,0.20.0.39330*72

2021-12-04T13:08:05.446Z,1638623285.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:06.165Z,1638623286.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:06.588Z,1638623286.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:07.405Z,1638623287.405 [Micromodem](INFO): Nmea in: $SNTTA,0.019835,0.459367,,,130806.72*5B

2021-12-04T13:08:07.407Z,1638623287.407 [Micromodem](INFO): Nmea in: $CAREV,130807,AUV,2.1.4000*27

2021-12-04T13:08:07.792Z,1638623287.792 [Micromodem](INFO): Nmea in: $CAREV,130807,COPROC,0.20.0.39330*76

2021-12-04T13:08:09.821Z,1638623289.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:10.609Z,1638623290.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:10.981Z,1638623290.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:11.816Z,1638623291.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130811.17*52

2021-12-04T13:08:11.817Z,1638623291.817 [Micromodem](INFO): Nmea in: $CAREV,130812,AUV,2.1.4000*23

2021-12-04T13:08:12.206Z,1638623292.206 [Micromodem](INFO): Nmea in: $CAREV,130812,COPROC,0.20.0.39330*72

2021-12-04T13:08:14.299Z,1638623294.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:15.049Z,1638623295.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:15.456Z,1638623295.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:16.296Z,1638623296.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130815.61*57

2021-12-04T13:08:16.297Z,1638623296.297 [Micromodem](INFO): Nmea in: $CAREV,130816,AUV,2.1.4000*27

2021-12-04T13:08:16.680Z,1638623296.680 [Micromodem](INFO): Nmea in: $CAREV,130816,COPROC,0.20.0.39330*76

2021-12-04T13:08:18.725Z,1638623298.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:19.493Z,1638623299.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:19.912Z,1638623299.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:20.740Z,1638623300.740 [Micromodem](INFO): Nmea in: $SNTTA,0.006353,,,,130820.05*4E

2021-12-04T13:08:20.741Z,1638623300.741 [Micromodem](INFO): Nmea in: $CAREV,130821,AUV,2.1.4000*23

2021-12-04T13:08:21.092Z,1638623301.092 [Micromodem](INFO): Nmea in: $CAREV,130821,COPROC,0.20.0.39330*72

2021-12-04T13:08:23.159Z,1638623303.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:23.941Z,1638623303.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:24.365Z,1638623304.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:25.176Z,1638623305.176 [Micromodem](INFO): Nmea in: $SNTTA,0.030852,,,,130824.50*45

2021-12-04T13:08:25.177Z,1638623305.177 [Micromodem](INFO): Nmea in: $CAREV,130825,AUV,2.1.4000*27

2021-12-04T13:08:25.560Z,1638623305.560 [Micromodem](INFO): Nmea in: $CAREV,130825,COPROC,0.20.0.39330*76

2021-12-04T13:08:27.637Z,1638623307.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:28.407Z,1638623308.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:28.791Z,1638623308.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:29.620Z,1638623309.620 [Micromodem](INFO): Nmea in: $SNTTA,0.062652,,,,130828.97*4B

2021-12-04T13:08:29.621Z,1638623309.621 [Micromodem](INFO): Nmea in: $CAREV,130830,AUV,2.1.4000*23

2021-12-04T13:08:30.008Z,1638623310.008 [Micromodem](INFO): Nmea in: $CAREV,130830,COPROC,0.20.0.39330*72

2021-12-04T13:08:32.002Z,1638623312.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:32.901Z,1638623312.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:33.231Z,1638623313.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:34.452Z,1638623314.452 [Micromodem](INFO): Nmea in: $SNTTA,0.006471,,,,130833.46*4C

2021-12-04T13:08:34.453Z,1638623314.453 [Micromodem](INFO): Nmea in: $CAREV,130834,AUV,2.1.4000*27

2021-12-04T13:08:34.852Z,1638623314.852 [Micromodem](INFO): Nmea in: $CAREV,130834,COPROC,0.20.0.39330*76

2021-12-04T13:08:36.487Z,1638623316.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:37.297Z,1638623317.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:37.678Z,1638623317.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:38.504Z,1638623318.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130837.86*5E

2021-12-04T13:08:38.505Z,1638623318.505 [Micromodem](INFO): Nmea in: $CAREV,130838,AUV,2.1.4000*2B

2021-12-04T13:08:38.900Z,1638623318.900 [Micromodem](INFO): Nmea in: $CAREV,130838,COPROC,0.20.0.39330*7A

2021-12-04T13:08:40.925Z,1638623320.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:41.713Z,1638623321.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:42.089Z,1638623322.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:43.020Z,1638623323.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130842.27*57

2021-12-04T13:08:43.021Z,1638623323.021 [Micromodem](INFO): Nmea in: $CAREV,130843,AUV,2.1.4000*27

2021-12-04T13:08:43.390Z,1638623323.390 [Micromodem](INFO): Nmea in: $CAREV,130843,COPROC,0.20.0.39330*76

2021-12-04T13:08:44.173Z,1638623324.173 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T13:08:44.173Z,1638623324.173 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:08:44.173Z,1638623324.173 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T13:08:44.174Z,1638623324.174 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:08:44.174Z,1638623324.174 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T13:08:44.174Z,1638623324.174 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.119999 m 
2021-12-04T13:08:44.175Z,1638623324.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T13:08:44.175Z,1638623324.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T13:08:44.175Z,1638623324.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T13:08:44.578Z,1638623324.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T130844: (41.552319, -70.708603)
2021-12-04T13:08:44.578Z,1638623324.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T13:08:44.578Z,1638623324.578 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T13:08:44.579Z,1638623324.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:08:44.579Z,1638623324.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T13:08:44.579Z,1638623324.579 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:08:44.579Z,1638623324.579 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T13:08:44.579Z,1638623324.579 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T13:08:44.579Z,1638623324.579 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:08:45.429Z,1638623325.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:46.161Z,1638623326.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:46.571Z,1638623326.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:47.416Z,1638623327.416 [Micromodem](INFO): Nmea in: $SNTTA,0.004115,,,,130846.72*4C

2021-12-04T13:08:47.417Z,1638623327.417 [Micromodem](INFO): Nmea in: $CAREV,130847,AUV,2.1.4000*23

2021-12-04T13:08:47.788Z,1638623327.788 [Micromodem](INFO): Nmea in: $CAREV,130847,COPROC,0.20.0.39330*72

2021-12-04T13:08:49.821Z,1638623329.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:50.607Z,1638623330.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:51.011Z,1638623331.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:51.848Z,1638623331.848 [Micromodem](INFO): Nmea in: $SNTTA,0.023741,,,,130851.17*4B

2021-12-04T13:08:51.849Z,1638623331.849 [Micromodem](INFO): Nmea in: $CAREV,130852,AUV,2.1.4000*27

2021-12-04T13:08:52.210Z,1638623332.210 [Micromodem](INFO): Nmea in: $CAREV,130852,COPROC,0.20.0.39330*76

2021-12-04T13:08:54.277Z,1638623334.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:55.049Z,1638623335.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:55.461Z,1638623335.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:08:56.300Z,1638623336.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130855.61*53

2021-12-04T13:08:56.302Z,1638623336.302 [Micromodem](INFO): Nmea in: $CAREV,130856,AUV,2.1.4000*23

2021-12-04T13:08:56.684Z,1638623336.684 [Micromodem](INFO): Nmea in: $CAREV,130856,COPROC,0.20.0.39330*72

2021-12-04T13:08:58.719Z,1638623338.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:08:59.493Z,1638623339.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:08:59.553Z,1638623339.553 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:08:59.900Z,1638623339.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:00.740Z,1638623340.740 [Micromodem](INFO): Nmea in: $SNTTA,0.019031,,,,130900.05*44

2021-12-04T13:09:00.741Z,1638623340.741 [Micromodem](INFO): Nmea in: $CAREV,130901,AUV,2.1.4000*20

2021-12-04T13:09:01.124Z,1638623341.124 [Micromodem](INFO): Nmea in: $CAREV,130901,COPROC,0.20.0.39330*71

2021-12-04T13:09:03.217Z,1638623343.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:03.937Z,1638623343.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:04.361Z,1638623344.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:05.172Z,1638623345.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130904.50*54

2021-12-04T13:09:05.173Z,1638623345.173 [Micromodem](INFO): Nmea in: $CAREV,130905,AUV,2.1.4000*24

2021-12-04T13:09:05.568Z,1638623345.568 [Micromodem](INFO): Nmea in: $CAREV,130905,COPROC,0.20.0.39330*75

2021-12-04T13:09:06.794Z,1638623346.794 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-12-04T13:04:06.6Z
2021-12-04T13:09:06.794Z,1638623346.794 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-12-04T13:09:06.794Z,1638623346.794 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-12-04T13:09:06.794Z,1638623346.794 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T13:09:06.794Z,1638623346.794 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-12-04T13:09:07.169Z,1638623347.169 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 3.059998 m .
2021-12-04T13:09:07.169Z,1638623347.169 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-12-04T13:09:07.169Z,1638623347.169 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-12-04T13:09:07.169Z,1638623347.169 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-12-04T13:09:07.169Z,1638623347.169 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T13:09:07.610Z,1638623347.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:08.374Z,1638623348.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:08.855Z,1638623348.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:09.624Z,1638623349.624 [Micromodem](INFO): Nmea in: $SNTTA,0.034738,,,,130908.93*42

2021-12-04T13:09:09.625Z,1638623349.625 [Micromodem](INFO): Nmea in: $CAREV,130909,AUV,2.1.4000*28

2021-12-04T13:09:09.632Z,1638623349.632 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:09:10.008Z,1638623350.008 [Micromodem](INFO): Nmea in: $CAREV,130909,COPROC,0.20.0.39330*79

2021-12-04T13:09:10.485Z,1638623350.485 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-12-04T13:09:10.836Z,1638623350.836 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T13:09:12.037Z,1638623352.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:12.817Z,1638623352.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:13.239Z,1638623353.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:14.072Z,1638623354.072 [Micromodem](INFO): Nmea in: $SNTTA,,0.484825,,,130913.38*45

2021-12-04T13:09:14.073Z,1638623354.073 [Micromodem](INFO): Nmea in: $CAREV,130914,AUV,2.1.4000*24

2021-12-04T13:09:14.460Z,1638623354.460 [Micromodem](INFO): Nmea in: $CAREV,130914,COPROC,0.20.0.39330*75

2021-12-04T13:09:16.478Z,1638623356.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:17.302Z,1638623357.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:17.675Z,1638623357.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:18.507Z,1638623358.507 [Micromodem](INFO): Nmea in: $SNTTA,0.039237,,,,130917.86*4F

2021-12-04T13:09:18.508Z,1638623358.508 [Micromodem](INFO): Nmea in: $CAREV,130918,AUV,2.1.4000*28

2021-12-04T13:09:18.892Z,1638623358.892 [Micromodem](INFO): Nmea in: $CAREV,130918,COPROC,0.20.0.39330*79

2021-12-04T13:09:19.393Z,1638623359.393 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:09:20.926Z,1638623360.926 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-12-04T13:09:20.938Z,1638623360.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:21.713Z,1638623361.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:22.119Z,1638623362.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:22.960Z,1638623362.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130922.27*50

2021-12-04T13:09:22.961Z,1638623362.961 [Micromodem](INFO): Nmea in: $CAREV,130923,AUV,2.1.4000*20

2021-12-04T13:09:23.376Z,1638623363.376 [Micromodem](INFO): Nmea in: $CAREV,130923,COPROC,0.20.0.39330*71

2021-12-04T13:09:25.446Z,1638623365.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:26.149Z,1638623366.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:26.566Z,1638623366.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:27.416Z,1638623367.416 [Micromodem](INFO): Nmea in: $SNTTA,0.008492,,,,130926.71*4E

2021-12-04T13:09:27.417Z,1638623367.417 [Micromodem](INFO): Nmea in: $CAREV,130927,AUV,2.1.4000*24

2021-12-04T13:09:27.776Z,1638623367.776 [Micromodem](INFO): Nmea in: $CAREV,130927,COPROC,0.20.0.39330*75

2021-12-04T13:09:29.430Z,1638623369.430 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:09:29.813Z,1638623369.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:30.343Z,1638623370.343 [BuoyancyServo](ERROR): getPosition uart error serial timeout
2021-12-04T13:09:30.343Z,1638623370.343 [BuoyancyServo](FAULT): Buoyancy getPosition uart error.serial timeout
2021-12-04T13:09:30.344Z,1638623370.344 [BuoyancyServo] Communications Fault, FailCount= 1
2021-12-04T13:09:30.344Z,1638623370.344 [BuoyancyServo](ERROR): Communications Fault
2021-12-04T13:09:30.401Z,1638623370.401 [CBIT](ERROR): Communications Fault in component: BuoyancyServo
2021-12-04T13:09:30.605Z,1638623370.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:31.019Z,1638623371.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:31.844Z,1638623371.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130931.16*50

2021-12-04T13:09:31.845Z,1638623371.845 [Micromodem](INFO): Nmea in: $CAREV,130932,AUV,2.1.4000*20

2021-12-04T13:09:32.240Z,1638623372.240 [Micromodem](INFO): Nmea in: $CAREV,130932,COPROC,0.20.0.39330*71

2021-12-04T13:09:32.280Z,1638623372.280 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-12-04T13:09:32.280Z,1638623372.280 [BuoyancyServo](INFO): Powering down
2021-12-04T13:09:33.105Z,1638623373.105 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-12-04T13:09:33.105Z,1638623373.105 [BuoyancyServo] No Fault, FailCount= 1
2021-12-04T13:09:33.524Z,1638623373.524 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-12-04T13:09:33.531Z,1638623373.531 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-12-04T13:09:34.253Z,1638623374.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:35.045Z,1638623375.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:35.458Z,1638623375.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:36.292Z,1638623376.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130935.60*55

2021-12-04T13:09:36.293Z,1638623376.293 [Micromodem](INFO): Nmea in: $CAREV,130936,AUV,2.1.4000*24

2021-12-04T13:09:36.668Z,1638623376.668 [Micromodem](INFO): Nmea in: $CAREV,130936,COPROC,0.20.0.39330*75

2021-12-04T13:09:38.710Z,1638623378.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:39.501Z,1638623379.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:39.567Z,1638623379.567 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-12-04T13:09:39.891Z,1638623379.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:40.732Z,1638623380.732 [Micromodem](INFO): Nmea in: $SNTTA,0.030876,,,,130940.06*43

2021-12-04T13:09:40.733Z,1638623380.733 [Micromodem](INFO): Nmea in: $CAREV,130941,AUV,2.1.4000*24

2021-12-04T13:09:41.124Z,1638623381.124 [Micromodem](INFO): Nmea in: $CAREV,130941,COPROC,0.20.0.39330*75

2021-12-04T13:09:43.145Z,1638623383.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:43.933Z,1638623383.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:44.370Z,1638623384.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:45.180Z,1638623385.180 [Micromodem](INFO): Nmea in: $SNTTA,0.057315,,,,130944.49*43

2021-12-04T13:09:45.181Z,1638623385.181 [Micromodem](INFO): Nmea in: $CAREV,130945,AUV,2.1.4000*20

2021-12-04T13:09:45.568Z,1638623385.568 [Micromodem](INFO): Nmea in: $CAREV,130945,COPROC,0.20.0.39330*71

2021-12-04T13:09:47.640Z,1638623387.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:48.407Z,1638623388.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:48.783Z,1638623388.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:49.616Z,1638623389.616 [Micromodem](INFO): Nmea in: $SNTTA,0.024104,,,,130948.97*4A

2021-12-04T13:09:49.617Z,1638623389.617 [Micromodem](INFO): Nmea in: $CAREV,130950,AUV,2.1.4000*24

2021-12-04T13:09:50.014Z,1638623390.014 [Micromodem](INFO): Nmea in: $CAREV,130950,COPROC,0.20.0.39330*75

2021-12-04T13:09:52.024Z,1638623392.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:52.821Z,1638623392.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:53.219Z,1638623393.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:54.068Z,1638623394.068 [Micromodem](INFO): Nmea in: $SNTTA,0.046666,,,,130953.38*42

2021-12-04T13:09:54.069Z,1638623394.069 [Micromodem](INFO): Nmea in: $CAREV,130954,AUV,2.1.4000*20

2021-12-04T13:09:54.456Z,1638623394.456 [Micromodem](INFO): Nmea in: $CAREV,130954,COPROC,0.20.0.39330*71

2021-12-04T13:09:56.491Z,1638623396.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:09:57.293Z,1638623397.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:09:57.675Z,1638623397.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:09:58.502Z,1638623398.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130957.86*59

2021-12-04T13:09:58.504Z,1638623398.504 [Micromodem](INFO): Nmea in: $CAREV,130958,AUV,2.1.4000*2C

2021-12-04T13:09:58.892Z,1638623398.892 [Micromodem](INFO): Nmea in: $CAREV,130958,COPROC,0.20.0.39330*7D

2021-12-04T13:09:59.361Z,1638623399.361 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:10:00.913Z,1638623400.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:01.710Z,1638623401.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:02.111Z,1638623402.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:02.948Z,1638623402.948 [Micromodem](INFO): Nmea in: $SNTTA,0.055388,,,,131002.27*47

2021-12-04T13:10:02.949Z,1638623402.949 [Micromodem](INFO): Nmea in: $CAREV,131003,AUV,2.1.4000*2A

2021-12-04T13:10:03.364Z,1638623403.364 [Micromodem](INFO): Nmea in: $CAREV,131003,COPROC,0.20.0.39330*7B

2021-12-04T13:10:05.446Z,1638623405.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:06.153Z,1638623406.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:06.567Z,1638623406.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:07.416Z,1638623407.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131006.71*5D

2021-12-04T13:10:07.417Z,1638623407.417 [Micromodem](INFO): Nmea in: $CAREV,131007,AUV,2.1.4000*2E

2021-12-04T13:10:07.780Z,1638623407.780 [Micromodem](INFO): Nmea in: $CAREV,131007,COPROC,0.20.0.39330*7F

2021-12-04T13:10:09.808Z,1638623409.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:10.593Z,1638623410.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:11.003Z,1638623411.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:11.840Z,1638623411.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131011.15*59

2021-12-04T13:10:11.841Z,1638623411.841 [Micromodem](INFO): Nmea in: $CAREV,131012,AUV,2.1.4000*2A

2021-12-04T13:10:11.856Z,1638623411.856 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T13:10:12.220Z,1638623412.220 [Micromodem](INFO): Nmea in: $CAREV,131012,COPROC,0.20.0.39330*7B

2021-12-04T13:10:14.244Z,1638623414.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:15.041Z,1638623415.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:15.459Z,1638623415.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:16.291Z,1638623416.291 [Micromodem](INFO): Nmea in: $SNTTA,0.117638,,,,131015.60*4B

2021-12-04T13:10:16.292Z,1638623416.292 [Micromodem](INFO): Nmea in: $CAREV,131016,AUV,2.1.4000*2E

2021-12-04T13:10:16.676Z,1638623416.676 [Micromodem](INFO): Nmea in: $CAREV,131016,COPROC,0.20.0.39330*7F

2021-12-04T13:10:18.695Z,1638623418.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:19.493Z,1638623419.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:19.895Z,1638623419.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:20.732Z,1638623420.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131020.05*5A

2021-12-04T13:10:20.733Z,1638623420.733 [Micromodem](INFO): Nmea in: $CAREV,131021,AUV,2.1.4000*2A

2021-12-04T13:10:21.116Z,1638623421.116 [Micromodem](INFO): Nmea in: $CAREV,131021,COPROC,0.20.0.39330*7B

2021-12-04T13:10:23.132Z,1638623423.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:23.933Z,1638623423.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:24.354Z,1638623424.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:25.164Z,1638623425.164 [Micromodem](INFO): Nmea in: $SNTTA,0.025193,,,,131024.49*44

2021-12-04T13:10:25.165Z,1638623425.165 [Micromodem](INFO): Nmea in: $CAREV,131025,AUV,2.1.4000*2E

2021-12-04T13:10:25.568Z,1638623425.568 [Micromodem](INFO): Nmea in: $CAREV,131025,COPROC,0.20.0.39330*7F

2021-12-04T13:10:27.622Z,1638623427.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:28.399Z,1638623428.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:28.783Z,1638623428.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:29.604Z,1638623429.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131028.96*58

2021-12-04T13:10:29.605Z,1638623429.605 [Micromodem](INFO): Nmea in: $CAREV,131030,AUV,2.1.4000*2A

2021-12-04T13:10:29.622Z,1638623429.622 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T13:10:30.016Z,1638623430.016 [Micromodem](INFO): Nmea in: $CAREV,131030,COPROC,0.20.0.39330*7B

2021-12-04T13:10:32.040Z,1638623432.040 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 12.00 m. Transitioning DDM to standby.
2021-12-04T13:10:32.040Z,1638623432.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:32.833Z,1638623432.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:33.246Z,1638623433.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:34.092Z,1638623434.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131033.40*59

2021-12-04T13:10:34.093Z,1638623434.093 [Micromodem](INFO): Nmea in: $CAREV,131034,AUV,2.1.4000*2E

2021-12-04T13:10:34.112Z,1638623434.112 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-12-04T13:10:34.456Z,1638623434.456 [Micromodem](INFO): Nmea in: $CAREV,131034,COPROC,0.20.0.39330*7F

2021-12-04T13:10:34.463Z,1638623434.463 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:10:34.484Z,1638623434.484 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T13:10:34.485Z,1638623434.485 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T13:10:34.486Z,1638623434.486 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T13:10:34.486Z,1638623434.486 [lineCaptureDepth:Lap] Stopped
2021-12-04T13:10:34.486Z,1638623434.486 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T13:10:34.486Z,1638623434.486 [lineCaptureDepth:Lap](INFO): Running loop #6
2021-12-04T13:10:34.486Z,1638623434.486 [lineCaptureDepth:Lap] Running Loop=6
2021-12-04T13:10:34.506Z,1638623434.506 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T13:10:34.507Z,1638623434.507 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T13:10:34.850Z,1638623434.850 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T13:10:34.850Z,1638623434.850 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T13:10:34.850Z,1638623434.850 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T13:10:35.316Z,1638623435.316 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T13:10:35.317Z,1638623435.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T13:10:35.318Z,1638623435.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T13:10:35.319Z,1638623435.319 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T13:10:35.321Z,1638623435.321 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T13:10:35.321Z,1638623435.321 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T13:10:35.719Z,1638623435.719 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T13:10:35.719Z,1638623435.719 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T13:10:36.052Z,1638623436.052 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T13:10:36.052Z,1638623436.052 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T13:10:36.467Z,1638623436.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:36.487Z,1638623436.487 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T13:10:36.487Z,1638623436.487 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T13:10:36.859Z,1638623436.859 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T13:10:36.860Z,1638623436.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T13:10:36.861Z,1638623436.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T13:10:36.862Z,1638623436.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T13:10:36.862Z,1638623436.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T13:10:37.239Z,1638623437.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T13:10:37.345Z,1638623437.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T13:10:37.346Z,1638623437.346 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T13:10:37.651Z,1638623437.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:38.504Z,1638623438.504 [Micromodem](INFO): Nmea in: $SNTTA,0.029689,,,,131037.81*42

2021-12-04T13:10:38.505Z,1638623438.505 [Micromodem](INFO): Nmea in: $CAREV,131038,AUV,2.1.4000*22

2021-12-04T13:10:38.904Z,1638623438.904 [Micromodem](INFO): Nmea in: $CAREV,131038,COPROC,0.20.0.39330*73

2021-12-04T13:10:39.761Z,1638623439.761 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T13:10:40.121Z,1638623440.121 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T13:10:40.570Z,1638623440.570 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T13:10:40.930Z,1638623440.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:40.931Z,1638623440.931 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T13:10:41.721Z,1638623441.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:42.115Z,1638623442.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:42.949Z,1638623442.949 [Micromodem](INFO): Nmea in: $SNTTA,0.027873,,,,131042.28*46

2021-12-04T13:10:42.951Z,1638623442.951 [Micromodem](INFO): Nmea in: $CAREV,131043,AUV,2.1.4000*2E

2021-12-04T13:10:43.367Z,1638623443.367 [Micromodem](INFO): Nmea in: $CAREV,131043,COPROC,0.20.0.39330*7F

2021-12-04T13:10:45.459Z,1638623445.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:46.161Z,1638623446.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:46.569Z,1638623446.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:47.402Z,1638623447.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131046.72*5A

2021-12-04T13:10:47.403Z,1638623447.403 [Micromodem](INFO): Nmea in: $CAREV,131047,AUV,2.1.4000*2A

2021-12-04T13:10:47.780Z,1638623447.780 [Micromodem](INFO): Nmea in: $CAREV,131047,COPROC,0.20.0.39330*7B

2021-12-04T13:10:49.515Z,1638623449.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:50.193Z,1638623450.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:50.603Z,1638623450.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:51.452Z,1638623451.452 [Micromodem](INFO): Nmea in: $SNTTA,0.053995,,,,131050.75*47

2021-12-04T13:10:51.453Z,1638623451.453 [Micromodem](INFO): Nmea in: $CAREV,131051,AUV,2.1.4000*2D

2021-12-04T13:10:51.820Z,1638623451.820 [Micromodem](INFO): Nmea in: $CAREV,131051,COPROC,0.20.0.39330*7C

2021-12-04T13:10:53.856Z,1638623453.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:54.641Z,1638623454.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:55.052Z,1638623455.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:10:55.880Z,1638623455.880 [Micromodem](INFO): Nmea in: $SNTTA,0.024553,,,,131055.20*44

2021-12-04T13:10:55.881Z,1638623455.881 [Micromodem](INFO): Nmea in: $CAREV,131056,AUV,2.1.4000*2A

2021-12-04T13:10:56.264Z,1638623456.264 [Micromodem](INFO): Nmea in: $CAREV,131056,COPROC,0.20.0.39330*7B

2021-12-04T13:10:58.291Z,1638623458.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:10:59.077Z,1638623459.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:10:59.487Z,1638623459.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:00.328Z,1638623460.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131059.64*53

2021-12-04T13:11:00.329Z,1638623460.329 [Micromodem](INFO): Nmea in: $CAREV,131100,AUV,2.1.4000*28

2021-12-04T13:11:00.704Z,1638623460.704 [Micromodem](INFO): Nmea in: $CAREV,131100,COPROC,0.20.0.39330*79

2021-12-04T13:11:01.125Z,1638623461.125 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 14.34 m. Transitioning DDM to standby.
2021-12-04T13:11:02.743Z,1638623462.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:03.180Z,1638623463.180 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T13:11:03.525Z,1638623463.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:03.658Z,1638623463.658 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T13:11:03.658Z,1638623463.658 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T13:11:03.658Z,1638623463.658 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T13:11:03.900Z,1638623463.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:03.929Z,1638623463.929 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T13:11:03.929Z,1638623463.929 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T13:11:03.929Z,1638623463.929 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T13:11:04.418Z,1638623464.418 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T13:11:04.418Z,1638623464.418 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T13:11:04.418Z,1638623464.418 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T13:11:04.418Z,1638623464.418 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T13:11:04.423Z,1638623464.423 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T13:11:04.735Z,1638623464.735 [Micromodem](INFO): Nmea in: $SNTTA,0.028386,,,,131104.09*48

2021-12-04T13:11:04.736Z,1638623464.736 [Micromodem](INFO): Nmea in: $CAREV,131105,AUV,2.1.4000*2D

2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T13:11:04.759Z,1638623464.759 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T13:11:04.760Z,1638623464.760 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T13:11:04.760Z,1638623464.760 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T13:11:04.761Z,1638623464.761 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T13:11:04.761Z,1638623464.761 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T13:11:04.761Z,1638623464.761 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 14.639997 m 
2021-12-04T13:11:04.761Z,1638623464.761 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T13:11:04.761Z,1638623464.761 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T13:11:04.763Z,1638623464.763 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T13:11:04.763Z,1638623464.763 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T13:11:04.763Z,1638623464.763 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T13:11:04.763Z,1638623464.763 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T13:11:05.120Z,1638623465.120 [Micromodem](INFO): Nmea in: $CAREV,131105,COPROC,0.20.0.39330*7C

2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T13:11:05.159Z,1638623465.159 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T13:11:05.160Z,1638623465.160 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T13:11:05.160Z,1638623465.160 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T13:11:05.583Z,1638623465.583 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T13:11:05.583Z,1638623465.583 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T13:11:05.584Z,1638623465.584 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T13:11:05.584Z,1638623465.584 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:11:05.584Z,1638623465.584 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T13:11:05.585Z,1638623465.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 14.639997 m (mode 0 count ).
2021-12-04T13:11:05.585Z,1638623465.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T13:11:05.585Z,1638623465.585 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T13:11:05.591Z,1638623465.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T13:11:05.592Z,1638623465.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T13:11:05.593Z,1638623465.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T13:11:05.593Z,1638623465.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T13:11:05.593Z,1638623465.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T13:11:05.593Z,1638623465.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T13:11:05.593Z,1638623465.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T13:11:05.593Z,1638623465.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T13:11:05.594Z,1638623465.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T13:11:05.598Z,1638623465.598 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T13:11:05.599Z,1638623465.599 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T13:11:05.952Z,1638623465.952 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T13:11:05.952Z,1638623465.952 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:11:05.952Z,1638623465.952 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T13:11:05.952Z,1638623465.952 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:11:05.955Z,1638623465.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 6.992176 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T13:11:05.956Z,1638623465.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 14.64 m.
2021-12-04T13:11:05.956Z,1638623465.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 6.992176deg and heading rate command to 0 deg/s.
2021-12-04T13:11:07.209Z,1638623467.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:07.990Z,1638623467.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:08.491Z,1638623468.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:08.804Z,1638623468.804 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:08.810Z,1638623468.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 354.674402 deg, deltaT: 4.389916 s, deltaX: 0.240003 m, approachRate: 0.054671 m/s, LOS rate: -2.805924 deg/s, posRepo size: 2
2021-12-04T13:11:08.810Z,1638623468.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 14.88 m.
2021-12-04T13:11:08.812Z,1638623468.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 354.674402 deg,
      approachRate: 0.054671 m/s,
      LOS rate: -2.805924 deg/s,
      cmd update: -8.417773 deg/s,
      cmd heading: 6.992176 deg,
      new cmd heading: 6.992176 deg.

2021-12-04T13:11:09.196Z,1638623469.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131108.56*57

2021-12-04T13:11:09.197Z,1638623469.197 [Micromodem](INFO): Nmea in: $CAREV,131109,AUV,2.1.4000*21

2021-12-04T13:11:09.648Z,1638623469.648 [Micromodem](INFO): Nmea in: $CAREV,131109,COPROC,0.20.0.39330*70

2021-12-04T13:11:09.671Z,1638623469.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:11:11.433Z,1638623471.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:12.137Z,1638623472.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:12.552Z,1638623472.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:12.979Z,1638623472.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:12.984Z,1638623472.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 359.807699 deg, deltaT: 4.174230 s, deltaX: 0.299999 m, approachRate: 0.071869 m/s, LOS rate: 1.229759 deg/s, posRepo size: 3
2021-12-04T13:11:12.984Z,1638623472.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 15.18 m.
2021-12-04T13:11:12.986Z,1638623472.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.179998 m,
      bearing: 359.807699 deg,
      approachRate: 0.071869 m/s,
      LOS rate: 1.229759 deg/s,
      cmd update: 3.689277 deg/s,
      cmd heading: 332.986100 deg,
      new cmd heading: 329.681645 deg.

2021-12-04T13:11:13.404Z,1638623473.404 [Micromodem](INFO): Nmea in: $SNTTA,0.033192,,,,131112.70*4C

2021-12-04T13:11:13.405Z,1638623473.405 [Micromodem](INFO): Nmea in: $CAREV,131113,AUV,2.1.4000*2A

2021-12-04T13:11:13.788Z,1638623473.788 [Micromodem](INFO): Nmea in: $CAREV,131113,COPROC,0.20.0.39330*7B

2021-12-04T13:11:15.794Z,1638623475.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:16.581Z,1638623476.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:16.992Z,1638623476.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:17.453Z,1638623477.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:17.478Z,1638623477.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 98.695223 deg, deltaT: 4.474055 s, deltaX: -0.720000 m, approachRate: -0.160928 m/s, LOS rate: 22.102438 deg/s, posRepo size: 4
2021-12-04T13:11:17.482Z,1638623477.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 14.46 m.
2021-12-04T13:11:17.483Z,1638623477.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 14.46 m.
2021-12-04T13:11:17.483Z,1638623477.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T13:11:17.484Z,1638623477.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:17.816Z,1638623477.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131117.14*5F

2021-12-04T13:11:17.817Z,1638623477.817 [Micromodem](INFO): Nmea in: $CAREV,131118,AUV,2.1.4000*21

2021-12-04T13:11:17.858Z,1638623477.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:18.208Z,1638623478.208 [Micromodem](INFO): Nmea in: $CAREV,131118,COPROC,0.20.0.39330*70

2021-12-04T13:11:18.222Z,1638623478.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:18.643Z,1638623478.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:19.026Z,1638623479.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:19.494Z,1638623479.494 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:11:19.525Z,1638623479.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:19.849Z,1638623479.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:20.228Z,1638623480.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:20.230Z,1638623480.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:20.669Z,1638623480.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:21.025Z,1638623481.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:21.113Z,1638623481.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:21.443Z,1638623481.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:21.517Z,1638623481.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.102438 deg/s. Setting heading cmd to target bearing of 98.695223deg and heading rate command to 0 deg/s.
2021-12-04T13:11:21.866Z,1638623481.866 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:21.874Z,1638623481.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 339.747461 deg, deltaT: 4.413691 s, deltaX: -0.659996 m, approachRate: -0.149534 m/s, LOS rate: -26.949725 deg/s, posRepo size: 4
2021-12-04T13:11:21.882Z,1638623481.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 13.80 m.
2021-12-04T13:11:21.886Z,1638623481.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:22.271Z,1638623482.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131121.59*53

2021-12-04T13:11:22.272Z,1638623482.272 [Micromodem](INFO): Nmea in: $CAREV,131122,AUV,2.1.4000*28

2021-12-04T13:11:22.286Z,1638623482.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:22.656Z,1638623482.656 [Micromodem](INFO): Nmea in: $CAREV,131122,COPROC,0.20.0.39330*79

2021-12-04T13:11:22.679Z,1638623482.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:23.074Z,1638623483.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:23.503Z,1638623483.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 13.80 m.
2021-12-04T13:11:23.504Z,1638623483.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:23.900Z,1638623483.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 13.80 m.
2021-12-04T13:11:23.901Z,1638623483.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:24.290Z,1638623484.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:24.677Z,1638623484.677 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:11:24.687Z,1638623484.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:24.689Z,1638623484.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:25.098Z,1638623485.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:25.461Z,1638623485.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:25.583Z,1638623485.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 13.80 m.
2021-12-04T13:11:25.584Z,1638623485.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:25.879Z,1638623485.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:25.909Z,1638623485.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 13.80 m.
2021-12-04T13:11:25.910Z,1638623485.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.949725 deg/s. Setting heading cmd to target bearing of 339.747461deg and heading rate command to 0 deg/s.
2021-12-04T13:11:26.301Z,1638623486.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:26.307Z,1638623486.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 339.448845 deg, deltaT: 4.434614 s, deltaX: -1.440001 m, approachRate: -0.324718 m/s, LOS rate: -0.067338 deg/s, posRepo size: 4
2021-12-04T13:11:26.309Z,1638623486.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.747461 deg,
      new cmd heading: 339.747461 deg.

2021-12-04T13:11:26.715Z,1638623486.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131126.02*5A

2021-12-04T13:11:26.716Z,1638623486.716 [Micromodem](INFO): Nmea in: $CAREV,131127,AUV,2.1.4000*2D

2021-12-04T13:11:26.742Z,1638623486.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.667466 deg,
      new cmd heading: 339.579535 deg.

2021-12-04T13:11:27.096Z,1638623487.096 [Micromodem](INFO): Nmea in: $CAREV,131127,COPROC,0.20.0.39330*7C

2021-12-04T13:11:27.115Z,1638623487.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.579535 deg,
      new cmd heading: 339.504236 deg.

2021-12-04T13:11:27.540Z,1638623487.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.36 m.
2021-12-04T13:11:27.542Z,1638623487.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.504236 deg,
      new cmd heading: 339.417945 deg.

2021-12-04T13:11:27.934Z,1638623487.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.36 m.
2021-12-04T13:11:27.936Z,1638623487.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.417945 deg,
      new cmd heading: 339.338502 deg.

2021-12-04T13:11:28.323Z,1638623488.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.338502 deg,
      new cmd heading: 339.260225 deg.

2021-12-04T13:11:28.744Z,1638623488.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.260225 deg,
      new cmd heading: 339.175018 deg.

2021-12-04T13:11:29.129Z,1638623489.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:29.132Z,1638623489.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.175018 deg,
      new cmd heading: 339.096770 deg.

2021-12-04T13:11:29.588Z,1638623489.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 12.36 m.
2021-12-04T13:11:29.590Z,1638623489.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.096770 deg,
      new cmd heading: 339.005718 deg.

2021-12-04T13:11:29.909Z,1638623489.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:29.996Z,1638623489.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.36 m.
2021-12-04T13:11:30.005Z,1638623490.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 339.005718 deg,
      new cmd heading: 338.921942 deg.

2021-12-04T13:11:30.319Z,1638623490.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:30.405Z,1638623490.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 339.448845 deg,
      approachRate: -0.324718 m/s,
      LOS rate: -0.067338 deg/s,
      cmd update: -0.202013 deg/s,
      cmd heading: 338.921942 deg,
      new cmd heading: 338.839549 deg.

2021-12-04T13:11:30.777Z,1638623490.777 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:30.792Z,1638623490.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 25.781796 deg, deltaT: 4.481541 s, deltaX: -1.140000 m, approachRate: -0.254377 m/s, LOS rate: 10.338623 deg/s, posRepo size: 4
2021-12-04T13:11:30.792Z,1638623490.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.22 m.
2021-12-04T13:11:30.794Z,1638623490.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 338.839549 deg,
      new cmd heading: 338.762283 deg.

2021-12-04T13:11:31.144Z,1638623491.144 [Micromodem](INFO): Nmea in: $SNTTA,0.025123,,,,131130.47*45

2021-12-04T13:11:31.145Z,1638623491.145 [Micromodem](INFO): Nmea in: $CAREV,131131,AUV,2.1.4000*2A

2021-12-04T13:11:31.167Z,1638623491.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.429333 deg,
      new cmd heading: 347.983489 deg.

2021-12-04T13:11:31.540Z,1638623491.540 [Micromodem](INFO): Nmea in: $CAREV,131131,COPROC,0.20.0.39330*7B

2021-12-04T13:11:31.622Z,1638623491.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 347.983489 deg,
      new cmd heading: 353.441677 deg.

2021-12-04T13:11:31.973Z,1638623491.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 353.441677 deg,
      new cmd heading: 357.487945 deg.

2021-12-04T13:11:32.405Z,1638623492.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.487945 deg,
      new cmd heading: 2.837918 deg.

2021-12-04T13:11:32.784Z,1638623492.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 2.837918 deg,
      new cmd heading: 7.379318 deg.

2021-12-04T13:11:33.171Z,1638623493.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 7.379318 deg,
      new cmd heading: 12.027602 deg.

2021-12-04T13:11:33.617Z,1638623493.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:33.625Z,1638623493.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 12.027602 deg,
      new cmd heading: 17.474474 deg.

2021-12-04T13:11:33.982Z,1638623493.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 17.474474 deg,
      new cmd heading: 21.765746 deg.

2021-12-04T13:11:34.417Z,1638623494.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:34.533Z,1638623494.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 21.765746 deg,
      new cmd heading: 28.372706 deg.

2021-12-04T13:11:34.768Z,1638623494.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:34.803Z,1638623494.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 25.781796 deg,
      approachRate: -0.254377 m/s,
      LOS rate: 10.338623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 28.372706 deg,
      new cmd heading: 31.612730 deg.

2021-12-04T13:11:35.197Z,1638623495.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:35.202Z,1638623495.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.200003 m, bearing: 313.338125 deg, deltaT: 4.414101 s, deltaX: -1.019999 m, approachRate: -0.231077 m/s, LOS rate: -16.411877 deg/s, posRepo size: 4
2021-12-04T13:11:35.203Z,1638623495.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:35.644Z,1638623495.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:35.995Z,1638623495.995 [Micromodem](INFO): Nmea in: $SNTTA,0.048684,,,,131134.98*42

2021-12-04T13:11:35.996Z,1638623495.996 [Micromodem](INFO): Nmea in: $CAREV,131136,AUV,2.1.4000*2D

2021-12-04T13:11:36.014Z,1638623496.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:36.396Z,1638623496.396 [Micromodem](INFO): Nmea in: $CAREV,131136,COPROC,0.20.0.39330*7C

2021-12-04T13:11:36.428Z,1638623496.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:36.835Z,1638623496.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:37.205Z,1638623497.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:37.649Z,1638623497.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:38.016Z,1638623498.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:38.018Z,1638623498.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:38.474Z,1638623498.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:38.809Z,1638623498.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:38.904Z,1638623498.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:39.221Z,1638623499.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:39.256Z,1638623499.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.411877 deg/s. Setting heading cmd to target bearing of 313.338125deg and heading rate command to 0 deg/s.
2021-12-04T13:11:39.660Z,1638623499.660 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:39.665Z,1638623499.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 303.940112 deg, deltaT: 4.463365 s, deltaX: -1.080003 m, approachRate: -0.241971 m/s, LOS rate: -2.105589 deg/s, posRepo size: 4
2021-12-04T13:11:39.667Z,1638623499.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 313.338125 deg,
      new cmd heading: 313.338125 deg.

2021-12-04T13:11:40.056Z,1638623500.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131139.37*52

2021-12-04T13:11:40.057Z,1638623500.057 [Micromodem](INFO): Nmea in: $CAREV,131140,AUV,2.1.4000*2C

2021-12-04T13:11:40.098Z,1638623500.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 310.748326 deg,
      new cmd heading: 308.012730 deg.

2021-12-04T13:11:40.452Z,1638623500.452 [Micromodem](INFO): Nmea in: $CAREV,131140,COPROC,0.20.0.39330*7D

2021-12-04T13:11:40.476Z,1638623500.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 308.012730 deg,
      new cmd heading: 305.623508 deg.

2021-12-04T13:11:40.859Z,1638623500.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 305.623508 deg,
      new cmd heading: 303.209328 deg.

2021-12-04T13:11:41.278Z,1638623501.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 303.209328 deg,
      new cmd heading: 300.604805 deg.

2021-12-04T13:11:41.690Z,1638623501.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 300.604805 deg,
      new cmd heading: 297.959179 deg.

2021-12-04T13:11:42.067Z,1638623502.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 297.959179 deg,
      new cmd heading: 295.576558 deg.

2021-12-04T13:11:42.480Z,1638623502.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:42.483Z,1638623502.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 295.576558 deg,
      new cmd heading: 292.951063 deg.

2021-12-04T13:11:42.866Z,1638623502.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 292.951063 deg,
      new cmd heading: 290.531741 deg.

2021-12-04T13:11:43.264Z,1638623503.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:43.386Z,1638623503.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 290.531741 deg,
      new cmd heading: 287.301656 deg.

2021-12-04T13:11:43.647Z,1638623503.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:43.712Z,1638623503.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 303.940112 deg,
      approachRate: -0.241971 m/s,
      LOS rate: -2.105589 deg/s,
      cmd update: -6.316767 deg/s,
      cmd heading: 287.301656 deg,
      new cmd heading: 285.182394 deg.

2021-12-04T13:11:44.112Z,1638623504.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:44.121Z,1638623504.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 322.227233 deg, deltaT: 4.451840 s, deltaX: -0.840001 m, approachRate: -0.188686 m/s, LOS rate: 4.107767 deg/s, posRepo size: 4
2021-12-04T13:11:44.128Z,1638623504.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 285.182394 deg,
      new cmd heading: 282.601685 deg.

2021-12-04T13:11:44.480Z,1638623504.480 [Micromodem](INFO): Nmea in: $SNTTA,0.021150,,,,131143.82*48

2021-12-04T13:11:44.481Z,1638623504.481 [Micromodem](INFO): Nmea in: $CAREV,131144,AUV,2.1.4000*28

2021-12-04T13:11:44.521Z,1638623504.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.084982 deg,
      new cmd heading: 294.889098 deg.

2021-12-04T13:11:44.880Z,1638623504.880 [Micromodem](INFO): Nmea in: $CAREV,131144,COPROC,0.20.0.39330*79

2021-12-04T13:11:44.905Z,1638623504.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 294.889098 deg,
      new cmd heading: 299.487510 deg.

2021-12-04T13:11:45.397Z,1638623505.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.487510 deg,
      new cmd heading: 305.396454 deg.

2021-12-04T13:11:45.746Z,1638623505.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 305.396454 deg,
      new cmd heading: 309.585750 deg.

2021-12-04T13:11:46.103Z,1638623506.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 309.585750 deg,
      new cmd heading: 313.869294 deg.

2021-12-04T13:11:46.529Z,1638623506.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 313.869294 deg,
      new cmd heading: 318.982794 deg.

2021-12-04T13:11:46.892Z,1638623506.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:46.895Z,1638623506.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 318.982794 deg,
      new cmd heading: 323.373631 deg.

2021-12-04T13:11:47.416Z,1638623507.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.373631 deg,
      new cmd heading: 329.569879 deg.

2021-12-04T13:11:47.693Z,1638623507.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:47.797Z,1638623507.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.569879 deg,
      new cmd heading: 334.193803 deg.

2021-12-04T13:11:48.108Z,1638623508.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:48.169Z,1638623508.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 322.227233 deg,
      approachRate: -0.188686 m/s,
      LOS rate: 4.107767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 334.193803 deg,
      new cmd heading: 338.635879 deg.

2021-12-04T13:11:48.538Z,1638623508.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:48.543Z,1638623508.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 342.395088 deg, deltaT: 4.425609 s, deltaX: -0.060000 m, approachRate: -0.013558 m/s, LOS rate: 4.557080 deg/s, posRepo size: 4
2021-12-04T13:11:48.543Z,1638623508.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.22 m.
2021-12-04T13:11:48.545Z,1638623508.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 338.635879 deg,
      new cmd heading: 343.144003 deg.

2021-12-04T13:11:48.936Z,1638623508.936 [Micromodem](INFO): Nmea in: $SNTTA,0.017481,,,,131148.26*41

2021-12-04T13:11:48.939Z,1638623508.939 [Micromodem](INFO): Nmea in: $CAREV,131149,AUV,2.1.4000*25

2021-12-04T13:11:48.966Z,1638623508.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.144003 deg,
      new cmd heading: 348.206935 deg.

2021-12-04T13:11:49.351Z,1638623509.351 [Micromodem](INFO): Nmea in: $CAREV,131149,COPROC,0.20.0.39330*74

2021-12-04T13:11:49.473Z,1638623509.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.22 m.
2021-12-04T13:11:49.478Z,1638623509.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 348.206935 deg,
      new cmd heading: 354.319999 deg.

2021-12-04T13:11:49.760Z,1638623509.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.22 m.
2021-12-04T13:11:49.763Z,1638623509.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 354.319999 deg,
      new cmd heading: 357.771140 deg.

2021-12-04T13:11:50.143Z,1638623510.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.771140 deg,
      new cmd heading: 2.343524 deg.

2021-12-04T13:11:50.596Z,1638623510.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 2.343524 deg,
      new cmd heading: 7.723292 deg.

2021-12-04T13:11:51.016Z,1638623511.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 7.723292 deg,
      new cmd heading: 12.577016 deg.

2021-12-04T13:11:51.440Z,1638623511.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:51.441Z,1638623511.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.22 m.
2021-12-04T13:11:51.443Z,1638623511.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 12.577016 deg,
      new cmd heading: 17.942120 deg.

2021-12-04T13:11:51.765Z,1638623511.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.22 m.
2021-12-04T13:11:51.767Z,1638623511.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 17.942120 deg,
      new cmd heading: 21.835472 deg.

2021-12-04T13:11:52.141Z,1638623512.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:52.247Z,1638623512.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 21.835472 deg,
      new cmd heading: 27.541508 deg.

2021-12-04T13:11:52.539Z,1638623512.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:52.595Z,1638623512.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.395088 deg,
      approachRate: -0.013558 m/s,
      LOS rate: 4.557080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 27.541508 deg,
      new cmd heading: 31.769589 deg.

2021-12-04T13:11:52.954Z,1638623512.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:52.959Z,1638623512.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 287.350402 deg, deltaT: 4.416753 s, deltaX: 0.240002 m, approachRate: 0.054339 m/s, LOS rate: -12.462704 deg/s, posRepo size: 4
2021-12-04T13:11:52.960Z,1638623512.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:53.388Z,1638623513.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131152.70*5C

2021-12-04T13:11:53.389Z,1638623513.389 [Micromodem](INFO): Nmea in: $CAREV,131153,AUV,2.1.4000*2E

2021-12-04T13:11:53.473Z,1638623513.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.46 m.
2021-12-04T13:11:53.474Z,1638623513.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:53.760Z,1638623513.760 [Micromodem](INFO): Nmea in: $CAREV,131153,COPROC,0.20.0.39330*7F

2021-12-04T13:11:53.791Z,1638623513.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.46 m.
2021-12-04T13:11:53.793Z,1638623513.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:54.178Z,1638623514.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:54.576Z,1638623514.576 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T13:11:54.594Z,1638623514.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:54.992Z,1638623514.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:55.464Z,1638623515.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.46 m.
2021-12-04T13:11:55.464Z,1638623515.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:55.888Z,1638623515.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:11:55.912Z,1638623515.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.46 m.
2021-12-04T13:11:55.912Z,1638623515.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:56.205Z,1638623516.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:56.573Z,1638623516.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:11:56.676Z,1638623516.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:56.987Z,1638623516.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:11:57.029Z,1638623517.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.462704 deg/s. Setting heading cmd to target bearing of 287.350402deg and heading rate command to 0 deg/s.
2021-12-04T13:11:57.455Z,1638623517.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:11:57.460Z,1638623517.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 332.092403 deg, deltaT: 4.501214 s, deltaX: 2.879997 m, approachRate: 0.639827 m/s, LOS rate: 9.939985 deg/s, posRepo size: 4
2021-12-04T13:11:57.461Z,1638623517.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.34 m.
2021-12-04T13:11:57.463Z,1638623517.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 287.350402 deg,
      new cmd heading: 287.350402 deg.

2021-12-04T13:11:57.816Z,1638623517.816 [Micromodem](INFO): Nmea in: $SNTTA,0.072167,,,,131157.14*40

2021-12-04T13:11:57.817Z,1638623517.817 [Micromodem](INFO): Nmea in: $CAREV,131158,AUV,2.1.4000*25

2021-12-04T13:11:57.856Z,1638623517.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.34 m.
2021-12-04T13:11:57.859Z,1638623517.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.514051 deg,
      new cmd heading: 297.271259 deg.

2021-12-04T13:11:58.200Z,1638623518.200 [Micromodem](INFO): Nmea in: $CAREV,131158,COPROC,0.20.0.39330*74

2021-12-04T13:11:58.232Z,1638623518.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 297.271259 deg,
      new cmd heading: 301.763723 deg.

2021-12-04T13:11:58.635Z,1638623518.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 301.763723 deg,
      new cmd heading: 306.601319 deg.

2021-12-04T13:11:59.039Z,1638623519.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 306.601319 deg,
      new cmd heading: 311.451395 deg.

2021-12-04T13:11:59.530Z,1638623519.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.34 m.
2021-12-04T13:11:59.553Z,1638623519.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 311.451395 deg,
      new cmd heading: 317.354435 deg.

2021-12-04T13:11:59.837Z,1638623519.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.34 m.
2021-12-04T13:11:59.839Z,1638623519.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.354435 deg,
      new cmd heading: 321.050879 deg.

2021-12-04T13:12:00.230Z,1638623520.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:00.233Z,1638623520.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.050879 deg,
      new cmd heading: 325.785863 deg.

2021-12-04T13:12:00.666Z,1638623520.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 325.785863 deg,
      new cmd heading: 330.973008 deg.

2021-12-04T13:12:01.021Z,1638623521.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:01.123Z,1638623521.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 330.973008 deg,
      new cmd heading: 336.225636 deg.

2021-12-04T13:12:01.435Z,1638623521.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:01.524Z,1638623521.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.34 m.
2021-12-04T13:12:01.525Z,1638623521.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 332.092403 deg,
      approachRate: 0.639827 m/s,
      LOS rate: 9.939985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 336.225636 deg,
      new cmd heading: 341.286420 deg.

2021-12-04T13:12:01.859Z,1638623521.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:12:01.868Z,1638623521.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 328.550459 deg, deltaT: 4.403366 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.804372 deg/s, posRepo size: 4
2021-12-04T13:12:01.868Z,1638623521.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.34 m.
2021-12-04T13:12:01.870Z,1638623521.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 341.286420 deg,
      new cmd heading: 345.351264 deg.

2021-12-04T13:12:02.267Z,1638623522.267 [Micromodem](INFO): Nmea in: $SNTTA,0.032118,,,,131201.58*44

2021-12-04T13:12:02.268Z,1638623522.268 [Micromodem](INFO): Nmea in: $CAREV,131202,AUV,2.1.4000*29

2021-12-04T13:12:02.291Z,1638623522.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 340.469008 deg,
      new cmd heading: 339.438948 deg.

2021-12-04T13:12:02.644Z,1638623522.644 [Micromodem](INFO): Nmea in: $CAREV,131202,COPROC,0.20.0.39330*78

2021-12-04T13:12:02.669Z,1638623522.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 339.438948 deg,
      new cmd heading: 338.526602 deg.

2021-12-04T13:12:03.074Z,1638623523.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 338.526602 deg,
      new cmd heading: 337.548546 deg.

2021-12-04T13:12:03.501Z,1638623523.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.34 m.
2021-12-04T13:12:03.503Z,1638623523.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 337.548546 deg,
      new cmd heading: 336.514456 deg.

2021-12-04T13:12:03.874Z,1638623523.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.34 m.
2021-12-04T13:12:03.876Z,1638623523.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 336.514456 deg,
      new cmd heading: 335.615430 deg.

2021-12-04T13:12:04.288Z,1638623524.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 335.615430 deg,
      new cmd heading: 334.619510 deg.

2021-12-04T13:12:04.671Z,1638623524.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:04.674Z,1638623524.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 334.619510 deg,
      new cmd heading: 333.688089 deg.

2021-12-04T13:12:05.096Z,1638623525.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 333.688089 deg,
      new cmd heading: 332.668004 deg.

2021-12-04T13:12:05.461Z,1638623525.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:05.584Z,1638623525.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 11.34 m.
2021-12-04T13:12:05.586Z,1638623525.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 332.668004 deg,
      new cmd heading: 331.487010 deg.

2021-12-04T13:12:05.867Z,1638623525.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:05.896Z,1638623525.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.34 m.
2021-12-04T13:12:05.897Z,1638623525.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 328.550459 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.804372 deg/s,
      cmd update: -2.413116 deg/s,
      cmd heading: 331.487010 deg,
      new cmd heading: 330.736186 deg.

2021-12-04T13:12:06.295Z,1638623526.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:12:06.304Z,1638623526.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 325.829147 deg, deltaT: 4.435686 s, deltaX: 3.660003 m, approachRate: 0.825127 m/s, LOS rate: -0.613504 deg/s, posRepo size: 4
2021-12-04T13:12:06.304Z,1638623526.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 15.00 m.
2021-12-04T13:12:06.306Z,1638623526.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 330.736186 deg,
      new cmd heading: 329.765172 deg.

2021-12-04T13:12:06.707Z,1638623526.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131206.02*5B

2021-12-04T13:12:06.708Z,1638623526.708 [Micromodem](INFO): Nmea in: $CAREV,131207,AUV,2.1.4000*2C

2021-12-04T13:12:06.739Z,1638623526.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 329.995583 deg,
      new cmd heading: 329.187607 deg.

2021-12-04T13:12:07.092Z,1638623527.092 [Micromodem](INFO): Nmea in: $CAREV,131207,COPROC,0.20.0.39330*7D

2021-12-04T13:12:07.121Z,1638623527.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 329.187607 deg,
      new cmd heading: 328.489915 deg.

2021-12-04T13:12:07.548Z,1638623527.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 328.489915 deg,
      new cmd heading: 327.698844 deg.

2021-12-04T13:12:07.928Z,1638623527.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 327.698844 deg,
      new cmd heading: 326.999036 deg.

2021-12-04T13:12:08.421Z,1638623528.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 326.999036 deg,
      new cmd heading: 326.091069 deg.

2021-12-04T13:12:08.742Z,1638623528.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 326.091069 deg,
      new cmd heading: 325.500785 deg.

2021-12-04T13:12:09.125Z,1638623529.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:09.128Z,1638623529.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 325.500785 deg,
      new cmd heading: 324.789015 deg.

2021-12-04T13:12:09.585Z,1638623529.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 324.789015 deg,
      new cmd heading: 323.947601 deg.

2021-12-04T13:12:09.909Z,1638623529.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:10.012Z,1638623530.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 323.947601 deg,
      new cmd heading: 323.173183 deg.

2021-12-04T13:12:10.320Z,1638623530.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:10.400Z,1638623530.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 325.829147 deg,
      approachRate: 0.825127 m/s,
      LOS rate: -0.613504 deg/s,
      cmd update: -1.840512 deg/s,
      cmd heading: 323.173183 deg,
      new cmd heading: 322.456676 deg.

2021-12-04T13:12:10.754Z,1638623530.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:12:10.759Z,1638623530.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 316.301580 deg, deltaT: 4.459612 s, deltaX: 1.860001 m, approachRate: 0.417077 m/s, LOS rate: -2.136412 deg/s, posRepo size: 4
2021-12-04T13:12:10.761Z,1638623530.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 322.456676 deg,
      new cmd heading: 321.787570 deg.

2021-12-04T13:12:11.155Z,1638623531.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131210.47*5D

2021-12-04T13:12:11.156Z,1638623531.156 [Micromodem](INFO): Nmea in: $CAREV,131211,AUV,2.1.4000*2B

2021-12-04T13:12:11.179Z,1638623531.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 320.126643 deg,
      new cmd heading: 317.437732 deg.

2021-12-04T13:12:11.540Z,1638623531.540 [Micromodem](INFO): Nmea in: $CAREV,131211,COPROC,0.20.0.39330*7A

2021-12-04T13:12:11.600Z,1638623531.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 317.437732 deg,
      new cmd heading: 314.740963 deg.

2021-12-04T13:12:11.955Z,1638623531.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 314.740963 deg,
      new cmd heading: 312.463153 deg.

2021-12-04T13:12:12.397Z,1638623532.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 312.463153 deg,
      new cmd heading: 309.629617 deg.

2021-12-04T13:12:12.788Z,1638623532.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 309.629617 deg,
      new cmd heading: 307.124939 deg.

2021-12-04T13:12:13.171Z,1638623533.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 307.124939 deg,
      new cmd heading: 304.670619 deg.

2021-12-04T13:12:13.592Z,1638623533.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:13.612Z,1638623533.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 304.670619 deg,
      new cmd heading: 301.948546 deg.

2021-12-04T13:12:14.012Z,1638623534.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 301.948546 deg,
      new cmd heading: 299.275863 deg.

2021-12-04T13:12:14.376Z,1638623534.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:14.517Z,1638623534.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 299.275863 deg,
      new cmd heading: 296.043749 deg.

2021-12-04T13:12:14.759Z,1638623534.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:14.811Z,1638623534.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 296.043749 deg,
      new cmd heading: 294.284741 deg.

2021-12-04T13:12:15.186Z,1638623535.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 294.284741 deg,
      new cmd heading: 291.753305 deg.

2021-12-04T13:12:15.576Z,1638623535.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131214.94*57

2021-12-04T13:12:15.582Z,1638623535.582 [Micromodem](INFO): Nmea in: $CAREV,131216,AUV,2.1.4000*2C

2021-12-04T13:12:15.643Z,1638623535.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 291.753305 deg,
      new cmd heading: 288.825919 deg.

2021-12-04T13:12:15.965Z,1638623535.965 [Micromodem](INFO): Nmea in: $CAREV,131216,COPROC,0.20.0.39330*7D

2021-12-04T13:12:16.001Z,1638623536.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 288.825919 deg,
      new cmd heading: 286.527054 deg.

2021-12-04T13:12:16.413Z,1638623536.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:16.416Z,1638623536.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 286.527054 deg,
      new cmd heading: 283.867561 deg.

2021-12-04T13:12:16.791Z,1638623536.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 283.867561 deg,
      new cmd heading: 281.466591 deg.

2021-12-04T13:12:17.196Z,1638623537.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 281.466591 deg,
      new cmd heading: 278.878440 deg.

2021-12-04T13:12:17.645Z,1638623537.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 278.878440 deg,
      new cmd heading: 275.993803 deg.

2021-12-04T13:12:17.980Z,1638623537.980 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:12:17.995Z,1638623537.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 275.993803 deg,
      new cmd heading: 273.749033 deg.

2021-12-04T13:12:18.454Z,1638623538.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 273.749033 deg,
      new cmd heading: 270.809103 deg.

2021-12-04T13:12:18.816Z,1638623538.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 270.809103 deg,
      new cmd heading: 268.488890 deg.

2021-12-04T13:12:19.221Z,1638623539.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:19.224Z,1638623539.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 268.488890 deg,
      new cmd heading: 265.875274 deg.

2021-12-04T13:12:19.669Z,1638623539.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 265.875274 deg,
      new cmd heading: 263.023165 deg.

2021-12-04T13:12:20.005Z,1638623540.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:20.094Z,1638623540.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 263.023165 deg,
      new cmd heading: 260.342137 deg.

2021-12-04T13:12:20.438Z,1638623540.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:20.503Z,1638623540.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 316.301580 deg,
      approachRate: 0.417077 m/s,
      LOS rate: -2.136412 deg/s,
      cmd update: -6.409235 deg/s,
      cmd heading: 260.342137 deg,
      new cmd heading: 257.831787 deg.

2021-12-04T13:12:20.834Z,1638623540.834 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:12:20.839Z,1638623540.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.160000 m, bearing: 248.245192 deg, deltaT: 10.080135 s, deltaX: 3.299999 m, approachRate: 0.327376 m/s, LOS rate: -6.751535 deg/s, posRepo size: 4
2021-12-04T13:12:20.841Z,1638623540.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.831787 deg,
      new cmd heading: 255.520962 deg.

2021-12-04T13:12:21.240Z,1638623541.240 [Micromodem](INFO): Nmea in: $SNTTA,0.036077,,,,131220.57*44

2021-12-04T13:12:21.241Z,1638623541.241 [Micromodem](INFO): Nmea in: $CAREV,131221,AUV,2.1.4000*28

2021-12-04T13:12:21.349Z,1638623541.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.505234 deg,
      new cmd heading: 247.467350 deg.

2021-12-04T13:12:21.637Z,1638623541.637 [Micromodem](INFO): Nmea in: $CAREV,131221,COPROC,0.20.0.39330*79

2021-12-04T13:12:21.700Z,1638623541.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.467350 deg,
      new cmd heading: 243.415538 deg.

2021-12-04T13:12:22.056Z,1638623542.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 243.415538 deg,
      new cmd heading: 238.907954 deg.

2021-12-04T13:12:22.472Z,1638623542.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.907954 deg,
      new cmd heading: 233.912162 deg.

2021-12-04T13:12:22.869Z,1638623542.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 233.912162 deg,
      new cmd heading: 229.142282 deg.

2021-12-04T13:12:23.335Z,1638623543.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 229.142282 deg,
      new cmd heading: 223.552922 deg.

2021-12-04T13:12:23.702Z,1638623543.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:23.705Z,1638623543.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 223.552922 deg,
      new cmd heading: 219.115633 deg.

2021-12-04T13:12:24.079Z,1638623544.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 219.115633 deg,
      new cmd heading: 214.625245 deg.

2021-12-04T13:12:24.477Z,1638623544.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:24.599Z,1638623544.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 214.625245 deg,
      new cmd heading: 208.437397 deg.

2021-12-04T13:12:24.869Z,1638623544.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:24.903Z,1638623544.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.160000 m,
      bearing: 248.245192 deg,
      approachRate: 0.327376 m/s,
      LOS rate: -6.751535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 208.437397 deg,
      new cmd heading: 204.738133 deg.

2021-12-04T13:12:25.334Z,1638623545.334 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:12:25.363Z,1638623545.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 269.672507 deg, deltaT: 4.499259 s, deltaX: 2.400002 m, approachRate: 0.533422 m/s, LOS rate: 4.762410 deg/s, posRepo size: 4
2021-12-04T13:12:25.364Z,1638623545.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 22.56 m. Rolling out.
2021-12-04T13:12:25.366Z,1638623545.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-12-04T13:12:25.696Z,1638623545.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131225.04*5C

2021-12-04T13:12:25.697Z,1638623545.697 [Micromodem](INFO): Nmea in: $CAREV,131226,AUV,2.1.4000*2F

2021-12-04T13:12:25.737Z,1638623545.737 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T13:12:25.738Z,1638623545.738 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T13:12:25.739Z,1638623545.739 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T13:12:25.763Z,1638623545.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 22.560001 m (mode 4 count ).
2021-12-04T13:12:25.763Z,1638623545.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T13:12:25.763Z,1638623545.763 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T13:12:25.765Z,1638623545.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T13:12:25.766Z,1638623545.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:12:25.766Z,1638623545.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T13:12:25.766Z,1638623545.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T13:12:25.766Z,1638623545.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T13:12:25.766Z,1638623545.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T13:12:25.766Z,1638623545.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T13:12:26.076Z,1638623546.076 [Micromodem](INFO): Nmea in: $CAREV,131226,COPROC,0.20.0.39330*7E

2021-12-04T13:12:26.092Z,1638623546.092 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T13:12:26.092Z,1638623546.092 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T13:12:26.092Z,1638623546.092 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T13:12:26.092Z,1638623546.092 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T13:12:28.112Z,1638623548.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:28.901Z,1638623548.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:29.336Z,1638623549.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:29.745Z,1638623549.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 235.568689 deg, deltaT: 4.406443 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -7.739534 deg/s, posRepo size: 4
2021-12-04T13:12:30.139Z,1638623550.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131229.46*56

2021-12-04T13:12:30.140Z,1638623550.140 [Micromodem](INFO): Nmea in: $CAREV,131230,AUV,2.1.4000*28

2021-12-04T13:12:30.520Z,1638623550.520 [Micromodem](INFO): Nmea in: $CAREV,131230,COPROC,0.20.0.39330*79

2021-12-04T13:12:32.558Z,1638623552.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:33.364Z,1638623553.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:33.750Z,1638623553.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:34.187Z,1638623554.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 212.561129 deg, deltaT: 4.442043 s, deltaX: 0.599998 m, approachRate: 0.135073 m/s, LOS rate: -5.179500 deg/s, posRepo size: 4
2021-12-04T13:12:34.580Z,1638623554.580 [Micromodem](INFO): Nmea in: $SNTTA,0.042479,,,,131233.93*47

2021-12-04T13:12:34.581Z,1638623554.581 [Micromodem](INFO): Nmea in: $CAREV,131234,AUV,2.1.4000*2C

2021-12-04T13:12:34.968Z,1638623554.968 [Micromodem](INFO): Nmea in: $CAREV,131234,COPROC,0.20.0.39330*7D

2021-12-04T13:12:37.000Z,1638623557.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:37.786Z,1638623557.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:38.191Z,1638623558.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:38.660Z,1638623558.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 203.924286 deg, deltaT: 4.468780 s, deltaX: 0.240002 m, approachRate: 0.053706 m/s, LOS rate: -1.932707 deg/s, posRepo size: 4
2021-12-04T13:12:39.024Z,1638623559.024 [Micromodem](INFO): Nmea in: $SNTTA,0.089057,,,,131238.35*4F

2021-12-04T13:12:39.025Z,1638623559.025 [Micromodem](INFO): Nmea in: $CAREV,131239,AUV,2.1.4000*21

2021-12-04T13:12:39.458Z,1638623559.458 [Micromodem](INFO): Nmea in: $CAREV,131239,COPROC,0.20.0.39330*70

2021-12-04T13:12:41.482Z,1638623561.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:42.233Z,1638623562.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:42.635Z,1638623562.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:43.080Z,1638623563.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 203.851941 deg, deltaT: 4.403681 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.016428 deg/s, posRepo size: 4
2021-12-04T13:12:43.469Z,1638623563.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131242.80*51

2021-12-04T13:12:43.471Z,1638623563.471 [Micromodem](INFO): Nmea in: $CAREV,131243,AUV,2.1.4000*2C

2021-12-04T13:12:43.864Z,1638623563.864 [Micromodem](INFO): Nmea in: $CAREV,131243,COPROC,0.20.0.39330*7D

2021-12-04T13:12:45.897Z,1638623565.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:46.673Z,1638623566.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:47.088Z,1638623567.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:47.544Z,1638623567.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 200.358477 deg, deltaT: 4.482604 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.779338 deg/s, posRepo size: 4
2021-12-04T13:12:47.919Z,1638623567.919 [Micromodem](INFO): Nmea in: $SNTTA,0.045607,,,,131247.24*44

2021-12-04T13:12:47.920Z,1638623567.920 [Micromodem](INFO): Nmea in: $CAREV,131248,AUV,2.1.4000*27

2021-12-04T13:12:48.304Z,1638623568.304 [Micromodem](INFO): Nmea in: $CAREV,131248,COPROC,0.20.0.39330*76

2021-12-04T13:12:50.334Z,1638623570.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:51.109Z,1638623571.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:51.524Z,1638623571.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:51.952Z,1638623571.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 200.777864 deg, deltaT: 4.409821 s, deltaX: -0.120001 m, approachRate: -0.027212 m/s, LOS rate: 0.095103 deg/s, posRepo size: 4
2021-12-04T13:12:52.363Z,1638623572.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131251.67*5A

2021-12-04T13:12:52.366Z,1638623572.366 [Micromodem](INFO): Nmea in: $CAREV,131252,AUV,2.1.4000*2C

2021-12-04T13:12:52.748Z,1638623572.748 [Micromodem](INFO): Nmea in: $CAREV,131252,COPROC,0.20.0.39330*7D

2021-12-04T13:12:54.765Z,1638623574.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:12:55.561Z,1638623575.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:12:55.973Z,1638623575.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:12:56.422Z,1638623576.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 196.496633 deg, deltaT: 4.469831 s, deltaX: -0.299999 m, approachRate: -0.067116 m/s, LOS rate: -0.957806 deg/s, posRepo size: 4
2021-12-04T13:12:56.803Z,1638623576.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131256.12*5F

2021-12-04T13:12:56.804Z,1638623576.804 [Micromodem](INFO): Nmea in: $CAREV,131257,AUV,2.1.4000*29

2021-12-04T13:12:57.184Z,1638623577.184 [Micromodem](INFO): Nmea in: $CAREV,131257,COPROC,0.20.0.39330*78

2021-12-04T13:12:59.216Z,1638623579.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:00.009Z,1638623580.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:00.424Z,1638623580.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:00.848Z,1638623580.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 192.337949 deg, deltaT: 4.421781 s, deltaX: -0.360003 m, approachRate: -0.081416 m/s, LOS rate: -0.940500 deg/s, posRepo size: 4
2021-12-04T13:13:01.257Z,1638623581.257 [Micromodem](INFO): Nmea in: $SNTTA,0.035953,,,,131300.57*4B

2021-12-04T13:13:01.261Z,1638623581.261 [Micromodem](INFO): Nmea in: $CAREV,131301,AUV,2.1.4000*2B

2021-12-04T13:13:01.628Z,1638623581.628 [Micromodem](INFO): Nmea in: $CAREV,131301,COPROC,0.20.0.39330*7A

2021-12-04T13:13:03.692Z,1638623583.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:04.449Z,1638623584.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:04.856Z,1638623584.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:05.361Z,1638623585.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 193.046103 deg, deltaT: 4.493978 s, deltaX: -0.059998 m, approachRate: -0.013351 m/s, LOS rate: 0.157578 deg/s, posRepo size: 4
2021-12-04T13:13:05.684Z,1638623585.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131305.01*5A

2021-12-04T13:13:05.685Z,1638623585.685 [Micromodem](INFO): Nmea in: $CAREV,131306,AUV,2.1.4000*2C

2021-12-04T13:13:06.076Z,1638623586.076 [Micromodem](INFO): Nmea in: $CAREV,131306,COPROC,0.20.0.39330*7D

2021-12-04T13:13:08.101Z,1638623588.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:08.893Z,1638623588.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:09.330Z,1638623589.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:09.728Z,1638623589.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 189.828237 deg, deltaT: 4.390677 s, deltaX: -0.120001 m, approachRate: -0.027331 m/s, LOS rate: -0.732886 deg/s, posRepo size: 4
2021-12-04T13:13:10.128Z,1638623590.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131309.45*56

2021-12-04T13:13:10.129Z,1638623590.129 [Micromodem](INFO): Nmea in: $CAREV,131310,AUV,2.1.4000*2B

2021-12-04T13:13:10.528Z,1638623590.528 [Micromodem](INFO): Nmea in: $CAREV,131310,COPROC,0.20.0.39330*7A

2021-12-04T13:13:12.553Z,1638623592.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:13.380Z,1638623593.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:13.744Z,1638623593.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:14.172Z,1638623594.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 179.069679 deg, deltaT: 4.443966 s, deltaX: -0.240002 m, approachRate: -0.054006 m/s, LOS rate: -2.420936 deg/s, posRepo size: 4
2021-12-04T13:13:14.580Z,1638623594.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131313.94*51

2021-12-04T13:13:14.581Z,1638623594.581 [Micromodem](INFO): Nmea in: $CAREV,131314,AUV,2.1.4000*2F

2021-12-04T13:13:14.964Z,1638623594.964 [Micromodem](INFO): Nmea in: $CAREV,131314,COPROC,0.20.0.39330*7E

2021-12-04T13:13:16.985Z,1638623596.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:17.796Z,1638623597.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:18.187Z,1638623598.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:18.653Z,1638623598.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 180.954920 deg, deltaT: 4.453575 s, deltaX: -0.120001 m, approachRate: -0.026945 m/s, LOS rate: 0.423310 deg/s, posRepo size: 4
2021-12-04T13:13:19.024Z,1638623599.024 [Micromodem](INFO): Nmea in: $SNTTA,0.029877,,,,131318.36*4F

2021-12-04T13:13:19.025Z,1638623599.025 [Micromodem](INFO): Nmea in: $CAREV,131319,AUV,2.1.4000*22

2021-12-04T13:13:19.432Z,1638623599.432 [Micromodem](INFO): Nmea in: $CAREV,131319,COPROC,0.20.0.39330*73

2021-12-04T13:13:21.475Z,1638623601.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:22.228Z,1638623602.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:22.649Z,1638623602.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:23.079Z,1638623603.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 182.253558 deg, deltaT: 4.429542 s, deltaX: 1.019999 m, approachRate: 0.230272 m/s, LOS rate: 0.293176 deg/s, posRepo size: 4
2021-12-04T13:13:23.476Z,1638623603.476 [Micromodem](INFO): Nmea in: $SNTTA,0.077228,,,,131322.79*46

2021-12-04T13:13:23.477Z,1638623603.477 [Micromodem](INFO): Nmea in: $CAREV,131323,AUV,2.1.4000*2B

2021-12-04T13:13:23.860Z,1638623603.860 [Micromodem](INFO): Nmea in: $CAREV,131323,COPROC,0.20.0.39330*7A

2021-12-04T13:13:25.899Z,1638623605.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:26.676Z,1638623606.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:27.082Z,1638623607.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:27.574Z,1638623607.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 150.617501 deg, deltaT: 4.514680 s, deltaX: -1.199997 m, approachRate: -0.265799 m/s, LOS rate: -7.007375 deg/s, posRepo size: 4
2021-12-04T13:13:27.916Z,1638623607.916 [Micromodem](INFO): Nmea in: $SNTTA,0.082468,,,,131327.24*43

2021-12-04T13:13:27.917Z,1638623607.917 [Micromodem](INFO): Nmea in: $CAREV,131328,AUV,2.1.4000*20

2021-12-04T13:13:28.304Z,1638623608.304 [Micromodem](INFO): Nmea in: $CAREV,131328,COPROC,0.20.0.39330*71

2021-12-04T13:13:30.335Z,1638623610.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:31.113Z,1638623611.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:31.527Z,1638623611.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:31.952Z,1638623611.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 225.224327 deg, deltaT: 4.382391 s, deltaX: -0.120001 m, approachRate: -0.027383 m/s, LOS rate: 17.024228 deg/s, posRepo size: 4
2021-12-04T13:13:32.376Z,1638623612.376 [Micromodem](INFO): Nmea in: $SNTTA,,0.058986,,,131331.68*46

2021-12-04T13:13:32.381Z,1638623612.381 [Micromodem](INFO): Nmea in: $CAREV,131332,AUV,2.1.4000*2B

2021-12-04T13:13:32.740Z,1638623612.740 [Micromodem](INFO): Nmea in: $CAREV,131332,COPROC,0.20.0.39330*7A

2021-12-04T13:13:34.767Z,1638623614.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:35.553Z,1638623615.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:35.955Z,1638623615.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:36.449Z,1638623616.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 222.305459 deg, deltaT: 4.492189 s, deltaX: -0.120001 m, approachRate: -0.026713 m/s, LOS rate: -0.649765 deg/s, posRepo size: 4
2021-12-04T13:13:36.803Z,1638623616.803 [Micromodem](INFO): Nmea in: $SNTTA,0.022347,,,,131336.12*46

2021-12-04T13:13:36.804Z,1638623616.804 [Micromodem](INFO): Nmea in: $CAREV,131337,AUV,2.1.4000*2E

2021-12-04T13:13:37.184Z,1638623617.184 [Micromodem](INFO): Nmea in: $CAREV,131337,COPROC,0.20.0.39330*7F

2021-12-04T13:13:39.214Z,1638623619.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:40.005Z,1638623620.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:40.427Z,1638623620.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:40.839Z,1638623620.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 148.457372 deg, deltaT: 4.394880 s, deltaX: -0.239996 m, approachRate: -0.054608 m/s, LOS rate: -16.803210 deg/s, posRepo size: 4
2021-12-04T13:13:41.255Z,1638623621.255 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131340.57*58

2021-12-04T13:13:41.259Z,1638623621.259 [Micromodem](INFO): Nmea in: $CAREV,131341,AUV,2.1.4000*2F

2021-12-04T13:13:41.640Z,1638623621.640 [Micromodem](INFO): Nmea in: $CAREV,131341,COPROC,0.20.0.39330*7E

2021-12-04T13:13:43.686Z,1638623623.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:44.445Z,1638623624.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:44.851Z,1638623624.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:45.343Z,1638623625.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 173.419924 deg, deltaT: 4.494843 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 5.553598 deg/s, posRepo size: 4
2021-12-04T13:13:45.692Z,1638623625.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131345.01*5E

2021-12-04T13:13:45.693Z,1638623625.693 [Micromodem](INFO): Nmea in: $CAREV,131346,AUV,2.1.4000*28

2021-12-04T13:13:46.072Z,1638623626.072 [Micromodem](INFO): Nmea in: $CAREV,131346,COPROC,0.20.0.39330*79

2021-12-04T13:13:48.092Z,1638623628.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:48.889Z,1638623628.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:49.386Z,1638623629.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:49.792Z,1638623629.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 167.378362 deg, deltaT: 4.437479 s, deltaX: 0.059998 m, approachRate: 0.013521 m/s, LOS rate: -1.361485 deg/s, posRepo size: 4
2021-12-04T13:13:50.168Z,1638623630.168 [Micromodem](INFO): Nmea in: $SNTTA,,0.037612,,,131349.45*4D

2021-12-04T13:13:50.169Z,1638623630.169 [Micromodem](INFO): Nmea in: $CAREV,131350,AUV,2.1.4000*2F

2021-12-04T13:13:50.572Z,1638623630.572 [Micromodem](INFO): Nmea in: $CAREV,131350,COPROC,0.20.0.39330*7E

2021-12-04T13:13:52.607Z,1638623632.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:53.395Z,1638623633.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:53.783Z,1638623633.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:54.208Z,1638623634.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 172.223575 deg, deltaT: 4.435938 s, deltaX: -0.120001 m, approachRate: -0.027052 m/s, LOS rate: 1.092263 deg/s, posRepo size: 4
2021-12-04T13:13:54.616Z,1638623634.616 [Micromodem](INFO): Nmea in: $SNTTA,0.044595,,,,131353.96*40

2021-12-04T13:13:54.617Z,1638623634.617 [Micromodem](INFO): Nmea in: $CAREV,131355,AUV,2.1.4000*2A

2021-12-04T13:13:55.011Z,1638623635.011 [Micromodem](INFO): Nmea in: $CAREV,131355,COPROC,0.20.0.39330*7B

2021-12-04T13:13:57.032Z,1638623637.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:13:57.813Z,1638623637.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:13:58.219Z,1638623638.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:13:58.661Z,1638623638.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 166.692966 deg, deltaT: 4.453006 s, deltaX: -0.059999 m, approachRate: -0.013474 m/s, LOS rate: -1.241995 deg/s, posRepo size: 4
2021-12-04T13:13:59.064Z,1638623639.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131358.38*58

2021-12-04T13:13:59.065Z,1638623639.065 [Micromodem](INFO): Nmea in: $CAREV,131359,AUV,2.1.4000*26

2021-12-04T13:13:59.448Z,1638623639.448 [Micromodem](INFO): Nmea in: $CAREV,131359,COPROC,0.20.0.39330*77

2021-12-04T13:14:01.523Z,1638623641.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:02.265Z,1638623642.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:02.663Z,1638623642.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:03.112Z,1638623643.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 167.835083 deg, deltaT: 4.446853 s, deltaX: -0.179998 m, approachRate: -0.040478 m/s, LOS rate: 0.256837 deg/s, posRepo size: 4
2021-12-04T13:14:03.512Z,1638623643.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131402.83*50

2021-12-04T13:14:03.513Z,1638623643.513 [Micromodem](INFO): Nmea in: $CAREV,131403,AUV,2.1.4000*2E

2021-12-04T13:14:03.892Z,1638623643.892 [Micromodem](INFO): Nmea in: $CAREV,131403,COPROC,0.20.0.39330*7F

2021-12-04T13:14:05.916Z,1638623645.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:06.714Z,1638623646.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:07.115Z,1638623647.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:07.588Z,1638623647.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 167.983407 deg, deltaT: 4.476416 s, deltaX: 0.179998 m, approachRate: 0.040210 m/s, LOS rate: 0.033135 deg/s, posRepo size: 4
2021-12-04T13:14:07.940Z,1638623647.940 [Micromodem](INFO): Nmea in: $SNTTA,0.077021,,,,131407.28*49

2021-12-04T13:14:07.941Z,1638623647.941 [Micromodem](INFO): Nmea in: $CAREV,131408,AUV,2.1.4000*25

2021-12-04T13:14:08.342Z,1638623648.342 [Micromodem](INFO): Nmea in: $CAREV,131408,COPROC,0.20.0.39330*74

2021-12-04T13:14:10.395Z,1638623650.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:11.160Z,1638623651.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:11.560Z,1638623651.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:11.982Z,1638623651.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 165.112283 deg, deltaT: 4.397887 s, deltaX: 0.120003 m, approachRate: 0.027286 m/s, LOS rate: -0.652842 deg/s, posRepo size: 4
2021-12-04T13:14:12.404Z,1638623652.404 [Micromodem](INFO): Nmea in: $SNTTA,0.059240,,,,131411.72*48

2021-12-04T13:14:12.405Z,1638623652.405 [Micromodem](INFO): Nmea in: $CAREV,131412,AUV,2.1.4000*2E

2021-12-04T13:14:12.780Z,1638623652.780 [Micromodem](INFO): Nmea in: $CAREV,131412,COPROC,0.20.0.39330*7F

2021-12-04T13:14:14.801Z,1638623654.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:15.605Z,1638623655.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:16.003Z,1638623656.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:16.488Z,1638623656.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 160.948135 deg, deltaT: 4.506716 s, deltaX: 0.059998 m, approachRate: 0.013313 m/s, LOS rate: -0.923987 deg/s, posRepo size: 4
2021-12-04T13:14:16.844Z,1638623656.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131416.17*58

2021-12-04T13:14:16.845Z,1638623656.845 [Micromodem](INFO): Nmea in: $CAREV,131417,AUV,2.1.4000*2B

2021-12-04T13:14:17.229Z,1638623657.229 [Micromodem](INFO): Nmea in: $CAREV,131417,COPROC,0.20.0.39330*7A

2021-12-04T13:14:19.260Z,1638623659.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:20.045Z,1638623660.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:20.457Z,1638623660.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:20.976Z,1638623660.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 163.150516 deg, deltaT: 4.483534 s, deltaX: 0.120001 m, approachRate: 0.026765 m/s, LOS rate: 0.491215 deg/s, posRepo size: 4
2021-12-04T13:14:21.304Z,1638623661.304 [Micromodem](INFO): Nmea in: $SNTTA,0.036266,,,,131420.61*45

2021-12-04T13:14:21.313Z,1638623661.313 [Micromodem](INFO): Nmea in: $CAREV,131421,AUV,2.1.4000*2E

2021-12-04T13:14:21.676Z,1638623661.676 [Micromodem](INFO): Nmea in: $CAREV,131421,COPROC,0.20.0.39330*7F

2021-12-04T13:14:23.726Z,1638623663.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:24.507Z,1638623664.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:24.912Z,1638623664.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:25.428Z,1638623665.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 160.301712 deg, deltaT: 4.456059 s, deltaX: 0.059998 m, approachRate: 0.013464 m/s, LOS rate: -0.639310 deg/s, posRepo size: 4
2021-12-04T13:14:28.149Z,1638623668.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:28.940Z,1638623668.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:29.385Z,1638623669.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:29.760Z,1638623669.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 159.883541 deg, deltaT: 4.331652 s, deltaX: -0.059998 m, approachRate: -0.013851 m/s, LOS rate: -0.096539 deg/s, posRepo size: 4
2021-12-04T13:14:30.172Z,1638623670.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131429.51*56

2021-12-04T13:14:30.173Z,1638623670.173 [Micromodem](INFO): Nmea in: $CAREV,131430,AUV,2.1.4000*2E

2021-12-04T13:14:30.556Z,1638623670.556 [Micromodem](INFO): Nmea in: $CAREV,131430,COPROC,0.20.0.39330*7F

2021-12-04T13:14:32.606Z,1638623672.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:33.392Z,1638623673.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:33.792Z,1638623673.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:34.227Z,1638623674.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 155.980320 deg, deltaT: 4.463513 s, deltaX: 0.120001 m, approachRate: 0.026885 m/s, LOS rate: -0.874473 deg/s, posRepo size: 4
2021-12-04T13:14:34.648Z,1638623674.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131433.96*56

2021-12-04T13:14:34.649Z,1638623674.649 [Micromodem](INFO): Nmea in: $CAREV,131435,AUV,2.1.4000*2B

2021-12-04T13:14:35.004Z,1638623675.004 [Micromodem](INFO): Nmea in: $CAREV,131435,COPROC,0.20.0.39330*7A

2021-12-04T13:14:37.033Z,1638623677.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:37.813Z,1638623677.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:38.224Z,1638623678.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:38.665Z,1638623678.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 158.786735 deg, deltaT: 4.441653 s, deltaX: 0.179998 m, approachRate: 0.040525 m/s, LOS rate: 0.631840 deg/s, posRepo size: 4
2021-12-04T13:14:39.064Z,1638623679.064 [Micromodem](INFO): Nmea in: $SNTTA,0.054088,,,,131438.38*46

2021-12-04T13:14:39.065Z,1638623679.065 [Micromodem](INFO): Nmea in: $CAREV,131439,AUV,2.1.4000*27

2021-12-04T13:14:39.456Z,1638623679.456 [Micromodem](INFO): Nmea in: $CAREV,131439,COPROC,0.20.0.39330*76

2021-12-04T13:14:41.514Z,1638623681.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:42.265Z,1638623682.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:42.671Z,1638623682.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:43.097Z,1638623683.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.079998 m, bearing: 154.757634 deg, deltaT: 4.432155 s, deltaX: 0.179998 m, approachRate: 0.040612 m/s, LOS rate: -0.909061 deg/s, posRepo size: 4
2021-12-04T13:14:43.512Z,1638623683.512 [Micromodem](INFO): Nmea in: $SNTTA,0.026045,,,,131442.83*4F

2021-12-04T13:14:43.513Z,1638623683.513 [Micromodem](INFO): Nmea in: $CAREV,131443,AUV,2.1.4000*2A

2021-12-04T13:14:43.889Z,1638623683.889 [Micromodem](INFO): Nmea in: $CAREV,131443,COPROC,0.20.0.39330*7B

2021-12-04T13:14:45.932Z,1638623685.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:46.709Z,1638623686.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:47.131Z,1638623687.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:47.603Z,1638623687.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 155.285689 deg, deltaT: 4.489424 s, deltaX: 0.180004 m, approachRate: 0.040095 m/s, LOS rate: 0.117622 deg/s, posRepo size: 4
2021-12-04T13:14:47.960Z,1638623687.960 [Micromodem](INFO): Nmea in: $SNTTA,0.055353,,,,131447.27*44

2021-12-04T13:14:47.961Z,1638623687.961 [Micromodem](INFO): Nmea in: $CAREV,131448,AUV,2.1.4000*21

2021-12-04T13:14:48.351Z,1638623688.351 [Micromodem](INFO): Nmea in: $CAREV,131448,COPROC,0.20.0.39330*70

2021-12-04T13:14:50.393Z,1638623690.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:51.165Z,1638623691.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:51.581Z,1638623691.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:52.018Z,1638623692.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 155.077601 deg, deltaT: 4.431566 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.046956 deg/s, posRepo size: 4
2021-12-04T13:14:52.416Z,1638623692.416 [Micromodem](INFO): Nmea in: $SNTTA,0.086594,,,,131451.73*41

2021-12-04T13:14:52.417Z,1638623692.417 [Micromodem](INFO): Nmea in: $CAREV,131452,AUV,2.1.4000*2A

2021-12-04T13:14:52.796Z,1638623692.796 [Micromodem](INFO): Nmea in: $CAREV,131452,COPROC,0.20.0.39330*7B

2021-12-04T13:14:54.823Z,1638623694.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:14:55.605Z,1638623695.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:14:56.011Z,1638623696.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:14:56.453Z,1638623696.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 148.093036 deg, deltaT: 4.434642 s, deltaX: 0.119995 m, approachRate: 0.027059 m/s, LOS rate: -1.575001 deg/s, posRepo size: 4
2021-12-04T13:14:56.856Z,1638623696.856 [Micromodem](INFO): Nmea in: $SNTTA,0.037187,,,,131456.17*48

2021-12-04T13:14:56.857Z,1638623696.857 [Micromodem](INFO): Nmea in: $CAREV,131457,AUV,2.1.4000*2F

2021-12-04T13:14:57.231Z,1638623697.231 [Micromodem](INFO): Nmea in: $CAREV,131457,COPROC,0.20.0.39330*7E

2021-12-04T13:14:59.323Z,1638623699.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:00.057Z,1638623700.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:00.456Z,1638623700.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:00.981Z,1638623700.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 159.520967 deg, deltaT: 4.526386 s, deltaX: 0.060003 m, approachRate: 0.013256 m/s, LOS rate: 2.524736 deg/s, posRepo size: 4
2021-12-04T13:15:01.316Z,1638623701.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131500.62*5C

2021-12-04T13:15:01.317Z,1638623701.317 [Micromodem](INFO): Nmea in: $CAREV,131501,AUV,2.1.4000*2D

2021-12-04T13:15:01.688Z,1638623701.688 [Micromodem](INFO): Nmea in: $CAREV,131501,COPROC,0.20.0.39330*7C

2021-12-04T13:15:03.726Z,1638623703.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:04.497Z,1638623704.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:04.903Z,1638623704.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:05.425Z,1638623705.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 164.128899 deg, deltaT: 4.444512 s, deltaX: 0.299999 m, approachRate: 0.067499 m/s, LOS rate: 1.036769 deg/s, posRepo size: 4
2021-12-04T13:15:05.728Z,1638623705.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131505.06*5B

2021-12-04T13:15:05.729Z,1638623705.729 [Micromodem](INFO): Nmea in: $CAREV,131506,AUV,2.1.4000*2A

2021-12-04T13:15:06.128Z,1638623706.128 [Micromodem](INFO): Nmea in: $CAREV,131506,COPROC,0.20.0.39330*7B

2021-12-04T13:15:08.156Z,1638623708.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:08.941Z,1638623708.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:09.373Z,1638623709.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:09.781Z,1638623709.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 172.889860 deg, deltaT: 4.357664 s, deltaX: 0.179998 m, approachRate: 0.041306 m/s, LOS rate: 2.010472 deg/s, posRepo size: 4
2021-12-04T13:15:10.184Z,1638623710.184 [Micromodem](INFO): Nmea in: $SNTTA,0.033857,,,,131509.51*41

2021-12-04T13:15:10.185Z,1638623710.185 [Micromodem](INFO): Nmea in: $CAREV,131510,AUV,2.1.4000*2D

2021-12-04T13:15:10.564Z,1638623710.564 [Micromodem](INFO): Nmea in: $CAREV,131510,COPROC,0.20.0.39330*7C

2021-12-04T13:15:12.632Z,1638623712.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:13.407Z,1638623713.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:13.791Z,1638623713.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:14.223Z,1638623714.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 179.596204 deg, deltaT: 4.438545 s, deltaX: 0.120001 m, approachRate: 0.027036 m/s, LOS rate: 1.510933 deg/s, posRepo size: 4
2021-12-04T13:15:14.640Z,1638623714.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131513.97*54

2021-12-04T13:15:14.641Z,1638623714.641 [Micromodem](INFO): Nmea in: $CAREV,131515,AUV,2.1.4000*28

2021-12-04T13:15:15.029Z,1638623715.029 [Micromodem](INFO): Nmea in: $CAREV,131515,COPROC,0.20.0.39330*79

2021-12-04T13:15:17.033Z,1638623717.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:17.837Z,1638623717.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:18.240Z,1638623718.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:18.693Z,1638623718.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 188.367697 deg, deltaT: 4.472870 s, deltaX: 1.080004 m, approachRate: 0.241457 m/s, LOS rate: 1.961044 deg/s, posRepo size: 4
2021-12-04T13:15:21.564Z,1638623721.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:22.273Z,1638623722.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:22.675Z,1638623722.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:23.099Z,1638623723.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 187.876675 deg, deltaT: 4.406786 s, deltaX: -0.660004 m, approachRate: -0.149770 m/s, LOS rate: -0.111424 deg/s, posRepo size: 4
2021-12-04T13:15:23.508Z,1638623723.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131522.84*54

2021-12-04T13:15:23.509Z,1638623723.509 [Micromodem](INFO): Nmea in: $CAREV,131523,AUV,2.1.4000*2D

2021-12-04T13:15:23.908Z,1638623723.908 [Micromodem](INFO): Nmea in: $CAREV,131523,COPROC,0.20.0.39330*7C

2021-12-04T13:15:25.920Z,1638623725.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:26.726Z,1638623726.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:27.123Z,1638623727.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:27.594Z,1638623727.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 217.712594 deg, deltaT: 4.488157 s, deltaX: 1.199999 m, approachRate: 0.267370 m/s, LOS rate: 6.647699 deg/s, posRepo size: 4
2021-12-04T13:15:27.964Z,1638623727.964 [Micromodem](INFO): Nmea in: $SNTTA,0.041285,,,,131527.29*42

2021-12-04T13:15:27.965Z,1638623727.965 [Micromodem](INFO): Nmea in: $CAREV,131528,AUV,2.1.4000*26

2021-12-04T13:15:28.350Z,1638623728.350 [Micromodem](INFO): Nmea in: $CAREV,131528,COPROC,0.20.0.39330*77

2021-12-04T13:15:30.402Z,1638623730.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:31.161Z,1638623731.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:31.567Z,1638623731.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:32.020Z,1638623732.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 190.177847 deg, deltaT: 4.432509 s, deltaX: -0.899998 m, approachRate: -0.203045 m/s, LOS rate: -6.212000 deg/s, posRepo size: 4
2021-12-04T13:15:32.416Z,1638623732.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131531.72*5F

2021-12-04T13:15:32.417Z,1638623732.417 [Micromodem](INFO): Nmea in: $CAREV,131532,AUV,2.1.4000*2D

2021-12-04T13:15:32.792Z,1638623732.792 [Micromodem](INFO): Nmea in: $CAREV,131532,COPROC,0.20.0.39330*7C

2021-12-04T13:15:34.813Z,1638623734.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:35.601Z,1638623735.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:36.015Z,1638623736.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:36.475Z,1638623736.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 210.191367 deg, deltaT: 4.454429 s, deltaX: 1.439999 m, approachRate: 0.323273 m/s, LOS rate: 4.492948 deg/s, posRepo size: 4
2021-12-04T13:15:36.840Z,1638623736.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131536.16*5A

2021-12-04T13:15:36.841Z,1638623736.841 [Micromodem](INFO): Nmea in: $CAREV,131537,AUV,2.1.4000*28

2021-12-04T13:15:37.248Z,1638623737.248 [Micromodem](INFO): Nmea in: $CAREV,131537,COPROC,0.20.0.39330*79

2021-12-04T13:15:39.316Z,1638623739.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:40.057Z,1638623740.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:40.455Z,1638623740.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:40.868Z,1638623740.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 218.832048 deg, deltaT: 4.393826 s, deltaX: 0.240002 m, approachRate: 0.054622 m/s, LOS rate: 1.966551 deg/s, posRepo size: 4
2021-12-04T13:15:41.304Z,1638623741.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131540.62*58

2021-12-04T13:15:41.315Z,1638623741.315 [Micromodem](INFO): Nmea in: $CAREV,131541,AUV,2.1.4000*29

2021-12-04T13:15:41.684Z,1638623741.684 [Micromodem](INFO): Nmea in: $CAREV,131541,COPROC,0.20.0.39330*78

2021-12-04T13:15:43.375Z,1638623743.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:44.085Z,1638623744.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:44.495Z,1638623744.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:44.931Z,1638623744.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 198.475926 deg, deltaT: 4.062719 s, deltaX: -0.719999 m, approachRate: -0.177221 m/s, LOS rate: -5.010468 deg/s, posRepo size: 4
2021-12-04T13:15:45.351Z,1638623745.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131544.65*5B

2021-12-04T13:15:45.354Z,1638623745.354 [Micromodem](INFO): Nmea in: $CAREV,131545,AUV,2.1.4000*2D

2021-12-04T13:15:45.724Z,1638623745.724 [Micromodem](INFO): Nmea in: $CAREV,131545,COPROC,0.20.0.39330*7C

2021-12-04T13:15:47.432Z,1638623747.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:48.125Z,1638623748.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:48.539Z,1638623748.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:48.951Z,1638623748.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.740000 m, bearing: 182.309429 deg, deltaT: 4.019496 s, deltaX: 1.019999 m, approachRate: 0.253763 m/s, LOS rate: -4.022021 deg/s, posRepo size: 4
2021-12-04T13:15:49.384Z,1638623749.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131548.69*5B

2021-12-04T13:15:49.385Z,1638623749.385 [Micromodem](INFO): Nmea in: $CAREV,131549,AUV,2.1.4000*21

2021-12-04T13:15:49.756Z,1638623749.756 [Micromodem](INFO): Nmea in: $CAREV,131549,COPROC,0.20.0.39330*70

2021-12-04T13:15:51.777Z,1638623751.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:52.581Z,1638623752.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:52.984Z,1638623752.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:53.456Z,1638623753.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 181.767125 deg, deltaT: 4.505539 s, deltaX: 0.179998 m, approachRate: 0.039950 m/s, LOS rate: -0.120364 deg/s, posRepo size: 4
2021-12-04T13:15:53.816Z,1638623753.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131553.14*5B

2021-12-04T13:15:53.817Z,1638623753.817 [Micromodem](INFO): Nmea in: $CAREV,131554,AUV,2.1.4000*2D

2021-12-04T13:15:54.208Z,1638623754.208 [Micromodem](INFO): Nmea in: $CAREV,131554,COPROC,0.20.0.39330*7C

2021-12-04T13:15:56.243Z,1638623756.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:15:57.017Z,1638623757.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:15:57.435Z,1638623757.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:15:57.867Z,1638623757.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 183.880386 deg, deltaT: 4.409559 s, deltaX: 0.120001 m, approachRate: 0.027214 m/s, LOS rate: 0.479245 deg/s, posRepo size: 4
2021-12-04T13:15:58.268Z,1638623758.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131557.58*57

2021-12-04T13:15:58.269Z,1638623758.269 [Micromodem](INFO): Nmea in: $CAREV,131558,AUV,2.1.4000*21

2021-12-04T13:15:58.648Z,1638623758.648 [Micromodem](INFO): Nmea in: $CAREV,131558,COPROC,0.20.0.39330*70

2021-12-04T13:16:00.685Z,1638623760.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:01.463Z,1638623761.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:01.871Z,1638623761.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:02.301Z,1638623762.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 195.410291 deg, deltaT: 4.435021 s, deltaX: 0.240004 m, approachRate: 0.054116 m/s, LOS rate: 2.599741 deg/s, posRepo size: 4
2021-12-04T13:16:02.703Z,1638623762.703 [Micromodem](INFO): Nmea in: $SNTTA,0.040352,,,,131602.03*44

2021-12-04T13:16:02.704Z,1638623762.704 [Micromodem](INFO): Nmea in: $CAREV,131603,AUV,2.1.4000*2C

2021-12-04T13:16:03.104Z,1638623763.104 [Micromodem](INFO): Nmea in: $CAREV,131603,COPROC,0.20.0.39330*7D

2021-12-04T13:16:05.116Z,1638623765.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:05.905Z,1638623765.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:06.322Z,1638623766.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:06.759Z,1638623766.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 190.201234 deg, deltaT: 4.457701 s, deltaX: 0.179998 m, approachRate: 0.040379 m/s, LOS rate: -1.168552 deg/s, posRepo size: 4
2021-12-04T13:16:07.156Z,1638623767.156 [Micromodem](INFO): Nmea in: $SNTTA,0.049964,,,,131606.47*46

2021-12-04T13:16:07.157Z,1638623767.157 [Micromodem](INFO): Nmea in: $CAREV,131607,AUV,2.1.4000*28

2021-12-04T13:16:07.536Z,1638623767.536 [Micromodem](INFO): Nmea in: $CAREV,131607,COPROC,0.20.0.39330*79

2021-12-04T13:16:09.648Z,1638623769.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:10.360Z,1638623770.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:10.759Z,1638623770.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:11.213Z,1638623771.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 203.357135 deg, deltaT: 4.427004 s, deltaX: 0.179998 m, approachRate: 0.040659 m/s, LOS rate: 2.971739 deg/s, posRepo size: 4
2021-12-04T13:16:11.592Z,1638623771.592 [Micromodem](INFO): Nmea in: $SNTTA,0.041106,,,,131610.92*4D

2021-12-04T13:16:11.593Z,1638623771.593 [Micromodem](INFO): Nmea in: $CAREV,131611,AUV,2.1.4000*2F

2021-12-04T13:16:11.985Z,1638623771.985 [Micromodem](INFO): Nmea in: $CAREV,131611,COPROC,0.20.0.39330*7E

2021-12-04T13:16:13.996Z,1638623773.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:14.793Z,1638623774.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:15.206Z,1638623775.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:15.660Z,1638623775.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 169.678879 deg, deltaT: 4.474880 s, deltaX: -0.479998 m, approachRate: -0.107265 m/s, LOS rate: -7.526069 deg/s, posRepo size: 4
2021-12-04T13:16:16.038Z,1638623776.038 [Micromodem](INFO): Nmea in: $SNTTA,0.059689,,,,131615.36*4F

2021-12-04T13:16:16.039Z,1638623776.039 [Micromodem](INFO): Nmea in: $CAREV,131616,AUV,2.1.4000*28

2021-12-04T13:16:16.444Z,1638623776.444 [Micromodem](INFO): Nmea in: $CAREV,131616,COPROC,0.20.0.39330*79

2021-12-04T13:16:18.463Z,1638623778.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:19.237Z,1638623779.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:19.664Z,1638623779.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:20.068Z,1638623780.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 158.411020 deg, deltaT: 4.407660 s, deltaX: 0.359997 m, approachRate: 0.081675 m/s, LOS rate: -2.556426 deg/s, posRepo size: 4
2021-12-04T13:16:20.472Z,1638623780.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131619.80*5B

2021-12-04T13:16:20.473Z,1638623780.473 [Micromodem](INFO): Nmea in: $CAREV,131620,AUV,2.1.4000*2D

2021-12-04T13:16:20.892Z,1638623780.892 [Micromodem](INFO): Nmea in: $CAREV,131620,COPROC,0.20.0.39330*7C

2021-12-04T13:16:22.881Z,1638623782.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:23.681Z,1638623783.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:24.087Z,1638623784.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:24.517Z,1638623784.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 156.078565 deg, deltaT: 4.448900 s, deltaX: 0.240002 m, approachRate: 0.053946 m/s, LOS rate: -0.524277 deg/s, posRepo size: 4
2021-12-04T13:16:24.916Z,1638623784.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131624.24*5B

2021-12-04T13:16:24.917Z,1638623784.917 [Micromodem](INFO): Nmea in: $CAREV,131625,AUV,2.1.4000*28

2021-12-04T13:16:25.351Z,1638623785.351 [Micromodem](INFO): Nmea in: $CAREV,131625,COPROC,0.20.0.39330*79

2021-12-04T13:16:27.419Z,1638623787.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:28.133Z,1638623788.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:28.535Z,1638623788.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:28.955Z,1638623788.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.180000 m, bearing: 162.889616 deg, deltaT: 4.438630 s, deltaX: 0.420000 m, approachRate: 0.094624 m/s, LOS rate: 1.534494 deg/s, posRepo size: 4
2021-12-04T13:16:29.388Z,1638623789.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131628.70*56

2021-12-04T13:16:29.389Z,1638623789.389 [Micromodem](INFO): Nmea in: $CAREV,131629,AUV,2.1.4000*24

2021-12-04T13:16:29.760Z,1638623789.760 [Micromodem](INFO): Nmea in: $CAREV,131629,COPROC,0.20.0.39330*75

2021-12-04T13:16:31.769Z,1638623791.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:32.573Z,1638623792.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:32.983Z,1638623792.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:33.472Z,1638623793.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 166.848872 deg, deltaT: 4.512972 s, deltaX: 0.059998 m, approachRate: 0.013294 m/s, LOS rate: 0.877306 deg/s, posRepo size: 4
2021-12-04T13:16:33.812Z,1638623793.812 [Micromodem](INFO): Nmea in: $SNTTA,0.052971,,,,131633.14*48

2021-12-04T13:16:33.813Z,1638623793.813 [Micromodem](INFO): Nmea in: $CAREV,131634,AUV,2.1.4000*28

2021-12-04T13:16:34.192Z,1638623794.192 [Micromodem](INFO): Nmea in: $CAREV,131634,COPROC,0.20.0.39330*79

2021-12-04T13:16:36.236Z,1638623796.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:37.018Z,1638623797.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:37.434Z,1638623797.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:37.836Z,1638623797.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 170.546245 deg, deltaT: 4.367241 s, deltaX: 0.480003 m, approachRate: 0.109910 m/s, LOS rate: 0.846615 deg/s, posRepo size: 4
2021-12-04T13:16:38.248Z,1638623798.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131637.58*52

2021-12-04T13:16:38.249Z,1638623798.249 [Micromodem](INFO): Nmea in: $CAREV,131638,AUV,2.1.4000*24

2021-12-04T13:16:38.644Z,1638623798.644 [Micromodem](INFO): Nmea in: $CAREV,131638,COPROC,0.20.0.39330*75

2021-12-04T13:16:40.695Z,1638623800.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:41.461Z,1638623801.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:41.868Z,1638623801.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:42.286Z,1638623802.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 176.856738 deg, deltaT: 4.449869 s, deltaX: 0.119995 m, approachRate: 0.026966 m/s, LOS rate: 1.418130 deg/s, posRepo size: 4
2021-12-04T13:16:42.692Z,1638623802.692 [Micromodem](INFO): Nmea in: $SNTTA,0.055513,,,,131642.03*47

2021-12-04T13:16:42.693Z,1638623802.693 [Micromodem](INFO): Nmea in: $CAREV,131643,AUV,2.1.4000*28

2021-12-04T13:16:43.082Z,1638623803.082 [Micromodem](INFO): Nmea in: $CAREV,131643,COPROC,0.20.0.39330*79

2021-12-04T13:16:45.113Z,1638623805.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:45.909Z,1638623805.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:46.311Z,1638623806.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:46.749Z,1638623806.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 176.178965 deg, deltaT: 4.447390 s, deltaX: 0.360003 m, approachRate: 0.080947 m/s, LOS rate: -0.152398 deg/s, posRepo size: 4
2021-12-04T13:16:47.144Z,1638623807.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131646.47*5A

2021-12-04T13:16:47.145Z,1638623807.145 [Micromodem](INFO): Nmea in: $CAREV,131647,AUV,2.1.4000*2C

2021-12-04T13:16:47.524Z,1638623807.524 [Micromodem](INFO): Nmea in: $CAREV,131647,COPROC,0.20.0.39330*7D

2021-12-04T13:16:49.588Z,1638623809.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:50.368Z,1638623810.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:50.776Z,1638623810.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:51.175Z,1638623811.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 173.916615 deg, deltaT: 4.442458 s, deltaX: 0.420002 m, approachRate: 0.094543 m/s, LOS rate: -0.509256 deg/s, posRepo size: 4
2021-12-04T13:16:51.580Z,1638623811.580 [Micromodem](INFO): Nmea in: $SNTTA,0.027265,,,,131650.94*49

2021-12-04T13:16:51.581Z,1638623811.581 [Micromodem](INFO): Nmea in: $CAREV,131651,AUV,2.1.4000*2B

2021-12-04T13:16:51.984Z,1638623811.984 [Micromodem](INFO): Nmea in: $CAREV,131651,COPROC,0.20.0.39330*7A

2021-12-04T13:16:53.999Z,1638623813.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:54.785Z,1638623814.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:55.209Z,1638623815.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:16:55.655Z,1638623815.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 180.017791 deg, deltaT: 4.479175 s, deltaX: 0.240002 m, approachRate: 0.053582 m/s, LOS rate: 1.362120 deg/s, posRepo size: 4
2021-12-04T13:16:56.036Z,1638623816.036 [Micromodem](INFO): Nmea in: $SNTTA,0.033796,,,,131655.35*4B

2021-12-04T13:16:56.037Z,1638623816.037 [Micromodem](INFO): Nmea in: $CAREV,131656,AUV,2.1.4000*2C

2021-12-04T13:16:56.432Z,1638623816.432 [Micromodem](INFO): Nmea in: $CAREV,131656,COPROC,0.20.0.39330*7D

2021-12-04T13:16:58.472Z,1638623818.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:16:59.235Z,1638623819.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:16:59.690Z,1638623819.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:00.117Z,1638623820.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 177.238737 deg, deltaT: 4.461972 s, deltaX: 0.959995 m, approachRate: 0.215150 m/s, LOS rate: -0.622831 deg/s, posRepo size: 4
2021-12-04T13:17:00.504Z,1638623820.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131659.80*5F

2021-12-04T13:17:00.505Z,1638623820.505 [Micromodem](INFO): Nmea in: $CAREV,131700,AUV,2.1.4000*2E

2021-12-04T13:17:00.912Z,1638623820.912 [Micromodem](INFO): Nmea in: $CAREV,131700,COPROC,0.20.0.39330*7F

2021-12-04T13:17:02.911Z,1638623822.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:03.721Z,1638623823.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:04.121Z,1638623824.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:04.549Z,1638623824.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.080000 m, bearing: 170.929705 deg, deltaT: 4.432492 s, deltaX: 1.260002 m, approachRate: 0.284265 m/s, LOS rate: -1.423360 deg/s, posRepo size: 4
2021-12-04T13:17:04.969Z,1638623824.969 [Micromodem](INFO): Nmea in: $SNTTA,0.042563,,,,131704.29*4D

2021-12-04T13:17:04.987Z,1638623824.987 [Micromodem](INFO): Nmea in: $CAREV,131705,AUV,2.1.4000*2B

2021-12-04T13:17:05.363Z,1638623825.363 [Micromodem](INFO): Nmea in: $CAREV,131705,COPROC,0.20.0.39330*7A

2021-12-04T13:17:07.454Z,1638623827.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:08.161Z,1638623828.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:08.576Z,1638623828.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:09.036Z,1638623829.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 181.834963 deg, deltaT: 4.469525 s, deltaX: -1.320000 m, approachRate: -0.295333 m/s, LOS rate: 2.439914 deg/s, posRepo size: 4
2021-12-04T13:17:09.421Z,1638623829.421 [Micromodem](INFO): Nmea in: $SNTTA,0.038599,,,,131708.73*46

2021-12-04T13:17:09.422Z,1638623829.422 [Micromodem](INFO): Nmea in: $CAREV,131709,AUV,2.1.4000*27

2021-12-04T13:17:09.788Z,1638623829.788 [Micromodem](INFO): Nmea in: $CAREV,131709,COPROC,0.20.0.39330*76

2021-12-04T13:17:11.821Z,1638623831.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:12.605Z,1638623832.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:13.015Z,1638623833.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:13.511Z,1638623833.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.600000 m, bearing: 185.726490 deg, deltaT: 4.483096 s, deltaX: 0.840000 m, approachRate: 0.187371 m/s, LOS rate: 0.868045 deg/s, posRepo size: 4
2021-12-04T13:17:13.851Z,1638623833.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131713.17*5E

2021-12-04T13:17:13.852Z,1638623833.852 [Micromodem](INFO): Nmea in: $CAREV,131714,AUV,2.1.4000*2B

2021-12-04T13:17:14.232Z,1638623834.232 [Micromodem](INFO): Nmea in: $CAREV,131714,COPROC,0.20.0.39330*7A

2021-12-04T13:17:16.261Z,1638623836.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:17.057Z,1638623837.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:17.455Z,1638623837.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:17.880Z,1638623837.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 176.642667 deg, deltaT: 4.377809 s, deltaX: -0.360003 m, approachRate: -0.082233 m/s, LOS rate: -2.074970 deg/s, posRepo size: 4
2021-12-04T13:17:18.292Z,1638623838.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131717.62*58

2021-12-04T13:17:18.293Z,1638623838.293 [Micromodem](INFO): Nmea in: $CAREV,131718,AUV,2.1.4000*27

2021-12-04T13:17:18.676Z,1638623838.676 [Micromodem](INFO): Nmea in: $CAREV,131718,COPROC,0.20.0.39330*76

2021-12-04T13:17:20.722Z,1638623840.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:21.493Z,1638623841.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:21.905Z,1638623841.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:22.351Z,1638623842.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 174.616682 deg, deltaT: 4.460111 s, deltaX: 0.060003 m, approachRate: 0.013453 m/s, LOS rate: -0.454245 deg/s, posRepo size: 4
2021-12-04T13:17:22.724Z,1638623842.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131722.06*5C

2021-12-04T13:17:22.725Z,1638623842.725 [Micromodem](INFO): Nmea in: $CAREV,131723,AUV,2.1.4000*2F

2021-12-04T13:17:23.120Z,1638623843.120 [Micromodem](INFO): Nmea in: $CAREV,131723,COPROC,0.20.0.39330*7E

2021-12-04T13:17:25.149Z,1638623845.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:25.934Z,1638623845.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:26.354Z,1638623846.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:26.775Z,1638623846.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 222.398035 deg, deltaT: 4.434669 s, deltaX: 0.359997 m, approachRate: 0.081178 m/s, LOS rate: 10.774503 deg/s, posRepo size: 4
2021-12-04T13:17:27.180Z,1638623847.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131726.50*5B

2021-12-04T13:17:27.181Z,1638623847.181 [Micromodem](INFO): Nmea in: $CAREV,131727,AUV,2.1.4000*2B

2021-12-04T13:17:27.560Z,1638623847.560 [Micromodem](INFO): Nmea in: $CAREV,131727,COPROC,0.20.0.39330*7A

2021-12-04T13:17:29.642Z,1638623849.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:30.404Z,1638623850.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:30.783Z,1638623850.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:31.208Z,1638623851.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.720001 m, bearing: 217.586850 deg, deltaT: 4.433593 s, deltaX: 0.060003 m, approachRate: 0.013534 m/s, LOS rate: -1.085166 deg/s, posRepo size: 4
2021-12-04T13:17:31.616Z,1638623851.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131730.97*57

2021-12-04T13:17:31.617Z,1638623851.617 [Micromodem](INFO): Nmea in: $CAREV,131732,AUV,2.1.4000*2F

2021-12-04T13:17:32.008Z,1638623852.008 [Micromodem](INFO): Nmea in: $CAREV,131732,COPROC,0.20.0.39330*7E

2021-12-04T13:17:34.029Z,1638623854.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:34.821Z,1638623854.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:35.232Z,1638623855.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:35.693Z,1638623855.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 177.188221 deg, deltaT: 4.484917 s, deltaX: 0.239998 m, approachRate: 0.053512 m/s, LOS rate: -9.007665 deg/s, posRepo size: 4
2021-12-04T13:17:36.060Z,1638623856.060 [Micromodem](INFO): Nmea in: $SNTTA,0.064089,,,,131735.38*4A

2021-12-04T13:17:36.061Z,1638623856.061 [Micromodem](INFO): Nmea in: $CAREV,131736,AUV,2.1.4000*2B

2021-12-04T13:17:36.460Z,1638623856.460 [Micromodem](INFO): Nmea in: $CAREV,131736,COPROC,0.20.0.39330*7A

2021-12-04T13:17:38.496Z,1638623858.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:39.292Z,1638623859.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:39.680Z,1638623859.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:40.100Z,1638623860.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 219.914825 deg, deltaT: 4.406927 s, deltaX: 0.360003 m, approachRate: 0.081690 m/s, LOS rate: 9.695328 deg/s, posRepo size: 4
2021-12-04T13:17:42.917Z,1638623862.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:43.713Z,1638623863.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:44.119Z,1638623864.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:44.553Z,1638623864.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 170.179299 deg, deltaT: 4.452981 s, deltaX: 0.299999 m, approachRate: 0.067370 m/s, LOS rate: -11.169040 deg/s, posRepo size: 4
2021-12-04T13:17:44.952Z,1638623864.952 [Micromodem](INFO): Nmea in: $SNTTA,0.031482,,,,131744.28*42

2021-12-04T13:17:44.953Z,1638623864.953 [Micromodem](INFO): Nmea in: $CAREV,131745,AUV,2.1.4000*2F

2021-12-04T13:17:45.368Z,1638623865.368 [Micromodem](INFO): Nmea in: $CAREV,131745,COPROC,0.20.0.39330*7E

2021-12-04T13:17:47.437Z,1638623867.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:48.165Z,1638623868.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:48.568Z,1638623868.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:48.999Z,1638623868.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 149.631181 deg, deltaT: 4.445570 s, deltaX: 0.900000 m, approachRate: 0.202449 m/s, LOS rate: -4.622156 deg/s, posRepo size: 4
2021-12-04T13:17:49.408Z,1638623869.408 [Micromodem](INFO): Nmea in: $SNTTA,0.475424,0.475487,,,131748.73*5B

2021-12-04T13:17:49.409Z,1638623869.409 [Micromodem](INFO): Nmea in: $CAREV,131749,AUV,2.1.4000*23

2021-12-04T13:17:49.808Z,1638623869.808 [Micromodem](INFO): Nmea in: $CAREV,131749,COPROC,0.20.0.39330*72

2021-12-04T13:17:51.499Z,1638623871.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:52.217Z,1638623872.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:52.599Z,1638623872.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:53.100Z,1638623873.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 216.232601 deg, deltaT: 4.101956 s, deltaX: -0.359997 m, approachRate: -0.087762 m/s, LOS rate: 16.236504 deg/s, posRepo size: 4
2021-12-04T13:17:53.456Z,1638623873.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131752.78*52

2021-12-04T13:17:53.457Z,1638623873.457 [Micromodem](INFO): Nmea in: $CAREV,131753,AUV,2.1.4000*28

2021-12-04T13:17:53.840Z,1638623873.840 [Micromodem](INFO): Nmea in: $CAREV,131753,COPROC,0.20.0.39330*79

2021-12-04T13:17:55.852Z,1638623875.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:17:56.638Z,1638623876.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:17:57.050Z,1638623877.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:17:57.512Z,1638623877.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 160.679463 deg, deltaT: 4.408086 s, deltaX: 1.079994 m, approachRate: 0.245003 m/s, LOS rate: -12.602554 deg/s, posRepo size: 4
2021-12-04T13:17:57.877Z,1638623877.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131757.21*5B

2021-12-04T13:17:57.878Z,1638623877.878 [Micromodem](INFO): Nmea in: $CAREV,131758,AUV,2.1.4000*23

2021-12-04T13:17:58.272Z,1638623878.272 [Micromodem](INFO): Nmea in: $CAREV,131758,COPROC,0.20.0.39330*72

2021-12-04T13:18:00.316Z,1638623880.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:01.085Z,1638623881.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:01.499Z,1638623881.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:01.940Z,1638623881.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 178.060204 deg, deltaT: 4.420235 s, deltaX: -0.240002 m, approachRate: -0.054296 m/s, LOS rate: 3.932085 deg/s, posRepo size: 4
2021-12-04T13:18:02.332Z,1638623882.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131801.65*57

2021-12-04T13:18:02.333Z,1638623882.333 [Micromodem](INFO): Nmea in: $CAREV,131802,AUV,2.1.4000*23

2021-12-04T13:18:02.712Z,1638623882.712 [Micromodem](INFO): Nmea in: $CAREV,131802,COPROC,0.20.0.39330*72

2021-12-04T13:18:04.771Z,1638623884.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:05.529Z,1638623885.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:05.943Z,1638623885.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:06.403Z,1638623886.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 194.950210 deg, deltaT: 4.466029 s, deltaX: 6.600002 m, approachRate: 1.477823 m/s, LOS rate: 3.781885 deg/s, posRepo size: 4
2021-12-04T13:18:06.772Z,1638623886.772 [Micromodem](INFO): Nmea in: $SNTTA,0.032895,,,,131806.10*49

2021-12-04T13:18:06.773Z,1638623886.773 [Micromodem](INFO): Nmea in: $CAREV,131807,AUV,2.1.4000*26

2021-12-04T13:18:07.156Z,1638623887.156 [Micromodem](INFO): Nmea in: $CAREV,131807,COPROC,0.20.0.39330*77

2021-12-04T13:18:09.184Z,1638623889.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:09.985Z,1638623889.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:10.396Z,1638623890.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:10.824Z,1638623890.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 166.559914 deg, deltaT: 4.425639 s, deltaX: -6.180000 m, approachRate: -1.396409 m/s, LOS rate: -6.414960 deg/s, posRepo size: 4
2021-12-04T13:18:11.208Z,1638623891.208 [Micromodem](INFO): Nmea in: $SNTTA,0.068161,,,,131810.55*42

2021-12-04T13:18:11.209Z,1638623891.209 [Micromodem](INFO): Nmea in: $CAREV,131811,AUV,2.1.4000*21

2021-12-04T13:18:11.608Z,1638623891.608 [Micromodem](INFO): Nmea in: $CAREV,131811,COPROC,0.20.0.39330*70

2021-12-04T13:18:13.661Z,1638623893.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:14.425Z,1638623894.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:14.823Z,1638623894.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:15.292Z,1638623895.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 164.558614 deg, deltaT: 4.433852 s, deltaX: 0.600002 m, approachRate: 0.135323 m/s, LOS rate: -0.451368 deg/s, posRepo size: 4
2021-12-04T13:18:15.652Z,1638623895.652 [Micromodem](INFO): Nmea in: $SNTTA,0.047959,,,,131814.99*48

2021-12-04T13:18:15.653Z,1638623895.653 [Micromodem](INFO): Nmea in: $CAREV,131816,AUV,2.1.4000*26

2021-12-04T13:18:16.109Z,1638623896.109 [Micromodem](INFO): Nmea in: $CAREV,131816,COPROC,0.20.0.39330*77

2021-12-04T13:18:18.148Z,1638623898.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:18.941Z,1638623898.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:19.421Z,1638623899.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:19.798Z,1638623899.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 170.806256 deg, deltaT: 4.543534 s, deltaX: -0.060001 m, approachRate: -0.013206 m/s, LOS rate: 1.375062 deg/s, posRepo size: 4
2021-12-04T13:18:20.188Z,1638623900.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131819.51*59

2021-12-04T13:18:20.189Z,1638623900.189 [Micromodem](INFO): Nmea in: $CAREV,131820,AUV,2.1.4000*23

2021-12-04T13:18:20.572Z,1638623900.572 [Micromodem](INFO): Nmea in: $CAREV,131820,COPROC,0.20.0.39330*72

2021-12-04T13:18:22.619Z,1638623902.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:23.401Z,1638623903.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:23.787Z,1638623903.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:24.203Z,1638623904.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 176.025217 deg, deltaT: 4.405923 s, deltaX: 0.179996 m, approachRate: 0.040853 m/s, LOS rate: 1.184533 deg/s, posRepo size: 4
2021-12-04T13:18:24.608Z,1638623904.608 [Micromodem](INFO): Nmea in: $SNTTA,0.045965,,,,131823.97*4F

2021-12-04T13:18:24.609Z,1638623904.609 [Micromodem](INFO): Nmea in: $CAREV,131825,AUV,2.1.4000*26

2021-12-04T13:18:25.009Z,1638623905.009 [Micromodem](INFO): Nmea in: $CAREV,131825,COPROC,0.20.0.39330*77

2021-12-04T13:18:27.029Z,1638623907.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:27.833Z,1638623907.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:28.223Z,1638623908.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:28.677Z,1638623908.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 166.958182 deg, deltaT: 4.473993 s, deltaX: 0.840004 m, approachRate: 0.187753 m/s, LOS rate: -2.026609 deg/s, posRepo size: 4
2021-12-04T13:18:29.070Z,1638623909.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131828.40*5B

2021-12-04T13:18:29.071Z,1638623909.071 [Micromodem](INFO): Nmea in: $CAREV,131829,AUV,2.1.4000*2A

2021-12-04T13:18:29.452Z,1638623909.452 [Micromodem](INFO): Nmea in: $CAREV,131829,COPROC,0.20.0.39330*7B

2021-12-04T13:18:31.509Z,1638623911.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:32.269Z,1638623912.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:32.679Z,1638623912.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:33.091Z,1638623913.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 169.998040 deg, deltaT: 4.413709 s, deltaX: 0.060001 m, approachRate: 0.013594 m/s, LOS rate: 0.688731 deg/s, posRepo size: 4
2021-12-04T13:18:33.508Z,1638623913.508 [Micromodem](INFO): Nmea in: $SNTTA,0.043917,,,,131832.83*49

2021-12-04T13:18:33.509Z,1638623913.509 [Micromodem](INFO): Nmea in: $CAREV,131833,AUV,2.1.4000*21

2021-12-04T13:18:33.892Z,1638623913.892 [Micromodem](INFO): Nmea in: $CAREV,131833,COPROC,0.20.0.39330*70

2021-12-04T13:18:35.917Z,1638623915.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:36.716Z,1638623916.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:37.119Z,1638623917.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:37.588Z,1638623917.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 167.382118 deg, deltaT: 4.496795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.581730 deg/s, posRepo size: 4
2021-12-04T13:18:37.956Z,1638623917.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131837.28*5B

2021-12-04T13:18:37.957Z,1638623917.957 [Micromodem](INFO): Nmea in: $CAREV,131838,AUV,2.1.4000*2A

2021-12-04T13:18:38.352Z,1638623918.352 [Micromodem](INFO): Nmea in: $CAREV,131838,COPROC,0.20.0.39330*7B

2021-12-04T13:18:40.404Z,1638623920.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:41.162Z,1638623921.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:41.563Z,1638623921.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:41.996Z,1638623921.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 172.675474 deg, deltaT: 4.408358 s, deltaX: 0.359997 m, approachRate: 0.081662 m/s, LOS rate: 1.200755 deg/s, posRepo size: 4
2021-12-04T13:18:42.408Z,1638623922.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131841.73*54

2021-12-04T13:18:42.409Z,1638623922.409 [Micromodem](INFO): Nmea in: $CAREV,131842,AUV,2.1.4000*27

2021-12-04T13:18:42.791Z,1638623922.791 [Micromodem](INFO): Nmea in: $CAREV,131842,COPROC,0.20.0.39330*76

2021-12-04T13:18:44.836Z,1638623924.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:45.594Z,1638623925.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:46.008Z,1638623926.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:46.475Z,1638623926.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 169.469124 deg, deltaT: 4.477477 s, deltaX: 0.299999 m, approachRate: 0.067002 m/s, LOS rate: -0.716106 deg/s, posRepo size: 4
2021-12-04T13:18:46.836Z,1638623926.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131846.16*50

2021-12-04T13:18:46.837Z,1638623926.837 [Micromodem](INFO): Nmea in: $CAREV,131847,AUV,2.1.4000*22

2021-12-04T13:18:47.232Z,1638623927.232 [Micromodem](INFO): Nmea in: $CAREV,131847,COPROC,0.20.0.39330*73

2021-12-04T13:18:49.312Z,1638623929.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:50.057Z,1638623930.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:50.456Z,1638623930.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:50.883Z,1638623930.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 170.660036 deg, deltaT: 4.409466 s, deltaX: 0.240002 m, approachRate: 0.054429 m/s, LOS rate: 0.270081 deg/s, posRepo size: 4
2021-12-04T13:18:51.311Z,1638623931.311 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131850.62*54

2021-12-04T13:18:51.312Z,1638623931.312 [Micromodem](INFO): Nmea in: $CAREV,131851,AUV,2.1.4000*25

2021-12-04T13:18:51.700Z,1638623931.700 [Micromodem](INFO): Nmea in: $CAREV,131851,COPROC,0.20.0.39330*74

2021-12-04T13:18:53.432Z,1638623933.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:54.105Z,1638623934.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:54.510Z,1638623934.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:54.949Z,1638623934.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 172.924858 deg, deltaT: 4.065866 s, deltaX: 0.240002 m, approachRate: 0.059028 m/s, LOS rate: 0.557033 deg/s, posRepo size: 4
2021-12-04T13:18:55.380Z,1638623935.380 [Micromodem](INFO): Nmea in: $SNTTA,0.038228,,,,131854.67*48

2021-12-04T13:18:55.381Z,1638623935.381 [Micromodem](INFO): Nmea in: $CAREV,131855,AUV,2.1.4000*21

2021-12-04T13:18:55.732Z,1638623935.732 [Micromodem](INFO): Nmea in: $CAREV,131855,COPROC,0.20.0.39330*70

2021-12-04T13:18:57.446Z,1638623937.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:18:58.146Z,1638623938.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:18:58.547Z,1638623938.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:18:58.978Z,1638623938.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 171.200659 deg, deltaT: 4.026739 s, deltaX: 0.420002 m, approachRate: 0.104303 m/s, LOS rate: -0.428187 deg/s, posRepo size: 4
2021-12-04T13:18:59.396Z,1638623939.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131858.71*5E

2021-12-04T13:18:59.397Z,1638623939.397 [Micromodem](INFO): Nmea in: $CAREV,131859,AUV,2.1.4000*2D

2021-12-04T13:18:59.784Z,1638623939.784 [Micromodem](INFO): Nmea in: $CAREV,131859,COPROC,0.20.0.39330*7C

2021-12-04T13:19:01.472Z,1638623941.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:02.185Z,1638623942.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:02.595Z,1638623942.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:03.052Z,1638623943.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 169.211352 deg, deltaT: 4.064618 s, deltaX: 0.239998 m, approachRate: 0.059046 m/s, LOS rate: -0.489420 deg/s, posRepo size: 4
2021-12-04T13:19:03.440Z,1638623943.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131902.75*54

2021-12-04T13:19:03.441Z,1638623943.441 [Micromodem](INFO): Nmea in: $CAREV,131903,AUV,2.1.4000*23

2021-12-04T13:19:03.810Z,1638623943.810 [Micromodem](INFO): Nmea in: $CAREV,131903,COPROC,0.20.0.39330*72

2021-12-04T13:19:05.840Z,1638623945.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:06.625Z,1638623946.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:07.032Z,1638623947.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:07.510Z,1638623947.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 162.137708 deg, deltaT: 4.453701 s, deltaX: 0.360001 m, approachRate: 0.080832 m/s, LOS rate: -1.588262 deg/s, posRepo size: 4
2021-12-04T13:19:07.882Z,1638623947.882 [Micromodem](INFO): Nmea in: $SNTTA,0.042252,,,,131907.19*46

2021-12-04T13:19:07.883Z,1638623947.883 [Micromodem](INFO): Nmea in: $CAREV,131908,AUV,2.1.4000*28

2021-12-04T13:19:08.260Z,1638623948.260 [Micromodem](INFO): Nmea in: $CAREV,131908,COPROC,0.20.0.39330*79

2021-12-04T13:19:10.279Z,1638623950.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:11.078Z,1638623951.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:11.471Z,1638623951.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:11.899Z,1638623951.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 162.391354 deg, deltaT: 4.404827 s, deltaX: 0.420002 m, approachRate: 0.095350 m/s, LOS rate: 0.057584 deg/s, posRepo size: 4
2021-12-04T13:19:12.300Z,1638623952.300 [Micromodem](INFO): Nmea in: $SNTTA,0.052056,,,,131911.65*4D

2021-12-04T13:19:12.301Z,1638623952.301 [Micromodem](INFO): Nmea in: $CAREV,131912,AUV,2.1.4000*23

2021-12-04T13:19:12.692Z,1638623952.692 [Micromodem](INFO): Nmea in: $CAREV,131912,COPROC,0.20.0.39330*72

2021-12-04T13:19:14.742Z,1638623954.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:15.517Z,1638623955.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:15.923Z,1638623955.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:16.395Z,1638623956.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 209.819477 deg, deltaT: 4.492269 s, deltaX: 0.239994 m, approachRate: 0.053424 m/s, LOS rate: 10.557721 deg/s, posRepo size: 4
2021-12-04T13:19:16.748Z,1638623956.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131916.08*5B

2021-12-04T13:19:16.749Z,1638623956.749 [Micromodem](INFO): Nmea in: $CAREV,131917,AUV,2.1.4000*26

2021-12-04T13:19:17.132Z,1638623957.132 [Micromodem](INFO): Nmea in: $CAREV,131917,COPROC,0.20.0.39330*77

2021-12-04T13:19:19.168Z,1638623959.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:19.953Z,1638623959.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:20.385Z,1638623960.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:20.804Z,1638623960.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 160.075565 deg, deltaT: 4.407817 s, deltaX: 0.180004 m, approachRate: 0.040837 m/s, LOS rate: -11.285385 deg/s, posRepo size: 4
2021-12-04T13:19:21.198Z,1638623961.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131920.52*51

2021-12-04T13:19:21.201Z,1638623961.201 [Micromodem](INFO): Nmea in: $CAREV,131921,AUV,2.1.4000*23

2021-12-04T13:19:21.580Z,1638623961.580 [Micromodem](INFO): Nmea in: $CAREV,131921,COPROC,0.20.0.39330*72

2021-12-04T13:19:23.635Z,1638623963.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:24.421Z,1638623964.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:24.830Z,1638623964.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:25.227Z,1638623965.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 158.117418 deg, deltaT: 4.423450 s, deltaX: 0.180000 m, approachRate: 0.040692 m/s, LOS rate: -0.442674 deg/s, posRepo size: 4
2021-12-04T13:19:25.631Z,1638623965.631 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131924.99*52

2021-12-04T13:19:25.633Z,1638623965.633 [Micromodem](INFO): Nmea in: $CAREV,131926,AUV,2.1.4000*24

2021-12-04T13:19:26.020Z,1638623966.020 [Micromodem](INFO): Nmea in: $CAREV,131926,COPROC,0.20.0.39330*75

2021-12-04T13:19:28.062Z,1638623968.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:28.837Z,1638623968.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:29.282Z,1638623969.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:29.693Z,1638623969.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 155.172062 deg, deltaT: 4.470367 s, deltaX: 0.359997 m, approachRate: 0.080530 m/s, LOS rate: -0.658862 deg/s, posRepo size: 4
2021-12-04T13:19:30.084Z,1638623970.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131929.40*5B

2021-12-04T13:19:30.085Z,1638623970.085 [Micromodem](INFO): Nmea in: $CAREV,131930,AUV,2.1.4000*23

2021-12-04T13:19:30.488Z,1638623970.488 [Micromodem](INFO): Nmea in: $CAREV,131930,COPROC,0.20.0.39330*72

2021-12-04T13:19:32.502Z,1638623972.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:33.333Z,1638623973.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:33.703Z,1638623973.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:34.136Z,1638623974.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 157.662732 deg, deltaT: 4.422816 s, deltaX: 0.299999 m, approachRate: 0.067830 m/s, LOS rate: 0.563141 deg/s, posRepo size: 4
2021-12-04T13:19:34.513Z,1638623974.513 [Micromodem](INFO): Nmea in: $SNTTA,0.061606,,,,131933.90*44

2021-12-04T13:19:34.924Z,1638623974.924 [Micromodem](INFO): Nmea in: $CAREV,131934,AUV,2.1.4000*27

2021-12-04T13:19:34.925Z,1638623974.925 [Micromodem](INFO): Nmea in: $CAREV,131934,COPROC,0.20.0.39330*76

2021-12-04T13:19:36.941Z,1638623976.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:37.737Z,1638623977.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:38.143Z,1638623978.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:38.581Z,1638623978.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 148.020390 deg, deltaT: 4.449254 s, deltaX: 0.360004 m, approachRate: 0.080913 m/s, LOS rate: -2.167182 deg/s, posRepo size: 4
2021-12-04T13:19:38.988Z,1638623978.988 [Micromodem](INFO): Nmea in: $SNTTA,0.041452,,,,131938.30*44

2021-12-04T13:19:38.989Z,1638623978.989 [Micromodem](INFO): Nmea in: $CAREV,131939,AUV,2.1.4000*2A

2021-12-04T13:19:39.380Z,1638623979.380 [Micromodem](INFO): Nmea in: $CAREV,131939,COPROC,0.20.0.39330*7B

2021-12-04T13:19:41.455Z,1638623981.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:42.181Z,1638623982.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:42.595Z,1638623982.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:43.019Z,1638623983.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.599998 m, bearing: 145.090881 deg, deltaT: 4.454186 s, deltaX: 0.359997 m, approachRate: 0.080822 m/s, LOS rate: -0.657698 deg/s, posRepo size: 4
2021-12-04T13:19:43.436Z,1638623983.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131942.75*50

2021-12-04T13:19:43.437Z,1638623983.437 [Micromodem](INFO): Nmea in: $CAREV,131943,AUV,2.1.4000*27

2021-12-04T13:19:43.816Z,1638623983.816 [Micromodem](INFO): Nmea in: $CAREV,131943,COPROC,0.20.0.39330*76

2021-12-04T13:19:45.832Z,1638623985.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:46.621Z,1638623986.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:47.039Z,1638623987.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:47.493Z,1638623987.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 143.116137 deg, deltaT: 4.474103 s, deltaX: 0.300003 m, approachRate: 0.067053 m/s, LOS rate: -0.441372 deg/s, posRepo size: 4
2021-12-04T13:19:47.867Z,1638623987.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131947.19*5F

2021-12-04T13:19:47.868Z,1638623987.868 [Micromodem](INFO): Nmea in: $CAREV,131948,AUV,2.1.4000*2C

2021-12-04T13:19:48.256Z,1638623988.256 [Micromodem](INFO): Nmea in: $CAREV,131948,COPROC,0.20.0.39330*7D

2021-12-04T13:19:50.295Z,1638623990.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:51.079Z,1638623991.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:51.484Z,1638623991.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:51.916Z,1638623991.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 143.389549 deg, deltaT: 4.400966 s, deltaX: 0.359997 m, approachRate: 0.081799 m/s, LOS rate: 0.062126 deg/s, posRepo size: 4
2021-12-04T13:19:52.312Z,1638623992.312 [Micromodem](INFO): Nmea in: $SNTTA,0.045663,,,,131951.65*4F

2021-12-04T13:19:52.313Z,1638623992.313 [Micromodem](INFO): Nmea in: $CAREV,131952,AUV,2.1.4000*27

2021-12-04T13:19:52.708Z,1638623992.708 [Micromodem](INFO): Nmea in: $CAREV,131952,COPROC,0.20.0.39330*76

2021-12-04T13:19:54.731Z,1638623994.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:55.505Z,1638623995.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:19:55.924Z,1638623995.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:19:56.398Z,1638623996.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 143.174125 deg, deltaT: 4.502172 s, deltaX: 0.059998 m, approachRate: 0.013326 m/s, LOS rate: -0.047849 deg/s, posRepo size: 4
2021-12-04T13:19:56.765Z,1638623996.765 [Micromodem](INFO): Nmea in: $SNTTA,0.082635,,,,131956.07*44

2021-12-04T13:19:56.767Z,1638623996.767 [Micromodem](INFO): Nmea in: $CAREV,131957,AUV,2.1.4000*22

2021-12-04T13:19:57.132Z,1638623997.132 [Micromodem](INFO): Nmea in: $CAREV,131957,COPROC,0.20.0.39330*73

2021-12-04T13:19:59.166Z,1638623999.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:19:59.961Z,1638623999.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:00.379Z,1638624000.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:00.804Z,1638624000.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 135.813285 deg, deltaT: 4.407343 s, deltaX: 0.720001 m, approachRate: 0.163364 m/s, LOS rate: -1.670131 deg/s, posRepo size: 4
2021-12-04T13:20:01.212Z,1638624001.212 [Micromodem](INFO): Nmea in: $SNTTA,0.093713,,,,132000.53*49

2021-12-04T13:20:01.213Z,1638624001.213 [Micromodem](INFO): Nmea in: $CAREV,132001,AUV,2.1.4000*2B

2021-12-04T13:20:01.604Z,1638624001.604 [Micromodem](INFO): Nmea in: $CAREV,132001,COPROC,0.20.0.39330*7A

2021-12-04T13:20:03.659Z,1638624003.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:04.421Z,1638624004.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:04.842Z,1638624004.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:05.319Z,1638624005.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 132.704237 deg, deltaT: 4.505338 s, deltaX: 0.300003 m, approachRate: 0.066588 m/s, LOS rate: -0.690081 deg/s, posRepo size: 4
2021-12-04T13:20:05.640Z,1638624005.640 [Micromodem](INFO): Nmea in: $SNTTA,0.364168,0.363974,,,132004.99*58

2021-12-04T13:20:05.641Z,1638624005.641 [Micromodem](INFO): Nmea in: $CAREV,132005,AUV,2.1.4000*2F

2021-12-04T13:20:06.052Z,1638624006.052 [Micromodem](INFO): Nmea in: $CAREV,132005,COPROC,0.20.0.39330*7E

2021-12-04T13:20:08.068Z,1638624008.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:08.865Z,1638624008.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:09.308Z,1638624009.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:09.711Z,1638624009.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.879997 m, bearing: 168.101938 deg, deltaT: 4.398030 s, deltaX: 0.539997 m, approachRate: 0.122782 m/s, LOS rate: 8.048535 deg/s, posRepo size: 4
2021-12-04T13:20:10.100Z,1638624010.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132009.43*50

2021-12-04T13:20:10.101Z,1638624010.101 [Micromodem](INFO): Nmea in: $CAREV,132010,AUV,2.1.4000*2B

2021-12-04T13:20:10.492Z,1638624010.492 [Micromodem](INFO): Nmea in: $CAREV,132010,COPROC,0.20.0.39330*7A

2021-12-04T13:20:12.530Z,1638624012.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:13.359Z,1638624013.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:13.721Z,1638624013.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:14.156Z,1638624014.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 162.253698 deg, deltaT: 4.444604 s, deltaX: 0.420002 m, approachRate: 0.094497 m/s, LOS rate: -1.315807 deg/s, posRepo size: 4
2021-12-04T13:20:14.537Z,1638624014.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132013.93*56

2021-12-04T13:20:14.936Z,1638624014.936 [Micromodem](INFO): Nmea in: $CAREV,132014,AUV,2.1.4000*2F

2021-12-04T13:20:14.937Z,1638624014.937 [Micromodem](INFO): Nmea in: $CAREV,132014,COPROC,0.20.0.39330*7E

2021-12-04T13:20:16.959Z,1638624016.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:17.761Z,1638624017.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:18.165Z,1638624018.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:18.604Z,1638624018.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 159.080119 deg, deltaT: 4.452709 s, deltaX: 0.419998 m, approachRate: 0.094324 m/s, LOS rate: -0.712730 deg/s, posRepo size: 4
2021-12-04T13:20:19.000Z,1638624019.000 [Micromodem](INFO): Nmea in: $SNTTA,0.038984,,,,132018.33*47

2021-12-04T13:20:19.001Z,1638624019.001 [Micromodem](INFO): Nmea in: $CAREV,132019,AUV,2.1.4000*22

2021-12-04T13:20:19.396Z,1638624019.396 [Micromodem](INFO): Nmea in: $CAREV,132019,COPROC,0.20.0.39330*73

2021-12-04T13:20:21.479Z,1638624021.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:22.205Z,1638624022.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:22.611Z,1638624022.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:23.019Z,1638624023.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 157.470517 deg, deltaT: 4.414547 s, deltaX: 0.060005 m, approachRate: 0.013593 m/s, LOS rate: -0.364613 deg/s, posRepo size: 4
2021-12-04T13:20:23.440Z,1638624023.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132022.77*5E

2021-12-04T13:20:23.441Z,1638624023.441 [Micromodem](INFO): Nmea in: $CAREV,132023,AUV,2.1.4000*2B

2021-12-04T13:20:23.825Z,1638624023.825 [Micromodem](INFO): Nmea in: $CAREV,132023,COPROC,0.20.0.39330*7A

2021-12-04T13:20:25.844Z,1638624025.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:26.641Z,1638624026.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:27.052Z,1638624027.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:27.513Z,1638624027.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 151.751955 deg, deltaT: 4.493721 s, deltaX: -0.060005 m, approachRate: -0.013353 m/s, LOS rate: -1.272567 deg/s, posRepo size: 4
2021-12-04T13:20:27.876Z,1638624027.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132027.21*58

2021-12-04T13:20:27.877Z,1638624027.877 [Micromodem](INFO): Nmea in: $CAREV,132028,AUV,2.1.4000*20

2021-12-04T13:20:28.268Z,1638624028.268 [Micromodem](INFO): Nmea in: $CAREV,132028,COPROC,0.20.0.39330*71

2021-12-04T13:20:30.305Z,1638624030.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:31.087Z,1638624031.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:31.497Z,1638624031.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:31.923Z,1638624031.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.080002 m, bearing: 151.734551 deg, deltaT: 4.409874 s, deltaX: 0.360004 m, approachRate: 0.081636 m/s, LOS rate: -0.003946 deg/s, posRepo size: 4
2021-12-04T13:20:32.335Z,1638624032.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132031.66*5C

2021-12-04T13:20:32.339Z,1638624032.339 [Micromodem](INFO): Nmea in: $CAREV,132032,AUV,2.1.4000*2B

2021-12-04T13:20:32.731Z,1638624032.731 [Micromodem](INFO): Nmea in: $CAREV,132032,COPROC,0.20.0.39330*7A

2021-12-04T13:20:34.744Z,1638624034.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:35.529Z,1638624035.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:35.944Z,1638624035.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:36.374Z,1638624036.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 149.882614 deg, deltaT: 4.451156 s, deltaX: 0.479996 m, approachRate: 0.107836 m/s, LOS rate: -0.416058 deg/s, posRepo size: 4
2021-12-04T13:20:36.775Z,1638624036.775 [Micromodem](INFO): Nmea in: $SNTTA,0.067867,,,,132036.10*4C

2021-12-04T13:20:36.776Z,1638624036.776 [Micromodem](INFO): Nmea in: $CAREV,132037,AUV,2.1.4000*2E

2021-12-04T13:20:37.156Z,1638624037.156 [Micromodem](INFO): Nmea in: $CAREV,132037,COPROC,0.20.0.39330*7F

2021-12-04T13:20:39.194Z,1638624039.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:39.979Z,1638624039.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:40.399Z,1638624040.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:40.838Z,1638624040.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 152.961335 deg, deltaT: 4.460083 s, deltaX: 0.240002 m, approachRate: 0.053811 m/s, LOS rate: 0.690283 deg/s, posRepo size: 4
2021-12-04T13:20:41.215Z,1638624041.215 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132040.55*5A

2021-12-04T13:20:41.216Z,1638624041.216 [Micromodem](INFO): Nmea in: $CAREV,132041,AUV,2.1.4000*2F

2021-12-04T13:20:41.605Z,1638624041.605 [Micromodem](INFO): Nmea in: $CAREV,132041,COPROC,0.20.0.39330*7E

2021-12-04T13:20:43.655Z,1638624043.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:44.433Z,1638624044.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:44.837Z,1638624044.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:45.306Z,1638624045.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 149.988208 deg, deltaT: 4.448166 s, deltaX: 0.360001 m, approachRate: 0.080932 m/s, LOS rate: -0.668394 deg/s, posRepo size: 4
2021-12-04T13:20:45.648Z,1638624045.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132045.00*5F

2021-12-04T13:20:45.650Z,1638624045.650 [Micromodem](INFO): Nmea in: $CAREV,132046,AUV,2.1.4000*28

2021-12-04T13:20:46.044Z,1638624046.044 [Micromodem](INFO): Nmea in: $CAREV,132046,COPROC,0.20.0.39330*79

2021-12-04T13:20:48.075Z,1638624048.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:48.861Z,1638624048.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:49.304Z,1638624049.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:49.709Z,1638624049.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 147.199005 deg, deltaT: 4.426954 s, deltaX: 0.299999 m, approachRate: 0.067767 m/s, LOS rate: -0.630050 deg/s, posRepo size: 4
2021-12-04T13:20:50.104Z,1638624050.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132049.43*54

2021-12-04T13:20:50.105Z,1638624050.105 [Micromodem](INFO): Nmea in: $CAREV,132050,AUV,2.1.4000*2F

2021-12-04T13:20:50.484Z,1638624050.484 [Micromodem](INFO): Nmea in: $CAREV,132050,COPROC,0.20.0.39330*7E

2021-12-04T13:20:52.557Z,1638624052.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:53.350Z,1638624053.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:53.712Z,1638624053.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:54.140Z,1638624054.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 147.528630 deg, deltaT: 4.430983 s, deltaX: 0.360001 m, approachRate: 0.081246 m/s, LOS rate: 0.074391 deg/s, posRepo size: 4
2021-12-04T13:20:54.530Z,1638624054.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132053.92*53

2021-12-04T13:20:54.541Z,1638624054.541 [Micromodem](INFO): Nmea in: $CAREV,132054,AUV,2.1.4000*2B

2021-12-04T13:20:54.936Z,1638624054.936 [Micromodem](INFO): Nmea in: $CAREV,132054,COPROC,0.20.0.39330*7A

2021-12-04T13:20:56.956Z,1638624056.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:20:57.749Z,1638624057.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:20:58.151Z,1638624058.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:20:58.593Z,1638624058.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 159.127357 deg, deltaT: 4.453153 s, deltaX: 0.720001 m, approachRate: 0.161683 m/s, LOS rate: 2.604610 deg/s, posRepo size: 4
2021-12-04T13:20:59.012Z,1638624059.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132058.32*52

2021-12-04T13:20:59.013Z,1638624059.013 [Micromodem](INFO): Nmea in: $CAREV,132059,AUV,2.1.4000*26

2021-12-04T13:20:59.412Z,1638624059.412 [Micromodem](INFO): Nmea in: $CAREV,132059,COPROC,0.20.0.39330*77

2021-12-04T13:21:01.470Z,1638624061.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:02.193Z,1638624062.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:02.600Z,1638624062.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:03.020Z,1638624063.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 141.732108 deg, deltaT: 4.426791 s, deltaX: -0.060005 m, approachRate: -0.013555 m/s, LOS rate: -3.929539 deg/s, posRepo size: 4
2021-12-04T13:21:03.444Z,1638624063.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132102.76*5C

2021-12-04T13:21:03.445Z,1638624063.445 [Micromodem](INFO): Nmea in: $CAREV,132103,AUV,2.1.4000*28

2021-12-04T13:21:03.820Z,1638624063.820 [Micromodem](INFO): Nmea in: $CAREV,132103,COPROC,0.20.0.39330*79

2021-12-04T13:21:05.520Z,1638624065.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:06.269Z,1638624066.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:06.663Z,1638624066.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:07.080Z,1638624067.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.780003 m, bearing: 140.324051 deg, deltaT: 4.055545 s, deltaX: 0.300007 m, approachRate: 0.073974 m/s, LOS rate: -0.347193 deg/s, posRepo size: 4
2021-12-04T13:21:07.461Z,1638624067.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132106.84*55

2021-12-04T13:21:07.464Z,1638624067.464 [Micromodem](INFO): Nmea in: $CAREV,132107,AUV,2.1.4000*2C

2021-12-04T13:21:07.864Z,1638624067.864 [Micromodem](INFO): Nmea in: $CAREV,132107,COPROC,0.20.0.39330*7D

2021-12-04T13:21:09.907Z,1638624069.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:10.677Z,1638624070.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:11.083Z,1638624071.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:11.540Z,1638624071.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 136.319839 deg, deltaT: 4.464446 s, deltaX: 0.299999 m, approachRate: 0.067197 m/s, LOS rate: -0.896911 deg/s, posRepo size: 4
2021-12-04T13:21:11.924Z,1638624071.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132111.24*59

2021-12-04T13:21:11.925Z,1638624071.925 [Micromodem](INFO): Nmea in: $CAREV,132112,AUV,2.1.4000*28

2021-12-04T13:21:12.312Z,1638624072.312 [Micromodem](INFO): Nmea in: $CAREV,132112,COPROC,0.20.0.39330*79

2021-12-04T13:21:14.366Z,1638624074.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:15.121Z,1638624075.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:15.540Z,1638624075.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:15.948Z,1638624075.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 136.744321 deg, deltaT: 4.407598 s, deltaX: 0.179996 m, approachRate: 0.040838 m/s, LOS rate: 0.096307 deg/s, posRepo size: 4
2021-12-04T13:21:16.368Z,1638624076.368 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132115.69*54

2021-12-04T13:21:16.387Z,1638624076.387 [Micromodem](INFO): Nmea in: $CAREV,132116,AUV,2.1.4000*2C

2021-12-04T13:21:16.745Z,1638624076.745 [Micromodem](INFO): Nmea in: $CAREV,132116,COPROC,0.20.0.39330*7D

2021-12-04T13:21:18.828Z,1638624078.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:19.589Z,1638624079.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:19.995Z,1638624079.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:20.450Z,1638624080.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 135.303124 deg, deltaT: 4.502169 s, deltaX: 0.360001 m, approachRate: 0.079962 m/s, LOS rate: -0.320112 deg/s, posRepo size: 4
2021-12-04T13:21:20.868Z,1638624080.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132120.16*5A

2021-12-04T13:21:20.869Z,1638624080.869 [Micromodem](INFO): Nmea in: $CAREV,132121,AUV,2.1.4000*28

2021-12-04T13:21:21.200Z,1638624081.200 [Micromodem](INFO): Nmea in: $CAREV,132121,COPROC,0.20.0.39330*79

2021-12-04T13:21:23.217Z,1638624083.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:24.024Z,1638624084.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:24.441Z,1638624084.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:24.844Z,1638624084.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 131.454435 deg, deltaT: 4.394078 s, deltaX: 0.359997 m, approachRate: 0.081928 m/s, LOS rate: -0.875881 deg/s, posRepo size: 4
2021-12-04T13:21:25.252Z,1638624085.252 [Micromodem](INFO): Nmea in: $SNTTA,0.049864,,,,132124.59*4C

2021-12-04T13:21:25.264Z,1638624085.264 [Micromodem](INFO): Nmea in: $CAREV,132125,AUV,2.1.4000*2C

2021-12-04T13:21:25.644Z,1638624085.644 [Micromodem](INFO): Nmea in: $CAREV,132125,COPROC,0.20.0.39330*7D

2021-12-04T13:21:27.698Z,1638624087.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:28.453Z,1638624088.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:28.875Z,1638624088.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:29.339Z,1638624089.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 129.805218 deg, deltaT: 4.486507 s, deltaX: 0.360001 m, approachRate: 0.080241 m/s, LOS rate: -0.367595 deg/s, posRepo size: 4
2021-12-04T13:21:29.700Z,1638624089.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132129.02*56

2021-12-04T13:21:29.701Z,1638624089.701 [Micromodem](INFO): Nmea in: $CAREV,132130,AUV,2.1.4000*28

2021-12-04T13:21:30.084Z,1638624090.084 [Micromodem](INFO): Nmea in: $CAREV,132130,COPROC,0.20.0.39330*79

2021-12-04T13:21:32.208Z,1638624092.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:32.939Z,1638624092.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:33.385Z,1638624093.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:33.765Z,1638624093.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 124.988814 deg, deltaT: 4.434775 s, deltaX: 0.480003 m, approachRate: 0.108236 m/s, LOS rate: -1.086054 deg/s, posRepo size: 4
2021-12-04T13:21:34.133Z,1638624094.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132133.51*5B

2021-12-04T13:21:34.137Z,1638624094.137 [Micromodem](INFO): Nmea in: $CAREV,132134,AUV,2.1.4000*2C

2021-12-04T13:21:34.536Z,1638624094.536 [Micromodem](INFO): Nmea in: $CAREV,132134,COPROC,0.20.0.39330*7D

2021-12-04T13:21:36.570Z,1638624096.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:37.356Z,1638624097.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:37.759Z,1638624097.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:38.188Z,1638624098.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 125.931886 deg, deltaT: 4.422532 s, deltaX: 0.179996 m, approachRate: 0.040700 m/s, LOS rate: 0.213242 deg/s, posRepo size: 4
2021-12-04T13:21:38.592Z,1638624098.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132137.92*50

2021-12-04T13:21:38.593Z,1638624098.593 [Micromodem](INFO): Nmea in: $CAREV,132138,AUV,2.1.4000*20

2021-12-04T13:21:38.976Z,1638624098.976 [Micromodem](INFO): Nmea in: $CAREV,132138,COPROC,0.20.0.39330*71

2021-12-04T13:21:39.434Z,1638624099.434 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T13:21:40.993Z,1638624100.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:41.804Z,1638624101.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:42.199Z,1638624102.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:42.622Z,1638624102.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 124.606665 deg, deltaT: 4.434096 s, deltaX: 0.360008 m, approachRate: 0.081191 m/s, LOS rate: -0.298871 deg/s, posRepo size: 4
2021-12-04T13:21:43.028Z,1638624103.028 [Micromodem](INFO): Nmea in: $SNTTA,0.078944,,,,132142.37*45

2021-12-04T13:21:43.029Z,1638624103.029 [Micromodem](INFO): Nmea in: $CAREV,132143,AUV,2.1.4000*2C

2021-12-04T13:21:43.436Z,1638624103.436 [Micromodem](INFO): Nmea in: $CAREV,132143,COPROC,0.20.0.39330*7D

2021-12-04T13:21:45.535Z,1638624105.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:46.305Z,1638624106.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:46.651Z,1638624106.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:47.067Z,1638624107.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 119.649560 deg, deltaT: 4.445619 s, deltaX: 0.359997 m, approachRate: 0.080978 m/s, LOS rate: -1.115054 deg/s, posRepo size: 4
2021-12-04T13:21:47.861Z,1638624107.861 [Micromodem](INFO): Nmea in: $SNTTA,0.058666,,,,132146.87*47

2021-12-04T13:21:47.862Z,1638624107.862 [Micromodem](INFO): Nmea in: $CAREV,132147,AUV,2.1.4000*28

2021-12-04T13:21:48.260Z,1638624108.260 [Micromodem](INFO): Nmea in: $CAREV,132147,COPROC,0.20.0.39330*79

2021-12-04T13:21:49.884Z,1638624109.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:50.677Z,1638624110.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:51.087Z,1638624111.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:51.565Z,1638624111.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 120.165649 deg, deltaT: 4.493963 s, deltaX: 0.479992 m, approachRate: 0.106808 m/s, LOS rate: 0.114841 deg/s, posRepo size: 4
2021-12-04T13:21:51.916Z,1638624111.916 [Micromodem](INFO): Nmea in: $SNTTA,0.051744,,,,132151.24*40

2021-12-04T13:21:51.917Z,1638624111.917 [Micromodem](INFO): Nmea in: $CAREV,132152,AUV,2.1.4000*2C

2021-12-04T13:21:52.308Z,1638624112.308 [Micromodem](INFO): Nmea in: $CAREV,132152,COPROC,0.20.0.39330*7D

2021-12-04T13:21:54.329Z,1638624114.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:55.121Z,1638624115.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:21:55.527Z,1638624115.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:21:55.955Z,1638624115.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 120.352919 deg, deltaT: 4.393939 s, deltaX: 0.540009 m, approachRate: 0.122899 m/s, LOS rate: 0.042620 deg/s, posRepo size: 4
2021-12-04T13:21:56.380Z,1638624116.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132155.69*50

2021-12-04T13:21:56.381Z,1638624116.381 [Micromodem](INFO): Nmea in: $CAREV,132156,AUV,2.1.4000*28

2021-12-04T13:21:56.748Z,1638624116.748 [Micromodem](INFO): Nmea in: $CAREV,132156,COPROC,0.20.0.39330*79

2021-12-04T13:21:58.769Z,1638624118.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:21:59.673Z,1638624119.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:00.075Z,1638624120.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:00.498Z,1638624120.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.740002 m, bearing: 117.597758 deg, deltaT: 4.542580 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.606519 deg/s, posRepo size: 4
2021-12-04T13:22:00.878Z,1638624120.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132200.24*5A

2021-12-04T13:22:00.879Z,1638624120.879 [Micromodem](INFO): Nmea in: $CAREV,132201,AUV,2.1.4000*29

2021-12-04T13:22:01.304Z,1638624121.304 [Micromodem](INFO): Nmea in: $CAREV,132201,COPROC,0.20.0.39330*78

2021-12-04T13:22:03.443Z,1638624123.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:04.113Z,1638624124.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:04.534Z,1638624124.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:04.965Z,1638624124.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 113.262329 deg, deltaT: 4.467161 s, deltaX: 0.420002 m, approachRate: 0.094020 m/s, LOS rate: -0.970511 deg/s, posRepo size: 4
2021-12-04T13:22:05.396Z,1638624125.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132204.68*56

2021-12-04T13:22:05.397Z,1638624125.397 [Micromodem](INFO): Nmea in: $CAREV,132205,AUV,2.1.4000*2D

2021-12-04T13:22:05.744Z,1638624125.744 [Micromodem](INFO): Nmea in: $CAREV,132205,COPROC,0.20.0.39330*7C

2021-12-04T13:22:07.768Z,1638624127.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:08.557Z,1638624128.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:08.971Z,1638624128.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:09.463Z,1638624129.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 113.264460 deg, deltaT: 4.489346 s, deltaX: 0.359997 m, approachRate: 0.080189 m/s, LOS rate: 0.000475 deg/s, posRepo size: 4
2021-12-04T13:22:09.812Z,1638624129.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132209.12*56

2021-12-04T13:22:09.813Z,1638624129.813 [Micromodem](INFO): Nmea in: $CAREV,132210,AUV,2.1.4000*29

2021-12-04T13:22:10.192Z,1638624130.192 [Micromodem](INFO): Nmea in: $CAREV,132210,COPROC,0.20.0.39330*78

2021-12-04T13:22:12.265Z,1638624132.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:13.013Z,1638624133.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:13.497Z,1638624133.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:13.855Z,1638624133.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 109.716723 deg, deltaT: 4.400966 s, deltaX: 0.359997 m, approachRate: 0.081799 m/s, LOS rate: -0.806127 deg/s, posRepo size: 4
2021-12-04T13:22:16.666Z,1638624136.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:17.445Z,1638624137.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:17.852Z,1638624137.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:18.279Z,1638624138.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 110.974803 deg, deltaT: 4.424180 s, deltaX: 0.179996 m, approachRate: 0.040685 m/s, LOS rate: 0.284365 deg/s, posRepo size: 4
2021-12-04T13:22:18.688Z,1638624138.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132218.02*57

2021-12-04T13:22:18.689Z,1638624138.689 [Micromodem](INFO): Nmea in: $CAREV,132219,AUV,2.1.4000*20

2021-12-04T13:22:19.080Z,1638624139.080 [Micromodem](INFO): Nmea in: $CAREV,132219,COPROC,0.20.0.39330*71

2021-12-04T13:22:21.100Z,1638624141.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:21.890Z,1638624141.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:22.303Z,1638624142.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:22.738Z,1638624142.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 112.167422 deg, deltaT: 4.458311 s, deltaX: 0.540009 m, approachRate: 0.121124 m/s, LOS rate: 0.267505 deg/s, posRepo size: 4
2021-12-04T13:22:23.140Z,1638624143.140 [Micromodem](INFO): Nmea in: $SNTTA,0.057146,,,,132222.46*41

2021-12-04T13:22:23.141Z,1638624143.141 [Micromodem](INFO): Nmea in: $CAREV,132223,AUV,2.1.4000*29

2021-12-04T13:22:23.516Z,1638624143.516 [Micromodem](INFO): Nmea in: $CAREV,132223,COPROC,0.20.0.39330*78

2021-12-04T13:22:25.587Z,1638624145.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:26.341Z,1638624146.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:26.826Z,1638624146.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:27.212Z,1638624147.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 112.938824 deg, deltaT: 4.473864 s, deltaX: 0.479992 m, approachRate: 0.107288 m/s, LOS rate: 0.172424 deg/s, posRepo size: 4
2021-12-04T13:22:27.596Z,1638624147.596 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132226.91*50

2021-12-04T13:22:27.597Z,1638624147.597 [Micromodem](INFO): Nmea in: $CAREV,132227,AUV,2.1.4000*2D

2021-12-04T13:22:27.980Z,1638624147.980 [Micromodem](INFO): Nmea in: $CAREV,132227,COPROC,0.20.0.39330*7C

2021-12-04T13:22:30.012Z,1638624150.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:30.845Z,1638624150.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:31.183Z,1638624151.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:31.654Z,1638624151.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.260002 m, bearing: 111.849142 deg, deltaT: 4.442163 s, deltaX: 0.180008 m, approachRate: 0.040523 m/s, LOS rate: -0.245304 deg/s, posRepo size: 4
2021-12-04T13:22:32.428Z,1638624152.428 [Micromodem](INFO): Nmea in: $SNTTA,0.053803,,,,132231.41*48

2021-12-04T13:22:32.429Z,1638624152.429 [Micromodem](INFO): Nmea in: $CAREV,132232,AUV,2.1.4000*29

2021-12-04T13:22:32.804Z,1638624152.804 [Micromodem](INFO): Nmea in: $CAREV,132232,COPROC,0.20.0.39330*78

2021-12-04T13:22:34.458Z,1638624154.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:35.232Z,1638624155.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:35.629Z,1638624155.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:36.052Z,1638624156.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 113.128860 deg, deltaT: 4.397816 s, deltaX: 0.600002 m, approachRate: 0.136432 m/s, LOS rate: 0.290989 deg/s, posRepo size: 4
2021-12-04T13:22:36.468Z,1638624156.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132235.80*52

2021-12-04T13:22:36.470Z,1638624156.470 [Micromodem](INFO): Nmea in: $CAREV,132236,AUV,2.1.4000*2D

2021-12-04T13:22:36.856Z,1638624156.856 [Micromodem](INFO): Nmea in: $CAREV,132236,COPROC,0.20.0.39330*7C

2021-12-04T13:22:38.905Z,1638624158.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:39.777Z,1638624159.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:40.088Z,1638624160.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:40.555Z,1638624160.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 112.765221 deg, deltaT: 4.502903 s, deltaX: 0.419998 m, approachRate: 0.093273 m/s, LOS rate: -0.080757 deg/s, posRepo size: 4
2021-12-04T13:22:41.356Z,1638624161.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132240.35*5E

2021-12-04T13:22:41.368Z,1638624161.368 [Micromodem](INFO): Nmea in: $CAREV,132241,AUV,2.1.4000*2D

2021-12-04T13:22:41.708Z,1638624161.708 [Micromodem](INFO): Nmea in: $CAREV,132241,COPROC,0.20.0.39330*7C

2021-12-04T13:22:43.423Z,1638624163.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:44.117Z,1638624164.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:44.512Z,1638624164.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:44.936Z,1638624164.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 109.624966 deg, deltaT: 4.381107 s, deltaX: 0.420002 m, approachRate: 0.095867 m/s, LOS rate: -0.716772 deg/s, posRepo size: 4
2021-12-04T13:22:45.393Z,1638624165.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132244.69*53

2021-12-04T13:22:45.395Z,1638624165.395 [Micromodem](INFO): Nmea in: $CAREV,132245,AUV,2.1.4000*29

2021-12-04T13:22:45.816Z,1638624165.816 [Micromodem](INFO): Nmea in: $CAREV,132245,COPROC,0.20.0.39330*78

2021-12-04T13:22:47.474Z,1638624167.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:48.237Z,1638624168.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:48.637Z,1638624168.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:49.058Z,1638624169.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 111.765316 deg, deltaT: 4.121938 s, deltaX: 0.179996 m, approachRate: 0.043668 m/s, LOS rate: 0.519258 deg/s, posRepo size: 4
2021-12-04T13:22:49.473Z,1638624169.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132248.80*58

2021-12-04T13:22:49.475Z,1638624169.475 [Micromodem](INFO): Nmea in: $CAREV,132249,AUV,2.1.4000*25

2021-12-04T13:22:49.856Z,1638624169.856 [Micromodem](INFO): Nmea in: $CAREV,132249,COPROC,0.20.0.39330*74

2021-12-04T13:22:51.877Z,1638624171.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:52.764Z,1638624172.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:53.100Z,1638624173.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:53.661Z,1638624173.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 109.060943 deg, deltaT: 4.599977 s, deltaX: 0.359997 m, approachRate: 0.078261 m/s, LOS rate: -0.587910 deg/s, posRepo size: 4
2021-12-04T13:22:53.941Z,1638624173.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132253.33*5A

2021-12-04T13:22:54.333Z,1638624174.333 [Micromodem](INFO): Nmea in: $CAREV,132254,AUV,2.1.4000*29

2021-12-04T13:22:54.346Z,1638624174.346 [Micromodem](INFO): Nmea in: $CAREV,132254,COPROC,0.20.0.39330*78

2021-12-04T13:22:56.347Z,1638624176.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:22:57.125Z,1638624177.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:22:57.539Z,1638624177.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:22:57.960Z,1638624177.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 105.121686 deg, deltaT: 4.302362 s, deltaX: 0.660004 m, approachRate: 0.153405 m/s, LOS rate: -0.915603 deg/s, posRepo size: 4
2021-12-04T13:22:58.392Z,1638624178.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132257.69*51

2021-12-04T13:22:58.393Z,1638624178.393 [Micromodem](INFO): Nmea in: $CAREV,132258,AUV,2.1.4000*25

2021-12-04T13:22:58.756Z,1638624178.756 [Micromodem](INFO): Nmea in: $CAREV,132258,COPROC,0.20.0.39330*74

2021-12-04T13:23:00.781Z,1638624180.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:01.572Z,1638624181.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:02.004Z,1638624182.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:02.475Z,1638624182.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.720005 m, bearing: 107.093371 deg, deltaT: 4.492697 s, deltaX: -0.179996 m, approachRate: -0.040064 m/s, LOS rate: 0.438864 deg/s, posRepo size: 4
2021-12-04T13:23:02.852Z,1638624182.852 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132302.14*5A

2021-12-04T13:23:02.853Z,1638624182.853 [Micromodem](INFO): Nmea in: $CAREV,132303,AUV,2.1.4000*2A

2021-12-04T13:23:03.225Z,1638624183.225 [Micromodem](INFO): Nmea in: $CAREV,132303,COPROC,0.20.0.39330*7B

2021-12-04T13:23:05.321Z,1638624185.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:06.049Z,1638624186.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:06.469Z,1638624186.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:06.893Z,1638624186.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 102.858373 deg, deltaT: 4.436664 s, deltaX: 0.240002 m, approachRate: 0.054095 m/s, LOS rate: -0.954545 deg/s, posRepo size: 4
2021-12-04T13:23:07.436Z,1638624187.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132306.62*5F

2021-12-04T13:23:07.437Z,1638624187.437 [Micromodem](INFO): Nmea in: $CAREV,132307,AUV,2.1.4000*2E

2021-12-04T13:23:07.804Z,1638624187.804 [Micromodem](INFO): Nmea in: $CAREV,132307,COPROC,0.20.0.39330*7F

2021-12-04T13:23:09.466Z,1638624189.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:10.198Z,1638624190.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:10.607Z,1638624190.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:11.042Z,1638624191.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 108.037371 deg, deltaT: 4.153045 s, deltaX: 0.899990 m, approachRate: 0.216706 m/s, LOS rate: 1.247036 deg/s, posRepo size: 4
2021-12-04T13:23:11.452Z,1638624191.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132310.77*5C

2021-12-04T13:23:11.454Z,1638624191.454 [Micromodem](INFO): Nmea in: $CAREV,132311,AUV,2.1.4000*29

2021-12-04T13:23:11.824Z,1638624191.824 [Micromodem](INFO): Nmea in: $CAREV,132311,COPROC,0.20.0.39330*78

2021-12-04T13:23:13.856Z,1638624193.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:14.649Z,1638624194.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:15.065Z,1638624195.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:15.517Z,1638624195.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.099998 m, bearing: 104.203811 deg, deltaT: 4.471214 s, deltaX: 0.240002 m, approachRate: 0.053677 m/s, LOS rate: -0.857387 deg/s, posRepo size: 4
2021-12-04T13:23:15.896Z,1638624195.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132315.22*59

2021-12-04T13:23:15.897Z,1638624195.897 [Micromodem](INFO): Nmea in: $CAREV,132316,AUV,2.1.4000*2E

2021-12-04T13:23:16.280Z,1638624196.280 [Micromodem](INFO): Nmea in: $CAREV,132316,COPROC,0.20.0.39330*7F

2021-12-04T13:23:18.320Z,1638624198.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:19.153Z,1638624199.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:19.518Z,1638624199.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:19.923Z,1638624199.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 97.333706 deg, deltaT: 4.409851 s, deltaX: 0.300007 m, approachRate: 0.068031 m/s, LOS rate: -1.557900 deg/s, posRepo size: 4
2021-12-04T13:23:20.342Z,1638624200.342 [Micromodem](INFO): Nmea in: $SNTTA,,0.076924,,,132319.72*40

2021-12-04T13:23:20.347Z,1638624200.347 [Micromodem](INFO): Nmea in: $CAREV,132320,AUV,2.1.4000*2B

2021-12-04T13:23:20.716Z,1638624200.716 [Micromodem](INFO): Nmea in: $CAREV,132320,COPROC,0.20.0.39330*7A

2021-12-04T13:23:22.736Z,1638624202.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:23.541Z,1638624203.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:23.939Z,1638624203.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:24.414Z,1638624204.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 100.989388 deg, deltaT: 4.482694 s, deltaX: 0.719994 m, approachRate: 0.160616 m/s, LOS rate: 0.815510 deg/s, posRepo size: 4
2021-12-04T13:23:24.776Z,1638624204.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132324.11*5B

2021-12-04T13:23:24.777Z,1638624204.777 [Micromodem](INFO): Nmea in: $CAREV,132325,AUV,2.1.4000*2E

2021-12-04T13:23:25.168Z,1638624205.168 [Micromodem](INFO): Nmea in: $CAREV,132325,COPROC,0.20.0.39330*7F

2021-12-04T13:23:27.180Z,1638624207.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:27.977Z,1638624207.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:28.411Z,1638624208.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:28.832Z,1638624208.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.060005 m, bearing: 106.929364 deg, deltaT: 4.421995 s, deltaX: -0.059994 m, approachRate: -0.013567 m/s, LOS rate: 1.343280 deg/s, posRepo size: 4
2021-12-04T13:23:29.212Z,1638624209.212 [Micromodem](INFO): Nmea in: $SNTTA,0.052353,,,,132328.55*4B

2021-12-04T13:23:29.213Z,1638624209.213 [Micromodem](INFO): Nmea in: $CAREV,132329,AUV,2.1.4000*22

2021-12-04T13:23:29.616Z,1638624209.616 [Micromodem](INFO): Nmea in: $CAREV,132329,COPROC,0.20.0.39330*73

2021-12-04T13:23:31.662Z,1638624211.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:32.493Z,1638624212.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:32.844Z,1638624212.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:33.333Z,1638624213.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.420006 m, bearing: 105.966608 deg, deltaT: 4.500158 s, deltaX: 0.360001 m, approachRate: 0.079997 m/s, LOS rate: -0.213938 deg/s, posRepo size: 4
2021-12-04T13:23:33.669Z,1638624213.669 [Micromodem](INFO): Nmea in: $SNTTA,0.049633,,,,132333.06*4E

2021-12-04T13:23:34.048Z,1638624214.048 [Micromodem](INFO): Nmea in: $CAREV,132334,AUV,2.1.4000*2E

2021-12-04T13:23:34.049Z,1638624214.049 [Micromodem](INFO): Nmea in: $CAREV,132334,COPROC,0.20.0.39330*7F

2021-12-04T13:23:36.077Z,1638624216.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:36.861Z,1638624216.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:37.301Z,1638624217.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:37.717Z,1638624217.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.020004 m, bearing: 111.281451 deg, deltaT: 4.388363 s, deltaX: 0.599998 m, approachRate: 0.136725 m/s, LOS rate: 1.211122 deg/s, posRepo size: 4
2021-12-04T13:23:38.111Z,1638624218.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132337.43*5E

2021-12-04T13:23:38.112Z,1638624218.112 [Micromodem](INFO): Nmea in: $CAREV,132338,AUV,2.1.4000*22

2021-12-04T13:23:38.500Z,1638624218.500 [Micromodem](INFO): Nmea in: $CAREV,132338,COPROC,0.20.0.39330*73

2021-12-04T13:23:40.526Z,1638624220.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:41.363Z,1638624221.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:41.711Z,1638624221.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:42.143Z,1638624222.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 115.235851 deg, deltaT: 4.426123 s, deltaX: 0.359997 m, approachRate: 0.081335 m/s, LOS rate: 0.893423 deg/s, posRepo size: 4
2021-12-04T13:23:42.550Z,1638624222.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132341.93*52

2021-12-04T13:23:42.552Z,1638624222.552 [Micromodem](INFO): Nmea in: $CAREV,132342,AUV,2.1.4000*2F

2021-12-04T13:23:42.940Z,1638624222.940 [Micromodem](INFO): Nmea in: $CAREV,132342,COPROC,0.20.0.39330*7E

2021-12-04T13:23:44.958Z,1638624224.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:45.821Z,1638624225.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:46.184Z,1638624226.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:46.621Z,1638624226.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 108.992341 deg, deltaT: 4.474411 s, deltaX: 0.599998 m, approachRate: 0.134096 m/s, LOS rate: -1.395381 deg/s, posRepo size: 4
2021-12-04T13:23:47.408Z,1638624227.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132346.39*55

2021-12-04T13:23:47.409Z,1638624227.409 [Micromodem](INFO): Nmea in: $CAREV,132347,AUV,2.1.4000*2A

2021-12-04T13:23:47.852Z,1638624227.852 [Micromodem](INFO): Nmea in: $CAREV,132347,COPROC,0.20.0.39330*7B

2021-12-04T13:23:49.456Z,1638624229.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:50.197Z,1638624230.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:50.618Z,1638624230.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:51.058Z,1638624231.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 107.867006 deg, deltaT: 4.430021 s, deltaX: -0.180000 m, approachRate: -0.040632 m/s, LOS rate: -0.254025 deg/s, posRepo size: 4
2021-12-04T13:23:51.452Z,1638624231.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132350.77*58

2021-12-04T13:23:51.453Z,1638624231.453 [Micromodem](INFO): Nmea in: $CAREV,132351,AUV,2.1.4000*2D

2021-12-04T13:23:51.828Z,1638624231.828 [Micromodem](INFO): Nmea in: $CAREV,132351,COPROC,0.20.0.39330*7C

2021-12-04T13:23:52.629Z,1638624232.629 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:23:53.864Z,1638624233.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:54.651Z,1638624234.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:55.079Z,1638624235.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:55.536Z,1638624235.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.520004 m, bearing: 107.588129 deg, deltaT: 4.473260 s, deltaX: 0.720005 m, approachRate: 0.160958 m/s, LOS rate: -0.062343 deg/s, posRepo size: 4
2021-12-04T13:23:55.888Z,1638624235.888 [Micromodem](INFO): Nmea in: $SNTTA,0.058069,,,,132355.22*41

2021-12-04T13:23:55.889Z,1638624235.889 [Micromodem](INFO): Nmea in: $CAREV,132356,AUV,2.1.4000*2A

2021-12-04T13:23:56.277Z,1638624236.277 [Micromodem](INFO): Nmea in: $CAREV,132356,COPROC,0.20.0.39330*7B

2021-12-04T13:23:58.302Z,1638624238.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:23:59.089Z,1638624239.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:23:59.516Z,1638624239.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:23:59.955Z,1638624239.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 100.770910 deg, deltaT: 4.425962 s, deltaX: 0.119999 m, approachRate: 0.027113 m/s, LOS rate: -1.540279 deg/s, posRepo size: 4
2021-12-04T13:24:00.331Z,1638624240.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132359.66*51

2021-12-04T13:24:00.353Z,1638624240.353 [Micromodem](INFO): Nmea in: $CAREV,132400,AUV,2.1.4000*2E

2021-12-04T13:24:00.720Z,1638624240.720 [Micromodem](INFO): Nmea in: $CAREV,132400,COPROC,0.20.0.39330*7F

2021-12-04T13:24:02.777Z,1638624242.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:03.534Z,1638624243.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:03.935Z,1638624243.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:04.420Z,1638624244.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 104.065923 deg, deltaT: 4.471015 s, deltaX: 1.019997 m, approachRate: 0.228135 m/s, LOS rate: 0.736972 deg/s, posRepo size: 4
2021-12-04T13:24:04.764Z,1638624244.764 [Micromodem](INFO): Nmea in: $SNTTA,0.095723,,,,132404.10*4B

2021-12-04T13:24:04.765Z,1638624244.765 [Micromodem](INFO): Nmea in: $CAREV,132405,AUV,2.1.4000*2B

2021-12-04T13:24:05.159Z,1638624245.159 [Micromodem](INFO): Nmea in: $CAREV,132405,COPROC,0.20.0.39330*7A

2021-12-04T13:24:07.200Z,1638624247.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:07.973Z,1638624247.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:08.396Z,1638624248.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:08.823Z,1638624248.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 101.709925 deg, deltaT: 4.401908 s, deltaX: 0.240002 m, approachRate: 0.054522 m/s, LOS rate: -0.535222 deg/s, posRepo size: 4
2021-12-04T13:24:09.224Z,1638624249.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132408.54*53

2021-12-04T13:24:09.225Z,1638624249.225 [Micromodem](INFO): Nmea in: $CAREV,132409,AUV,2.1.4000*27

2021-12-04T13:24:09.604Z,1638624249.604 [Micromodem](INFO): Nmea in: $CAREV,132409,COPROC,0.20.0.39330*76

2021-12-04T13:24:11.655Z,1638624251.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:12.425Z,1638624252.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:12.835Z,1638624252.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:13.318Z,1638624253.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 105.422706 deg, deltaT: 4.490874 s, deltaX: 0.240002 m, approachRate: 0.053442 m/s, LOS rate: 0.826739 deg/s, posRepo size: 4
2021-12-04T13:24:13.652Z,1638624253.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132412.99*59

2021-12-04T13:24:13.653Z,1638624253.653 [Micromodem](INFO): Nmea in: $CAREV,132414,AUV,2.1.4000*2B

2021-12-04T13:24:14.052Z,1638624254.052 [Micromodem](INFO): Nmea in: $CAREV,132414,COPROC,0.20.0.39330*7A

2021-12-04T13:24:16.091Z,1638624256.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:16.861Z,1638624256.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:17.304Z,1638624257.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:17.714Z,1638624257.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 104.296278 deg, deltaT: 4.404028 s, deltaX: 0.660004 m, approachRate: 0.149864 m/s, LOS rate: -0.255772 deg/s, posRepo size: 4
2021-12-04T13:24:18.111Z,1638624258.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132417.43*5B

2021-12-04T13:24:18.112Z,1638624258.112 [Micromodem](INFO): Nmea in: $CAREV,132418,AUV,2.1.4000*27

2021-12-04T13:24:18.488Z,1638624258.488 [Micromodem](INFO): Nmea in: $CAREV,132418,COPROC,0.20.0.39330*76

2021-12-04T13:24:20.531Z,1638624260.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:21.416Z,1638624261.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:21.715Z,1638624261.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:22.148Z,1638624262.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 106.368687 deg, deltaT: 4.434120 s, deltaX: 0.359997 m, approachRate: 0.081188 m/s, LOS rate: 0.467378 deg/s, posRepo size: 4
2021-12-04T13:24:22.932Z,1638624262.932 [Micromodem](INFO): Nmea in: $SNTTA,0.056106,,,,132421.99*43

2021-12-04T13:24:22.933Z,1638624262.933 [Micromodem](INFO): Nmea in: $CAREV,132423,AUV,2.1.4000*2F

2021-12-04T13:24:23.368Z,1638624263.368 [Micromodem](INFO): Nmea in: $CAREV,132423,COPROC,0.20.0.39330*7E

2021-12-04T13:24:24.957Z,1638624264.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:25.857Z,1638624265.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:26.199Z,1638624266.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:26.626Z,1638624266.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.279999 m, bearing: 103.894007 deg, deltaT: 4.477591 s, deltaX: 0.119995 m, approachRate: 0.026799 m/s, LOS rate: -0.552681 deg/s, posRepo size: 4
2021-12-04T13:24:27.420Z,1638624267.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132426.43*59

2021-12-04T13:24:27.421Z,1638624267.421 [Micromodem](INFO): Nmea in: $CAREV,132427,AUV,2.1.4000*2B

2021-12-04T13:24:27.788Z,1638624267.788 [Micromodem](INFO): Nmea in: $CAREV,132427,COPROC,0.20.0.39330*7A

2021-12-04T13:24:29.495Z,1638624269.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:30.205Z,1638624270.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:30.617Z,1638624270.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:31.049Z,1638624271.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.940002 m, bearing: 104.005859 deg, deltaT: 4.423366 s, deltaX: 0.660004 m, approachRate: 0.149208 m/s, LOS rate: 0.025286 deg/s, posRepo size: 4
2021-12-04T13:24:31.448Z,1638624271.448 [Micromodem](INFO): Nmea in: $SNTTA,,0.056002,,,132430.78*49

2021-12-04T13:24:31.449Z,1638624271.449 [Micromodem](INFO): Nmea in: $CAREV,132431,AUV,2.1.4000*2C

2021-12-04T13:24:31.832Z,1638624271.832 [Micromodem](INFO): Nmea in: $CAREV,132431,COPROC,0.20.0.39330*7D

2021-12-04T13:24:33.860Z,1638624273.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:34.661Z,1638624274.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:35.074Z,1638624275.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:35.541Z,1638624275.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 106.328861 deg, deltaT: 4.488003 s, deltaX: 0.419998 m, approachRate: 0.093582 m/s, LOS rate: 0.517603 deg/s, posRepo size: 4
2021-12-04T13:24:35.896Z,1638624275.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132435.23*5D

2021-12-04T13:24:35.897Z,1638624275.897 [Micromodem](INFO): Nmea in: $CAREV,132436,AUV,2.1.4000*2B

2021-12-04T13:24:36.279Z,1638624276.279 [Micromodem](INFO): Nmea in: $CAREV,132436,COPROC,0.20.0.39330*7A

2021-12-04T13:24:38.304Z,1638624278.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:39.165Z,1638624279.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:39.611Z,1638624279.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:40.027Z,1638624280.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.780003 m, bearing: 107.428794 deg, deltaT: 4.489044 s, deltaX: 0.420002 m, approachRate: 0.093562 m/s, LOS rate: 0.245026 deg/s, posRepo size: 4
2021-12-04T13:24:40.448Z,1638624280.448 [Micromodem](INFO): Nmea in: $SNTTA,0.062333,,,,132439.74*4A

2021-12-04T13:24:40.449Z,1638624280.449 [Micromodem](INFO): Nmea in: $CAREV,132440,AUV,2.1.4000*2A

2021-12-04T13:24:40.812Z,1638624280.812 [Micromodem](INFO): Nmea in: $CAREV,132440,COPROC,0.20.0.39330*7B

2021-12-04T13:24:42.840Z,1638624282.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:43.637Z,1638624283.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:44.036Z,1638624284.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:44.473Z,1638624284.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 107.544696 deg, deltaT: 4.447191 s, deltaX: 0.420002 m, approachRate: 0.094442 m/s, LOS rate: 0.026062 deg/s, posRepo size: 4
2021-12-04T13:24:44.880Z,1638624284.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132444.21*59

2021-12-04T13:24:44.881Z,1638624284.881 [Micromodem](INFO): Nmea in: $CAREV,132445,AUV,2.1.4000*2F

2021-12-04T13:24:45.267Z,1638624285.267 [Micromodem](INFO): Nmea in: $CAREV,132445,COPROC,0.20.0.39330*7E

2021-12-04T13:24:47.351Z,1638624287.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:48.073Z,1638624288.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:48.479Z,1638624288.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:48.910Z,1638624288.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 88.801243 deg, deltaT: 4.436511 s, deltaX: 0.480003 m, approachRate: 0.108194 m/s, LOS rate: -4.224818 deg/s, posRepo size: 4
2021-12-04T13:24:49.340Z,1638624289.340 [Micromodem](INFO): Nmea in: $SNTTA,0.065971,,,,132448.65*47

2021-12-04T13:24:49.344Z,1638624289.344 [Micromodem](INFO): Nmea in: $CAREV,132449,AUV,2.1.4000*23

2021-12-04T13:24:49.708Z,1638624289.708 [Micromodem](INFO): Nmea in: $CAREV,132449,COPROC,0.20.0.39330*72

2021-12-04T13:24:51.415Z,1638624291.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:52.124Z,1638624292.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:52.590Z,1638624292.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:52.975Z,1638624292.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 102.688903 deg, deltaT: 4.061103 s, deltaX: 0.299995 m, approachRate: 0.073870 m/s, LOS rate: 3.419677 deg/s, posRepo size: 4
2021-12-04T13:24:53.392Z,1638624293.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132452.69*52

2021-12-04T13:24:53.393Z,1638624293.393 [Micromodem](INFO): Nmea in: $CAREV,132453,AUV,2.1.4000*28

2021-12-04T13:24:53.752Z,1638624293.752 [Micromodem](INFO): Nmea in: $CAREV,132453,COPROC,0.20.0.39330*79

2021-12-04T13:24:55.846Z,1638624295.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:24:56.585Z,1638624296.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:24:56.987Z,1638624296.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:24:57.484Z,1638624297.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 105.217398 deg, deltaT: 4.508845 s, deltaX: 0.839996 m, approachRate: 0.186300 m/s, LOS rate: 0.560786 deg/s, posRepo size: 4
2021-12-04T13:24:57.800Z,1638624297.800 [Micromodem](INFO): Nmea in: $SNTTA,0.073742,,,,132457.15*47

2021-12-04T13:24:57.801Z,1638624297.801 [Micromodem](INFO): Nmea in: $CAREV,132458,AUV,2.1.4000*23

2021-12-04T13:24:58.196Z,1638624298.196 [Micromodem](INFO): Nmea in: $CAREV,132458,COPROC,0.20.0.39330*72

2021-12-04T13:25:00.208Z,1638624300.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:01.009Z,1638624301.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:01.438Z,1638624301.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:01.852Z,1638624301.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 115.507446 deg, deltaT: 4.351882 s, deltaX: 0.480003 m, approachRate: 0.110298 m/s, LOS rate: 2.364505 deg/s, posRepo size: 4
2021-12-04T13:25:02.245Z,1638624302.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132501.58*57

2021-12-04T13:25:02.247Z,1638624302.247 [Micromodem](INFO): Nmea in: $CAREV,132502,AUV,2.1.4000*2D

2021-12-04T13:25:02.636Z,1638624302.636 [Micromodem](INFO): Nmea in: $CAREV,132502,COPROC,0.20.0.39330*7C

2021-12-04T13:25:04.689Z,1638624304.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:05.451Z,1638624305.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:05.923Z,1638624305.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:06.365Z,1638624306.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 105.429174 deg, deltaT: 4.504278 s, deltaX: -0.120003 m, approachRate: -0.026642 m/s, LOS rate: -2.237489 deg/s, posRepo size: 4
2021-12-04T13:25:06.708Z,1638624306.708 [Micromodem](INFO): Nmea in: $SNTTA,0.058808,,,,132506.02*4C

2021-12-04T13:25:06.709Z,1638624306.709 [Micromodem](INFO): Nmea in: $CAREV,132507,AUV,2.1.4000*28

2021-12-04T13:25:07.089Z,1638624307.089 [Micromodem](INFO): Nmea in: $CAREV,132507,COPROC,0.20.0.39330*79

2021-12-04T13:25:09.161Z,1638624309.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:09.905Z,1638624309.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:10.311Z,1638624310.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:10.737Z,1638624310.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 112.819931 deg, deltaT: 4.401427 s, deltaX: 0.900002 m, approachRate: 0.204479 m/s, LOS rate: 1.679173 deg/s, posRepo size: 4
2021-12-04T13:25:11.136Z,1638624311.136 [Micromodem](INFO): Nmea in: $SNTTA,0.055540,,,,132510.47*46

2021-12-04T13:25:11.137Z,1638624311.137 [Micromodem](INFO): Nmea in: $CAREV,132511,AUV,2.1.4000*2F

2021-12-04T13:25:11.520Z,1638624311.520 [Micromodem](INFO): Nmea in: $CAREV,132511,COPROC,0.20.0.39330*7E

2021-12-04T13:25:13.573Z,1638624313.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:14.347Z,1638624314.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:14.748Z,1638624314.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:15.177Z,1638624315.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.320007 m, bearing: 104.002457 deg, deltaT: 4.439868 s, deltaX: 0.240005 m, approachRate: 0.054057 m/s, LOS rate: -1.985977 deg/s, posRepo size: 4
2021-12-04T13:25:15.572Z,1638624315.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132514.92*55

2021-12-04T13:25:15.573Z,1638624315.573 [Micromodem](INFO): Nmea in: $CAREV,132515,AUV,2.1.4000*2B

2021-12-04T13:25:15.967Z,1638624315.967 [Micromodem](INFO): Nmea in: $CAREV,132515,COPROC,0.20.0.39330*7A

2021-12-04T13:25:17.985Z,1638624317.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:18.784Z,1638624318.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:19.269Z,1638624319.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:19.682Z,1638624319.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.860001 m, bearing: 101.931312 deg, deltaT: 4.504396 s, deltaX: 0.539993 m, approachRate: 0.119881 m/s, LOS rate: -0.459805 deg/s, posRepo size: 4
2021-12-04T13:25:20.028Z,1638624320.028 [Micromodem](INFO): Nmea in: $SNTTA,0.074737,,,,132519.35*4B

2021-12-04T13:25:20.029Z,1638624320.029 [Micromodem](INFO): Nmea in: $CAREV,132520,AUV,2.1.4000*2D

2021-12-04T13:25:20.440Z,1638624320.440 [Micromodem](INFO): Nmea in: $CAREV,132520,COPROC,0.20.0.39330*7C

2021-12-04T13:25:22.507Z,1638624322.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:23.246Z,1638624323.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:23.651Z,1638624323.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:24.055Z,1638624324.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 106.609964 deg, deltaT: 4.373435 s, deltaX: 0.300003 m, approachRate: 0.068597 m/s, LOS rate: 1.069789 deg/s, posRepo size: 4
2021-12-04T13:25:24.456Z,1638624324.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132523.82*50

2021-12-04T13:25:24.457Z,1638624324.457 [Micromodem](INFO): Nmea in: $CAREV,132524,AUV,2.1.4000*29

2021-12-04T13:25:24.860Z,1638624324.860 [Micromodem](INFO): Nmea in: $CAREV,132524,COPROC,0.20.0.39330*78

2021-12-04T13:25:26.865Z,1638624326.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:27.677Z,1638624327.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:28.075Z,1638624328.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:28.529Z,1638624328.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 104.785675 deg, deltaT: 4.469846 s, deltaX: 0.059990 m, approachRate: 0.013421 m/s, LOS rate: -0.408132 deg/s, posRepo size: 4
2021-12-04T13:25:28.916Z,1638624328.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132528.25*56

2021-12-04T13:25:28.917Z,1638624328.917 [Micromodem](INFO): Nmea in: $CAREV,132529,AUV,2.1.4000*24

2021-12-04T13:25:29.344Z,1638624329.344 [Micromodem](INFO): Nmea in: $CAREV,132529,COPROC,0.20.0.39330*75

2021-12-04T13:25:31.420Z,1638624331.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:32.117Z,1638624332.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:32.593Z,1638624332.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:32.960Z,1638624332.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.300003 m, bearing: 98.073682 deg, deltaT: 4.422175 s, deltaX: 1.080009 m, approachRate: 0.244226 m/s, LOS rate: -1.517803 deg/s, posRepo size: 4
2021-12-04T13:25:33.396Z,1638624333.396 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132532.69*55

2021-12-04T13:25:33.397Z,1638624333.397 [Micromodem](INFO): Nmea in: $CAREV,132533,AUV,2.1.4000*2F

2021-12-04T13:25:33.752Z,1638624333.752 [Micromodem](INFO): Nmea in: $CAREV,132533,COPROC,0.20.0.39330*7E

2021-12-04T13:25:35.829Z,1638624335.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:36.562Z,1638624336.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:36.968Z,1638624336.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:37.464Z,1638624337.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 103.027987 deg, deltaT: 4.513129 s, deltaX: -0.180000 m, approachRate: -0.039884 m/s, LOS rate: 1.097754 deg/s, posRepo size: 4
2021-12-04T13:25:37.799Z,1638624337.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132537.13*5D

2021-12-04T13:25:37.800Z,1638624337.800 [Micromodem](INFO): Nmea in: $CAREV,132538,AUV,2.1.4000*24

2021-12-04T13:25:38.180Z,1638624338.180 [Micromodem](INFO): Nmea in: $CAREV,132538,COPROC,0.20.0.39330*75

2021-12-04T13:25:40.212Z,1638624340.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:41.005Z,1638624341.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:41.419Z,1638624341.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:41.855Z,1638624341.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 114.558351 deg, deltaT: 4.390925 s, deltaX: 0.120003 m, approachRate: 0.027330 m/s, LOS rate: 2.625953 deg/s, posRepo size: 4
2021-12-04T13:25:42.251Z,1638624342.251 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132541.58*53

2021-12-04T13:25:42.252Z,1638624342.252 [Micromodem](INFO): Nmea in: $CAREV,132542,AUV,2.1.4000*29

2021-12-04T13:25:42.624Z,1638624342.624 [Micromodem](INFO): Nmea in: $CAREV,132542,COPROC,0.20.0.39330*78

2021-12-04T13:25:44.679Z,1638624344.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:45.449Z,1638624345.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:45.915Z,1638624345.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:46.325Z,1638624346.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 114.232038 deg, deltaT: 4.467966 s, deltaX: 0.479996 m, approachRate: 0.107430 m/s, LOS rate: -0.073034 deg/s, posRepo size: 4
2021-12-04T13:25:46.700Z,1638624346.700 [Micromodem](INFO): Nmea in: $SNTTA,0.080117,,,,132546.02*4A

2021-12-04T13:25:46.701Z,1638624346.701 [Micromodem](INFO): Nmea in: $CAREV,132547,AUV,2.1.4000*2C

2021-12-04T13:25:47.084Z,1638624347.084 [Micromodem](INFO): Nmea in: $CAREV,132547,COPROC,0.20.0.39330*7D

2021-12-04T13:25:49.093Z,1638624349.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:49.897Z,1638624349.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:50.325Z,1638624350.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:50.746Z,1638624350.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.260010 m, bearing: 114.337558 deg, deltaT: 4.410456 s, deltaX: 0.540009 m, approachRate: 0.122438 m/s, LOS rate: 0.023925 deg/s, posRepo size: 4
2021-12-04T13:25:51.132Z,1638624351.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132550.47*5D

2021-12-04T13:25:51.133Z,1638624351.133 [Micromodem](INFO): Nmea in: $CAREV,132551,AUV,2.1.4000*2B

2021-12-04T13:25:51.520Z,1638624351.520 [Micromodem](INFO): Nmea in: $CAREV,132551,COPROC,0.20.0.39330*7A

2021-12-04T13:25:53.584Z,1638624353.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:54.353Z,1638624354.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:54.740Z,1638624354.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:55.200Z,1638624355.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.559998 m, bearing: 113.311561 deg, deltaT: 4.470049 s, deltaX: 0.299988 m, approachRate: 0.067111 m/s, LOS rate: -0.229527 deg/s, posRepo size: 4
2021-12-04T13:25:55.560Z,1638624355.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132554.93*50

2021-12-04T13:25:55.561Z,1638624355.561 [Micromodem](INFO): Nmea in: $CAREV,132555,AUV,2.1.4000*2F

2021-12-04T13:25:55.968Z,1638624355.968 [Micromodem](INFO): Nmea in: $CAREV,132555,COPROC,0.20.0.39330*7E

2021-12-04T13:25:57.997Z,1638624357.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:25:58.777Z,1638624358.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:25:59.187Z,1638624359.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:25:59.713Z,1638624359.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.100006 m, bearing: 110.592169 deg, deltaT: 4.497558 s, deltaX: 0.540009 m, approachRate: 0.120067 m/s, LOS rate: -0.604637 deg/s, posRepo size: 4
2021-12-04T13:26:00.044Z,1638624360.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132559.35*51

2021-12-04T13:26:00.046Z,1638624360.046 [Micromodem](INFO): Nmea in: $CAREV,132600,AUV,2.1.4000*2C

2021-12-04T13:26:00.440Z,1638624360.440 [Micromodem](INFO): Nmea in: $CAREV,132600,COPROC,0.20.0.39330*7D

2021-12-04T13:26:02.453Z,1638624362.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:03.229Z,1638624363.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:03.651Z,1638624363.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:04.085Z,1638624364.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 116.806630 deg, deltaT: 4.383455 s, deltaX: 0.299995 m, approachRate: 0.068438 m/s, LOS rate: 1.417708 deg/s, posRepo size: 4
2021-12-04T13:26:04.460Z,1638624364.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132603.80*53

2021-12-04T13:26:04.461Z,1638624364.461 [Micromodem](INFO): Nmea in: $CAREV,132604,AUV,2.1.4000*28

2021-12-04T13:26:04.852Z,1638624364.852 [Micromodem](INFO): Nmea in: $CAREV,132604,COPROC,0.20.0.39330*79

2021-12-04T13:26:06.879Z,1638624366.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:07.669Z,1638624367.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:08.068Z,1638624368.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:08.516Z,1638624368.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 117.872372 deg, deltaT: 4.435436 s, deltaX: 0.360001 m, approachRate: 0.081165 m/s, LOS rate: 0.240279 deg/s, posRepo size: 4
2021-12-04T13:26:08.913Z,1638624368.913 [Micromodem](INFO): Nmea in: $SNTTA,0.074495,,,,132608.24*43

2021-12-04T13:26:08.914Z,1638624368.914 [Micromodem](INFO): Nmea in: $CAREV,132609,AUV,2.1.4000*25

2021-12-04T13:26:09.351Z,1638624369.351 [Micromodem](INFO): Nmea in: $CAREV,132609,COPROC,0.20.0.39330*74

2021-12-04T13:26:11.404Z,1638624371.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:12.109Z,1638624372.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:12.530Z,1638624372.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:13.012Z,1638624373.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 118.126851 deg, deltaT: 4.495876 s, deltaX: 0.300003 m, approachRate: 0.066728 m/s, LOS rate: 0.056603 deg/s, posRepo size: 4
2021-12-04T13:26:13.392Z,1638624373.392 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132612.68*55

2021-12-04T13:26:13.393Z,1638624373.393 [Micromodem](INFO): Nmea in: $CAREV,132613,AUV,2.1.4000*2E

2021-12-04T13:26:13.744Z,1638624373.744 [Micromodem](INFO): Nmea in: $CAREV,132613,COPROC,0.20.0.39330*7F

2021-12-04T13:26:15.767Z,1638624375.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:16.587Z,1638624376.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:16.983Z,1638624376.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:17.461Z,1638624377.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.419998 m, bearing: 117.211387 deg, deltaT: 4.445417 s, deltaX: 0.359993 m, approachRate: 0.080981 m/s, LOS rate: -0.205934 deg/s, posRepo size: 4
2021-12-04T13:26:17.804Z,1638624377.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132617.16*59

2021-12-04T13:26:17.805Z,1638624377.805 [Micromodem](INFO): Nmea in: $CAREV,132618,AUV,2.1.4000*25

2021-12-04T13:26:18.188Z,1638624378.188 [Micromodem](INFO): Nmea in: $CAREV,132618,COPROC,0.20.0.39330*74

2021-12-04T13:26:20.208Z,1638624380.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:21.009Z,1638624381.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:21.428Z,1638624381.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:21.851Z,1638624381.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.900002 m, bearing: 115.391538 deg, deltaT: 4.373910 s, deltaX: 0.480003 m, approachRate: 0.109742 m/s, LOS rate: -0.416069 deg/s, posRepo size: 4
2021-12-04T13:26:22.240Z,1638624382.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132621.58*56

2021-12-04T13:26:22.241Z,1638624382.241 [Micromodem](INFO): Nmea in: $CAREV,132622,AUV,2.1.4000*2C

2021-12-04T13:26:22.632Z,1638624382.632 [Micromodem](INFO): Nmea in: $CAREV,132622,COPROC,0.20.0.39330*7D

2021-12-04T13:26:24.663Z,1638624384.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:25.449Z,1638624385.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:25.856Z,1638624385.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:26.282Z,1638624386.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.140007 m, bearing: 117.276206 deg, deltaT: 4.450478 s, deltaX: 0.240005 m, approachRate: 0.053928 m/s, LOS rate: 0.423475 deg/s, posRepo size: 4
2021-12-04T13:26:26.756Z,1638624386.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132626.02*5E

2021-12-04T13:26:26.757Z,1638624386.757 [Micromodem](INFO): Nmea in: $CAREV,132627,AUV,2.1.4000*29

2021-12-04T13:26:27.084Z,1638624387.084 [Micromodem](INFO): Nmea in: $CAREV,132627,COPROC,0.20.0.39330*78

2021-12-04T13:26:29.109Z,1638624389.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:29.957Z,1638624389.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:30.319Z,1638624390.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:30.755Z,1638624390.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 114.853674 deg, deltaT: 4.472571 s, deltaX: 0.419998 m, approachRate: 0.093905 m/s, LOS rate: -0.541642 deg/s, posRepo size: 4
2021-12-04T13:26:31.133Z,1638624391.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132630.53*5D

2021-12-04T13:26:31.528Z,1638624391.528 [Micromodem](INFO): Nmea in: $CAREV,132631,AUV,2.1.4000*2E

2021-12-04T13:26:31.529Z,1638624391.529 [Micromodem](INFO): Nmea in: $CAREV,132631,COPROC,0.20.0.39330*7F

2021-12-04T13:26:33.577Z,1638624393.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:34.352Z,1638624394.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:34.745Z,1638624394.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:35.253Z,1638624395.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 114.998912 deg, deltaT: 4.483470 s, deltaX: 0.540001 m, approachRate: 0.120443 m/s, LOS rate: 0.032394 deg/s, posRepo size: 4
2021-12-04T13:26:35.576Z,1638624395.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132634.92*54

2021-12-04T13:26:35.577Z,1638624395.577 [Micromodem](INFO): Nmea in: $CAREV,132635,AUV,2.1.4000*2A

2021-12-04T13:26:35.968Z,1638624395.968 [Micromodem](INFO): Nmea in: $CAREV,132635,COPROC,0.20.0.39330*7B

2021-12-04T13:26:37.984Z,1638624397.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:38.789Z,1638624398.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:39.195Z,1638624399.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:39.647Z,1638624399.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 115.702462 deg, deltaT: 4.409390 s, deltaX: 0.480003 m, approachRate: 0.108859 m/s, LOS rate: 0.159557 deg/s, posRepo size: 4
2021-12-04T13:26:40.096Z,1638624400.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132639.36*57

2021-12-04T13:26:40.097Z,1638624400.097 [Micromodem](INFO): Nmea in: $CAREV,132640,AUV,2.1.4000*28

2021-12-04T13:26:40.432Z,1638624400.432 [Micromodem](INFO): Nmea in: $CAREV,132640,COPROC,0.20.0.39330*79

2021-12-04T13:26:42.451Z,1638624402.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:43.227Z,1638624403.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:43.699Z,1638624403.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:44.094Z,1638624404.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 114.467728 deg, deltaT: 4.446684 s, deltaX: 0.299988 m, approachRate: 0.067463 m/s, LOS rate: -0.277675 deg/s, posRepo size: 4
2021-12-04T13:26:44.480Z,1638624404.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132643.80*57

2021-12-04T13:26:44.481Z,1638624404.481 [Micromodem](INFO): Nmea in: $CAREV,132644,AUV,2.1.4000*2C

2021-12-04T13:26:44.884Z,1638624404.884 [Micromodem](INFO): Nmea in: $CAREV,132644,COPROC,0.20.0.39330*7D

2021-12-04T13:26:46.876Z,1638624406.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:47.677Z,1638624407.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:48.078Z,1638624408.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:48.522Z,1638624408.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.059998 m, bearing: 116.801262 deg, deltaT: 4.428053 s, deltaX: 0.180000 m, approachRate: 0.040650 m/s, LOS rate: 0.526989 deg/s, posRepo size: 4
2021-12-04T13:26:48.932Z,1638624408.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132648.25*53

2021-12-04T13:26:48.933Z,1638624408.933 [Micromodem](INFO): Nmea in: $CAREV,132649,AUV,2.1.4000*21

2021-12-04T13:26:49.346Z,1638624409.346 [Micromodem](INFO): Nmea in: $CAREV,132649,COPROC,0.20.0.39330*70

2021-12-04T13:26:51.428Z,1638624411.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:52.113Z,1638624412.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:52.523Z,1638624412.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:53.016Z,1638624413.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.139999 m, bearing: 102.016641 deg, deltaT: 4.494409 s, deltaX: 1.080002 m, approachRate: 0.240299 m/s, LOS rate: -3.289558 deg/s, posRepo size: 4
2021-12-04T13:26:53.388Z,1638624413.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132652.68*51

2021-12-04T13:26:53.389Z,1638624413.389 [Micromodem](INFO): Nmea in: $CAREV,132653,AUV,2.1.4000*2A

2021-12-04T13:26:53.748Z,1638624413.748 [Micromodem](INFO): Nmea in: $CAREV,132653,COPROC,0.20.0.39330*7B

2021-12-04T13:26:55.777Z,1638624415.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:26:56.553Z,1638624416.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:26:57.030Z,1638624417.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:26:57.473Z,1638624417.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 112.968972 deg, deltaT: 4.456441 s, deltaX: 0.119995 m, approachRate: 0.026926 m/s, LOS rate: 2.457641 deg/s, posRepo size: 4
2021-12-04T13:26:57.816Z,1638624417.816 [Micromodem](INFO): Nmea in: $SNTTA,0.078869,,,,132657.12*4F

2021-12-04T13:26:57.817Z,1638624417.817 [Micromodem](INFO): Nmea in: $CAREV,132658,AUV,2.1.4000*21

2021-12-04T13:26:58.196Z,1638624418.196 [Micromodem](INFO): Nmea in: $CAREV,132658,COPROC,0.20.0.39330*70

2021-12-04T13:27:00.224Z,1638624420.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:01.005Z,1638624421.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:01.431Z,1638624421.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:01.448Z,1638624421.448 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:27:01.832Z,1638624421.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 114.869725 deg, deltaT: 4.358926 s, deltaX: 0.360008 m, approachRate: 0.082591 m/s, LOS rate: 0.436060 deg/s, posRepo size: 4
2021-12-04T13:27:04.669Z,1638624424.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:05.444Z,1638624425.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:05.915Z,1638624425.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:06.688Z,1638624426.688 [Micromodem](INFO): Nmea in: $SNTTA,,0.095879,,,132706.01*4A

2021-12-04T13:27:06.689Z,1638624426.689 [Micromodem](INFO): Nmea in: $CAREV,132707,AUV,2.1.4000*2A

2021-12-04T13:27:07.069Z,1638624427.069 [Micromodem](INFO): Nmea in: $CAREV,132707,COPROC,0.20.0.39330*7B

2021-12-04T13:27:07.510Z,1638624427.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:09.087Z,1638624429.087 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:27:10.375Z,1638624430.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:11.113Z,1638624431.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:11.507Z,1638624431.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:11.955Z,1638624431.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.519997 m, bearing: 115.829326 deg, deltaT: 10.119524 s, deltaX: 0.899994 m, approachRate: 0.088936 m/s, LOS rate: 0.094827 deg/s, posRepo size: 4
2021-12-04T13:27:12.334Z,1638624432.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132711.68*57

2021-12-04T13:27:12.338Z,1638624432.338 [Micromodem](INFO): Nmea in: $CAREV,132712,AUV,2.1.4000*2E

2021-12-04T13:27:12.736Z,1638624432.736 [Micromodem](INFO): Nmea in: $CAREV,132712,COPROC,0.20.0.39330*7F

2021-12-04T13:27:14.774Z,1638624434.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:15.550Z,1638624435.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:15.959Z,1638624435.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:16.457Z,1638624436.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.760002 m, bearing: 114.810426 deg, deltaT: 4.498909 s, deltaX: 0.240005 m, approachRate: 0.053347 m/s, LOS rate: -0.226477 deg/s, posRepo size: 4
2021-12-04T13:27:16.813Z,1638624436.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132716.12*5D

2021-12-04T13:27:16.814Z,1638624436.814 [Micromodem](INFO): Nmea in: $CAREV,132717,AUV,2.1.4000*2B

2021-12-04T13:27:17.180Z,1638624437.180 [Micromodem](INFO): Nmea in: $CAREV,132717,COPROC,0.20.0.39330*7A

2021-12-04T13:27:19.162Z,1638624439.162 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T13:27:19.164Z,1638624439.164 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T13:27:19.256Z,1638624439.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:19.993Z,1638624439.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:20.423Z,1638624440.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:20.820Z,1638624440.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.480003 m, bearing: 114.279952 deg, deltaT: 4.370132 s, deltaX: 0.720001 m, approachRate: 0.164755 m/s, LOS rate: -0.121386 deg/s, posRepo size: 4
2021-12-04T13:27:21.235Z,1638624441.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132720.57*59

2021-12-04T13:27:21.255Z,1638624441.255 [Micromodem](INFO): Nmea in: $CAREV,132721,AUV,2.1.4000*2E

2021-12-04T13:27:21.616Z,1638624441.616 [Micromodem](INFO): Nmea in: $CAREV,132721,COPROC,0.20.0.39330*7F

2021-12-04T13:27:23.678Z,1638624443.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:24.437Z,1638624444.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:24.843Z,1638624444.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:25.330Z,1638624445.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.959999 m, bearing: 117.492368 deg, deltaT: 4.502200 s, deltaX: 0.479996 m, approachRate: 0.106614 m/s, LOS rate: 0.713521 deg/s, posRepo size: 4
2021-12-04T13:27:25.680Z,1638624445.680 [Micromodem](INFO): Nmea in: $SNTTA,0.073914,,,,132725.01*49

2021-12-04T13:27:25.681Z,1638624445.681 [Micromodem](INFO): Nmea in: $CAREV,132726,AUV,2.1.4000*29

2021-12-04T13:27:26.200Z,1638624446.200 [Micromodem](INFO): Nmea in: $CAREV,132726,COPROC,0.20.0.39330*78

2021-12-04T13:27:28.212Z,1638624448.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:29.009Z,1638624449.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:29.427Z,1638624449.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:29.855Z,1638624449.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.140007 m, bearing: 118.548001 deg, deltaT: 4.528679 s, deltaX: 0.180008 m, approachRate: 0.039748 m/s, LOS rate: 0.233100 deg/s, posRepo size: 4
2021-12-04T13:27:30.280Z,1638624450.280 [Micromodem](INFO): Nmea in: $SNTTA,0.060243,,,,132729.58*42

2021-12-04T13:27:30.281Z,1638624450.281 [Micromodem](INFO): Nmea in: $CAREV,132730,AUV,2.1.4000*2E

2021-12-04T13:27:30.632Z,1638624450.632 [Micromodem](INFO): Nmea in: $CAREV,132730,COPROC,0.20.0.39330*7F

2021-12-04T13:27:32.684Z,1638624452.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:33.453Z,1638624453.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:33.867Z,1638624453.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:34.304Z,1638624454.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 118.978344 deg, deltaT: 4.448216 s, deltaX: 0.180000 m, approachRate: 0.040466 m/s, LOS rate: 0.096745 deg/s, posRepo size: 4
2021-12-04T13:27:34.696Z,1638624454.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132734.03*5D

2021-12-04T13:27:34.697Z,1638624454.697 [Micromodem](INFO): Nmea in: $CAREV,132735,AUV,2.1.4000*2B

2021-12-04T13:27:35.076Z,1638624455.076 [Micromodem](INFO): Nmea in: $CAREV,132735,COPROC,0.20.0.39330*7A

2021-12-04T13:27:37.105Z,1638624457.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:37.897Z,1638624457.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:38.304Z,1638624458.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:38.750Z,1638624458.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 113.816913 deg, deltaT: 4.450154 s, deltaX: 0.779999 m, approachRate: 0.175275 m/s, LOS rate: -1.159832 deg/s, posRepo size: 4
2021-12-04T13:27:39.144Z,1638624459.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132738.47*51

2021-12-04T13:27:39.145Z,1638624459.145 [Micromodem](INFO): Nmea in: $CAREV,132739,AUV,2.1.4000*27

2021-12-04T13:27:39.528Z,1638624459.528 [Micromodem](INFO): Nmea in: $CAREV,132739,COPROC,0.20.0.39330*76

2021-12-04T13:27:41.607Z,1638624461.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:42.344Z,1638624462.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:42.762Z,1638624462.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:43.188Z,1638624463.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 115.522568 deg, deltaT: 4.422459 s, deltaX: 0.299988 m, approachRate: 0.067833 m/s, LOS rate: 0.385680 deg/s, posRepo size: 4
2021-12-04T13:27:43.580Z,1638624463.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132742.92*54

2021-12-04T13:27:43.581Z,1638624463.581 [Micromodem](INFO): Nmea in: $CAREV,132743,AUV,2.1.4000*2A

2021-12-04T13:27:43.980Z,1638624463.980 [Micromodem](INFO): Nmea in: $CAREV,132743,COPROC,0.20.0.39330*7B

2021-12-04T13:27:46.008Z,1638624466.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:46.797Z,1638624466.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:47.192Z,1638624467.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:47.666Z,1638624467.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.880005 m, bearing: 115.474347 deg, deltaT: 4.493524 s, deltaX: 0.480011 m, approachRate: 0.106823 m/s, LOS rate: -0.010731 deg/s, posRepo size: 4
2021-12-04T13:27:48.020Z,1638624468.020 [Micromodem](INFO): Nmea in: $SNTTA,0.066343,,,,132747.37*44

2021-12-04T13:27:48.021Z,1638624468.021 [Micromodem](INFO): Nmea in: $CAREV,132748,AUV,2.1.4000*21

2021-12-04T13:27:48.436Z,1638624468.436 [Micromodem](INFO): Nmea in: $CAREV,132748,COPROC,0.20.0.39330*70

2021-12-04T13:27:50.459Z,1638624470.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:51.233Z,1638624471.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:51.649Z,1638624471.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:52.063Z,1638624472.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.059998 m, bearing: 116.500119 deg, deltaT: 4.397037 s, deltaX: 0.179993 m, approachRate: 0.040935 m/s, LOS rate: 0.233287 deg/s, posRepo size: 4
2021-12-04T13:27:52.477Z,1638624472.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132751.81*54

2021-12-04T13:27:52.479Z,1638624472.479 [Micromodem](INFO): Nmea in: $CAREV,132752,AUV,2.1.4000*2A

2021-12-04T13:27:52.856Z,1638624472.856 [Micromodem](INFO): Nmea in: $CAREV,132752,COPROC,0.20.0.39330*7B

2021-12-04T13:27:54.886Z,1638624474.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:27:55.329Z,1638624475.329 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:27:55.673Z,1638624475.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:27:56.079Z,1638624476.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:27:56.555Z,1638624476.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.659996 m, bearing: 111.993621 deg, deltaT: 4.469596 s, deltaX: 0.599998 m, approachRate: 0.134240 m/s, LOS rate: -1.008256 deg/s, posRepo size: 4
2021-12-04T13:27:56.916Z,1638624476.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132756.25*5D

2021-12-04T13:27:56.917Z,1638624476.917 [Micromodem](INFO): Nmea in: $CAREV,132757,AUV,2.1.4000*2F

2021-12-04T13:27:57.392Z,1638624477.392 [Micromodem](INFO): Nmea in: $CAREV,132757,COPROC,0.20.0.39330*7E

2021-12-04T13:27:59.421Z,1638624479.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:00.181Z,1638624480.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:00.590Z,1638624480.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:00.000Z,1638624481.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.080002 m, bearing: 112.083493 deg, deltaT: 4.467303 s, deltaX: 0.420006 m, approachRate: 0.094018 m/s, LOS rate: 0.020118 deg/s, posRepo size: 4
2021-12-04T13:28:01.428Z,1638624481.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132800.76*57

2021-12-04T13:28:01.429Z,1638624481.429 [Micromodem](INFO): Nmea in: $CAREV,132801,AUV,2.1.4000*23

2021-12-04T13:28:01.807Z,1638624481.807 [Micromodem](INFO): Nmea in: $CAREV,132801,COPROC,0.20.0.39330*72

2021-12-04T13:28:03.810Z,1638624483.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:04.620Z,1638624484.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:05.023Z,1638624485.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:05.533Z,1638624485.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.139999 m, bearing: 113.158544 deg, deltaT: 4.524060 s, deltaX: 0.059998 m, approachRate: 0.013262 m/s, LOS rate: 0.237630 deg/s, posRepo size: 4
2021-12-04T13:28:05.856Z,1638624485.856 [Micromodem](INFO): Nmea in: $SNTTA,0.063104,,,,132805.19*45

2021-12-04T13:28:05.857Z,1638624485.857 [Micromodem](INFO): Nmea in: $CAREV,132806,AUV,2.1.4000*24

2021-12-04T13:28:06.244Z,1638624486.244 [Micromodem](INFO): Nmea in: $CAREV,132806,COPROC,0.20.0.39330*75

2021-12-04T13:28:08.256Z,1638624488.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:09.065Z,1638624489.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:09.484Z,1638624489.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:09.881Z,1638624489.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.739998 m, bearing: 114.194889 deg, deltaT: 4.356935 s, deltaX: 0.599998 m, approachRate: 0.137711 m/s, LOS rate: 0.237861 deg/s, posRepo size: 4
2021-12-04T13:28:12.729Z,1638624492.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:13.509Z,1638624493.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:13.924Z,1638624493.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:14.381Z,1638624494.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 116.826793 deg, deltaT: 4.500442 s, deltaX: 0.840004 m, approachRate: 0.186649 m/s, LOS rate: 0.584810 deg/s, posRepo size: 4
2021-12-04T13:28:14.736Z,1638624494.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132814.08*5B

2021-12-04T13:28:14.737Z,1638624494.737 [Micromodem](INFO): Nmea in: $CAREV,132815,AUV,2.1.4000*26

2021-12-04T13:28:15.140Z,1638624495.140 [Micromodem](INFO): Nmea in: $CAREV,132815,COPROC,0.20.0.39330*77

2021-12-04T13:28:17.161Z,1638624497.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:17.953Z,1638624497.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:18.387Z,1638624498.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:18.776Z,1638624498.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.400002 m, bearing: 112.333758 deg, deltaT: 4.394701 s, deltaX: -0.180000 m, approachRate: -0.040958 m/s, LOS rate: -1.022376 deg/s, posRepo size: 4
2021-12-04T13:28:19.184Z,1638624499.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132818.52*58

2021-12-04T13:28:19.185Z,1638624499.185 [Micromodem](INFO): Nmea in: $CAREV,132819,AUV,2.1.4000*2A

2021-12-04T13:28:19.580Z,1638624499.580 [Micromodem](INFO): Nmea in: $CAREV,132819,COPROC,0.20.0.39330*7B

2021-12-04T13:28:21.629Z,1638624501.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:22.413Z,1638624502.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:22.807Z,1638624502.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:23.263Z,1638624503.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.180000 m, bearing: 116.040502 deg, deltaT: 4.442524 s, deltaX: 0.779999 m, approachRate: 0.175576 m/s, LOS rate: 0.834378 deg/s, posRepo size: 4
2021-12-04T13:28:23.624Z,1638624503.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132822.99*56

2021-12-04T13:28:23.625Z,1638624503.625 [Micromodem](INFO): Nmea in: $CAREV,132824,AUV,2.1.4000*24

2021-12-04T13:28:24.020Z,1638624504.020 [Micromodem](INFO): Nmea in: $CAREV,132824,COPROC,0.20.0.39330*75

2021-12-04T13:28:26.061Z,1638624506.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:26.861Z,1638624506.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:27.296Z,1638624507.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:27.713Z,1638624507.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.060005 m, bearing: 115.851346 deg, deltaT: 4.495044 s, deltaX: -0.119995 m, approachRate: -0.026695 m/s, LOS rate: -0.042081 deg/s, posRepo size: 4
2021-12-04T13:28:28.096Z,1638624508.096 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132827.43*54

2021-12-04T13:28:28.097Z,1638624508.097 [Micromodem](INFO): Nmea in: $CAREV,132828,AUV,2.1.4000*28

2021-12-04T13:28:28.488Z,1638624508.488 [Micromodem](INFO): Nmea in: $CAREV,132828,COPROC,0.20.0.39330*79

2021-12-04T13:28:30.525Z,1638624510.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:31.353Z,1638624511.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:31.715Z,1638624511.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:32.147Z,1638624512.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.020004 m, bearing: 113.314785 deg, deltaT: 4.433719 s, deltaX: 0.959999 m, approachRate: 0.216522 m/s, LOS rate: -0.572107 deg/s, posRepo size: 4
2021-12-04T13:28:32.530Z,1638624512.530 [Micromodem](INFO): Nmea in: $SNTTA,0.066208,,,,132831.93*4A

2021-12-04T13:28:32.940Z,1638624512.940 [Micromodem](INFO): Nmea in: $CAREV,132832,AUV,2.1.4000*23

2021-12-04T13:28:32.941Z,1638624512.941 [Micromodem](INFO): Nmea in: $CAREV,132832,COPROC,0.20.0.39330*72

2021-12-04T13:28:34.953Z,1638624514.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:35.387Z,1638624515.387 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:28:35.742Z,1638624515.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:36.163Z,1638624516.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:36.594Z,1638624516.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.379997 m, bearing: 116.400835 deg, deltaT: 4.447057 s, deltaX: 0.359993 m, approachRate: 0.080951 m/s, LOS rate: 0.693953 deg/s, posRepo size: 4
2021-12-04T13:28:36.992Z,1638624516.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132836.31*51

2021-12-04T13:28:36.993Z,1638624516.993 [Micromodem](INFO): Nmea in: $CAREV,132837,AUV,2.1.4000*26

2021-12-04T13:28:37.396Z,1638624517.396 [Micromodem](INFO): Nmea in: $CAREV,132837,COPROC,0.20.0.39330*77

2021-12-04T13:28:39.459Z,1638624519.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:40.193Z,1638624520.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:40.607Z,1638624520.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:41.027Z,1638624521.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.680008 m, bearing: 114.936456 deg, deltaT: 4.433132 s, deltaX: 0.300011 m, approachRate: 0.067675 m/s, LOS rate: -0.330326 deg/s, posRepo size: 4
2021-12-04T13:28:41.444Z,1638624521.444 [Micromodem](INFO): Nmea in: $SNTTA,0.070283,,,,132840.77*42

2021-12-04T13:28:41.445Z,1638624521.445 [Micromodem](INFO): Nmea in: $CAREV,132841,AUV,2.1.4000*27

2021-12-04T13:28:41.812Z,1638624521.812 [Micromodem](INFO): Nmea in: $CAREV,132841,COPROC,0.20.0.39330*76

2021-12-04T13:28:43.856Z,1638624523.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:44.641Z,1638624524.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:45.040Z,1638624525.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:45.457Z,1638624525.457 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:28:45.505Z,1638624525.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.040001 m, bearing: 115.104820 deg, deltaT: 4.478290 s, deltaX: 0.359993 m, approachRate: 0.080386 m/s, LOS rate: 0.037596 deg/s, posRepo size: 4
2021-12-04T13:28:45.884Z,1638624525.884 [Micromodem](INFO): Nmea in: $SNTTA,0.089202,,,,132845.22*48

2021-12-04T13:28:45.885Z,1638624525.885 [Micromodem](INFO): Nmea in: $CAREV,132846,AUV,2.1.4000*20

2021-12-04T13:28:46.276Z,1638624526.276 [Micromodem](INFO): Nmea in: $CAREV,132846,COPROC,0.20.0.39330*71

2021-12-04T13:28:48.285Z,1638624528.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:49.081Z,1638624529.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:49.503Z,1638624529.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:49.921Z,1638624529.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 120.122578 deg, deltaT: 4.415933 s, deltaX: 0.480003 m, approachRate: 0.108698 m/s, LOS rate: 1.136285 deg/s, posRepo size: 4
2021-12-04T13:28:50.372Z,1638624530.372 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132849.65*58

2021-12-04T13:28:50.374Z,1638624530.374 [Micromodem](INFO): Nmea in: $CAREV,132850,AUV,2.1.4000*27

2021-12-04T13:28:50.764Z,1638624530.764 [Micromodem](INFO): Nmea in: $CAREV,132850,COPROC,0.20.0.39330*76

2021-12-04T13:28:52.761Z,1638624532.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:53.526Z,1638624533.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:53.935Z,1638624533.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:54.414Z,1638624534.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.880005 m, bearing: 113.173789 deg, deltaT: 4.488655 s, deltaX: 0.360001 m, approachRate: 0.080202 m/s, LOS rate: -1.548078 deg/s, posRepo size: 4
2021-12-04T13:28:54.772Z,1638624534.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132854.10*56

2021-12-04T13:28:54.773Z,1638624534.773 [Micromodem](INFO): Nmea in: $CAREV,132855,AUV,2.1.4000*22

2021-12-04T13:28:55.156Z,1638624535.156 [Micromodem](INFO): Nmea in: $CAREV,132855,COPROC,0.20.0.39330*73

2021-12-04T13:28:57.172Z,1638624537.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:28:57.969Z,1638624537.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:28:58.401Z,1638624538.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:28:58.813Z,1638624538.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.419998 m, bearing: 110.733206 deg, deltaT: 4.402942 s, deltaX: 0.539993 m, approachRate: 0.122644 m/s, LOS rate: -0.554307 deg/s, posRepo size: 4
2021-12-04T13:28:59.216Z,1638624539.216 [Micromodem](INFO): Nmea in: $SNTTA,0.085911,,,,132858.54*40

2021-12-04T13:28:59.217Z,1638624539.217 [Micromodem](INFO): Nmea in: $CAREV,132859,AUV,2.1.4000*2E

2021-12-04T13:28:59.596Z,1638624539.596 [Micromodem](INFO): Nmea in: $CAREV,132859,COPROC,0.20.0.39330*7F

2021-12-04T13:29:01.674Z,1638624541.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:02.417Z,1638624542.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:02.823Z,1638624542.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:03.366Z,1638624543.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.540001 m, bearing: 110.423402 deg, deltaT: 4.504941 s, deltaX: 0.120003 m, approachRate: 0.026638 m/s, LOS rate: -0.068770 deg/s, posRepo size: 4
2021-12-04T13:29:03.656Z,1638624543.656 [Micromodem](INFO): Nmea in: $SNTTA,0.107166,,,,132902.99*4C

2021-12-04T13:29:03.657Z,1638624543.657 [Micromodem](INFO): Nmea in: $CAREV,132904,AUV,2.1.4000*27

2021-12-04T13:29:04.048Z,1638624544.048 [Micromodem](INFO): Nmea in: $CAREV,132904,COPROC,0.20.0.39330*76

2021-12-04T13:29:06.061Z,1638624546.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:06.869Z,1638624546.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:07.304Z,1638624547.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:07.324Z,1638624547.324 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:29:07.697Z,1638624547.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.960007 m, bearing: 112.113963 deg, deltaT: 4.379258 s, deltaX: 0.420006 m, approachRate: 0.095908 m/s, LOS rate: 0.386038 deg/s, posRepo size: 4
2021-12-04T13:29:08.108Z,1638624548.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132907.44*50

2021-12-04T13:29:08.109Z,1638624548.109 [Micromodem](INFO): Nmea in: $CAREV,132908,AUV,2.1.4000*2B

2021-12-04T13:29:08.484Z,1638624548.484 [Micromodem](INFO): Nmea in: $CAREV,132908,COPROC,0.20.0.39330*7A

2021-12-04T13:29:10.511Z,1638624550.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:11.333Z,1638624551.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:11.771Z,1638624551.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:12.187Z,1638624552.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.320000 m, bearing: 113.157991 deg, deltaT: 4.490092 s, deltaX: 0.359993 m, approachRate: 0.080175 m/s, LOS rate: 0.232518 deg/s, posRepo size: 4
2021-12-04T13:29:12.592Z,1638624552.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132911.91*5F

2021-12-04T13:29:12.593Z,1638624552.593 [Micromodem](INFO): Nmea in: $CAREV,132912,AUV,2.1.4000*20

2021-12-04T13:29:12.992Z,1638624552.992 [Micromodem](INFO): Nmea in: $CAREV,132912,COPROC,0.20.0.39330*71

2021-12-04T13:29:15.024Z,1638624555.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:15.798Z,1638624555.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:16.220Z,1638624556.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:16.656Z,1638624556.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.860001 m, bearing: 113.100495 deg, deltaT: 4.469159 s, deltaX: 0.540001 m, approachRate: 0.120828 m/s, LOS rate: -0.012865 deg/s, posRepo size: 4
2021-12-04T13:29:17.044Z,1638624557.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132916.37*54

2021-12-04T13:29:17.045Z,1638624557.045 [Micromodem](INFO): Nmea in: $CAREV,132917,AUV,2.1.4000*25

2021-12-04T13:29:17.436Z,1638624557.436 [Micromodem](INFO): Nmea in: $CAREV,132917,COPROC,0.20.0.39330*74

2021-12-04T13:29:19.502Z,1638624559.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:20.253Z,1638624560.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:20.655Z,1638624560.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:21.077Z,1638624561.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 113.731105 deg, deltaT: 4.420552 s, deltaX: 0.419998 m, approachRate: 0.095010 m/s, LOS rate: 0.142654 deg/s, posRepo size: 4
2021-12-04T13:29:21.484Z,1638624561.484 [Micromodem](INFO): Nmea in: $SNTTA,0.067622,,,,132920.83*47

2021-12-04T13:29:21.485Z,1638624561.485 [Micromodem](INFO): Nmea in: $CAREV,132921,AUV,2.1.4000*20

2021-12-04T13:29:21.872Z,1638624561.872 [Micromodem](INFO): Nmea in: $CAREV,132921,COPROC,0.20.0.39330*71

2021-12-04T13:29:23.914Z,1638624563.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:24.697Z,1638624564.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:25.108Z,1638624565.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:25.527Z,1638624565.527 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T13:29:25.555Z,1638624565.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 113.116156 deg, deltaT: 4.476724 s, deltaX: 0.060005 m, approachRate: 0.013404 m/s, LOS rate: -0.137366 deg/s, posRepo size: 4
2021-12-04T13:29:25.936Z,1638624565.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132925.27*55

2021-12-04T13:29:25.937Z,1638624565.937 [Micromodem](INFO): Nmea in: $CAREV,132926,AUV,2.1.4000*27

2021-12-04T13:29:26.320Z,1638624566.320 [Micromodem](INFO): Nmea in: $CAREV,132926,COPROC,0.20.0.39330*76

2021-12-04T13:29:28.376Z,1638624568.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:29.130Z,1638624569.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:29.544Z,1638624569.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:29.964Z,1638624569.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.820007 m, bearing: 114.849194 deg, deltaT: 4.409891 s, deltaX: 0.480003 m, approachRate: 0.108847 m/s, LOS rate: 0.392989 deg/s, posRepo size: 4
2021-12-04T13:29:30.416Z,1638624570.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132929.70*5B

2021-12-04T13:29:30.417Z,1638624570.417 [Micromodem](INFO): Nmea in: $CAREV,132930,AUV,2.1.4000*20

2021-12-04T13:29:30.856Z,1638624570.856 [Micromodem](INFO): Nmea in: $CAREV,132930,COPROC,0.20.0.39330*71

2021-12-04T13:29:32.796Z,1638624572.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:33.577Z,1638624573.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:33.987Z,1638624573.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:34.437Z,1638624574.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.240005 m, bearing: 118.042813 deg, deltaT: 4.473432 s, deltaX: 0.419998 m, approachRate: 0.093887 m/s, LOS rate: 0.713908 deg/s, posRepo size: 4
2021-12-04T13:29:34.820Z,1638624574.820 [Micromodem](INFO): Nmea in: $SNTTA,0.074643,,,,132934.15*48

2021-12-04T13:29:34.821Z,1638624574.821 [Micromodem](INFO): Nmea in: $CAREV,132935,AUV,2.1.4000*25

2021-12-04T13:29:35.204Z,1638624575.204 [Micromodem](INFO): Nmea in: $CAREV,132935,COPROC,0.20.0.39330*74

2021-12-04T13:29:37.292Z,1638624577.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:38.029Z,1638624578.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:38.440Z,1638624578.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:38.868Z,1638624578.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.480011 m, bearing: 118.247117 deg, deltaT: 4.430236 s, deltaX: 0.240005 m, approachRate: 0.054174 m/s, LOS rate: 0.046116 deg/s, posRepo size: 4
2021-12-04T13:29:39.281Z,1638624579.281 [Micromodem](INFO): Nmea in: $SNTTA,0.068617,,,,132938.60*4A

2021-12-04T13:29:39.293Z,1638624579.293 [Micromodem](INFO): Nmea in: $CAREV,132939,AUV,2.1.4000*29

2021-12-04T13:29:39.660Z,1638624579.660 [Micromodem](INFO): Nmea in: $CAREV,132939,COPROC,0.20.0.39330*78

2021-12-04T13:29:41.378Z,1638624581.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:42.069Z,1638624582.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:42.475Z,1638624582.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:42.905Z,1638624582.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 112.344611 deg, deltaT: 4.038159 s, deltaX: 0.899986 m, approachRate: 0.222870 m/s, LOS rate: -1.461682 deg/s, posRepo size: 4
2021-12-04T13:29:43.336Z,1638624583.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132942.64*53

2021-12-04T13:29:43.368Z,1638624583.368 [Micromodem](INFO): Nmea in: $CAREV,132943,AUV,2.1.4000*24

2021-12-04T13:29:43.684Z,1638624583.684 [Micromodem](INFO): Nmea in: $CAREV,132943,COPROC,0.20.0.39330*75

2021-12-04T13:29:45.422Z,1638624585.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:46.113Z,1638624586.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:46.515Z,1638624586.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:46.931Z,1638624586.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.860001 m, bearing: 112.514116 deg, deltaT: 4.025910 s, deltaX: 0.480003 m, approachRate: 0.119229 m/s, LOS rate: 0.042103 deg/s, posRepo size: 4
2021-12-04T13:29:47.370Z,1638624587.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132946.69*5A

2021-12-04T13:29:47.371Z,1638624587.371 [Micromodem](INFO): Nmea in: $CAREV,132947,AUV,2.1.4000*20

2021-12-04T13:29:47.740Z,1638624587.740 [Micromodem](INFO): Nmea in: $CAREV,132947,COPROC,0.20.0.39330*71

2021-12-04T13:29:49.773Z,1638624589.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:50.553Z,1638624590.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:50.968Z,1638624590.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:51.459Z,1638624591.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 112.592588 deg, deltaT: 4.524026 s, deltaX: 0.360001 m, approachRate: 0.079575 m/s, LOS rate: 0.017346 deg/s, posRepo size: 4
2021-12-04T13:29:51.796Z,1638624591.796 [Micromodem](INFO): Nmea in: $SNTTA,0.071093,,,,132951.13*43

2021-12-04T13:29:51.798Z,1638624591.798 [Micromodem](INFO): Nmea in: $CAREV,132952,AUV,2.1.4000*24

2021-12-04T13:29:52.184Z,1638624592.184 [Micromodem](INFO): Nmea in: $CAREV,132952,COPROC,0.20.0.39330*75

2021-12-04T13:29:54.205Z,1638624594.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:54.997Z,1638624594.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:55.429Z,1638624595.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:29:55.850Z,1638624595.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 111.930312 deg, deltaT: 4.390421 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -0.150846 deg/s, posRepo size: 4
2021-12-04T13:29:56.248Z,1638624596.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132955.57*55

2021-12-04T13:29:56.249Z,1638624596.249 [Micromodem](INFO): Nmea in: $CAREV,132956,AUV,2.1.4000*20

2021-12-04T13:29:56.624Z,1638624596.624 [Micromodem](INFO): Nmea in: $CAREV,132956,COPROC,0.20.0.39330*71

2021-12-04T13:29:58.673Z,1638624598.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:29:59.441Z,1638624599.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:29:59.851Z,1638624599.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:00.301Z,1638624600.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.520004 m, bearing: 111.873813 deg, deltaT: 4.449482 s, deltaX: 0.300003 m, approachRate: 0.067424 m/s, LOS rate: -0.012698 deg/s, posRepo size: 4
2021-12-04T13:30:00.684Z,1638624600.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133000.01*5E

2021-12-04T13:30:00.685Z,1638624600.685 [Micromodem](INFO): Nmea in: $CAREV,133001,AUV,2.1.4000*2A

2021-12-04T13:30:00.690Z,1638624600.690 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:30:01.060Z,1638624601.060 [Micromodem](INFO): Nmea in: $CAREV,133001,COPROC,0.20.0.39330*7B

2021-12-04T13:30:03.093Z,1638624603.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:03.885Z,1638624603.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:04.291Z,1638624604.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:04.717Z,1638624604.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 112.109038 deg, deltaT: 4.421934 s, deltaX: 0.659996 m, approachRate: 0.149255 m/s, LOS rate: 0.053195 deg/s, posRepo size: 4
2021-12-04T13:30:05.128Z,1638624605.128 [Micromodem](INFO): Nmea in: $SNTTA,0.068493,,,,133004.46*47

2021-12-04T13:30:05.129Z,1638624605.129 [Micromodem](INFO): Nmea in: $CAREV,133005,AUV,2.1.4000*2E

2021-12-04T13:30:05.512Z,1638624605.512 [Micromodem](INFO): Nmea in: $CAREV,133005,COPROC,0.20.0.39330*7F

2021-12-04T13:30:05.536Z,1638624605.536 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:30:07.571Z,1638624607.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:08.333Z,1638624608.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:08.735Z,1638624608.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:09.153Z,1638624609.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 110.931028 deg, deltaT: 4.436157 s, deltaX: 0.419998 m, approachRate: 0.094676 m/s, LOS rate: -0.265547 deg/s, posRepo size: 4
2021-12-04T13:30:09.568Z,1638624609.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133008.91*5F

2021-12-04T13:30:09.569Z,1638624609.569 [Micromodem](INFO): Nmea in: $CAREV,133009,AUV,2.1.4000*22

2021-12-04T13:30:09.964Z,1638624609.964 [Micromodem](INFO): Nmea in: $CAREV,133009,COPROC,0.20.0.39330*73

2021-12-04T13:30:11.656Z,1638624611.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:12.413Z,1638624612.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:12.827Z,1638624612.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:13.351Z,1638624613.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.080002 m, bearing: 110.628670 deg, deltaT: 4.171727 s, deltaX: 0.480003 m, approachRate: 0.115061 m/s, LOS rate: -0.072478 deg/s, posRepo size: 4
2021-12-04T13:30:13.665Z,1638624613.665 [Micromodem](INFO): Nmea in: $SNTTA,0.062267,,,,133012.99*45

2021-12-04T13:30:13.666Z,1638624613.666 [Micromodem](INFO): Nmea in: $CAREV,133014,AUV,2.1.4000*2E

2021-12-04T13:30:14.036Z,1638624614.036 [Micromodem](INFO): Nmea in: $CAREV,133014,COPROC,0.20.0.39330*7F

2021-12-04T13:30:15.380Z,1638624615.380 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:30:16.074Z,1638624616.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:16.857Z,1638624616.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:17.294Z,1638624617.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:17.367Z,1638624617.367 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T13:30:17.367Z,1638624617.367 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T13:30:17.368Z,1638624617.368 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T13:30:17.551Z,1638624617.551 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T13:30:17.739Z,1638624617.739 [RDI_Pathfinder](INFO): Powering down
2021-12-04T13:30:17.762Z,1638624617.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.439995 m, bearing: 110.195902 deg, deltaT: 4.436869 s, deltaX: 0.359993 m, approachRate: 0.081137 m/s, LOS rate: -0.097539 deg/s, posRepo size: 4
2021-12-04T13:30:18.107Z,1638624618.107 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133017.43*5E

2021-12-04T13:30:18.110Z,1638624618.110 [Micromodem](INFO): Nmea in: $CAREV,133018,AUV,2.1.4000*22

2021-12-04T13:30:18.488Z,1638624618.488 [Micromodem](INFO): Nmea in: $CAREV,133018,COPROC,0.20.0.39330*73

2021-12-04T13:30:18.683Z,1638624618.683 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T13:30:18.683Z,1638624618.683 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T13:30:20.513Z,1638624620.513 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:30:20.525Z,1638624620.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:21.308Z,1638624621.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:21.719Z,1638624621.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:22.155Z,1638624622.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 111.288562 deg, deltaT: 4.392516 s, deltaX: 0.420006 m, approachRate: 0.095619 m/s, LOS rate: 0.248755 deg/s, posRepo size: 4
2021-12-04T13:30:22.551Z,1638624622.551 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133021.88*5C

2021-12-04T13:30:22.552Z,1638624622.552 [Micromodem](INFO): Nmea in: $CAREV,133022,AUV,2.1.4000*2B

2021-12-04T13:30:22.932Z,1638624622.932 [Micromodem](INFO): Nmea in: $CAREV,133022,COPROC,0.20.0.39330*7A

2021-12-04T13:30:24.961Z,1638624624.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:25.749Z,1638624625.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:26.159Z,1638624626.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:26.601Z,1638624626.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.220009 m, bearing: 110.436584 deg, deltaT: 4.446380 s, deltaX: 0.360008 m, approachRate: 0.080967 m/s, LOS rate: -0.191611 deg/s, posRepo size: 4
2021-12-04T13:30:26.996Z,1638624626.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133026.32*5A

2021-12-04T13:30:26.997Z,1638624626.997 [Micromodem](INFO): Nmea in: $CAREV,133027,AUV,2.1.4000*2E

2021-12-04T13:30:27.388Z,1638624627.388 [Micromodem](INFO): Nmea in: $CAREV,133027,COPROC,0.20.0.39330*7F

2021-12-04T13:30:29.434Z,1638624629.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:30.189Z,1638624630.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:30.603Z,1638624630.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:30.622Z,1638624630.622 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-12-04T13:30:31.032Z,1638624631.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 109.230086 deg, deltaT: 4.431444 s, deltaX: 0.479988 m, approachRate: 0.108314 m/s, LOS rate: -0.272258 deg/s, posRepo size: 4
2021-12-04T13:30:31.440Z,1638624631.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133030.76*5D

2021-12-04T13:30:31.441Z,1638624631.441 [Micromodem](INFO): Nmea in: $CAREV,133031,AUV,2.1.4000*29

2021-12-04T13:30:31.820Z,1638624631.820 [Micromodem](INFO): Nmea in: $CAREV,133031,COPROC,0.20.0.39330*78

2021-12-04T13:30:33.836Z,1638624633.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:34.641Z,1638624634.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:35.043Z,1638624635.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:35.464Z,1638624635.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.879997 m, bearing: 109.116445 deg, deltaT: 4.431953 s, deltaX: 0.180000 m, approachRate: 0.040614 m/s, LOS rate: -0.025641 deg/s, posRepo size: 4
2021-12-04T13:30:35.876Z,1638624635.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133035.21*5A

2021-12-04T13:30:35.877Z,1638624635.877 [Micromodem](INFO): Nmea in: $CAREV,133036,AUV,2.1.4000*2E

2021-12-04T13:30:36.268Z,1638624636.268 [Micromodem](INFO): Nmea in: $CAREV,133036,COPROC,0.20.0.39330*7F

2021-12-04T13:30:38.284Z,1638624638.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:39.081Z,1638624639.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:39.487Z,1638624639.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:39.904Z,1638624639.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 106.424210 deg, deltaT: 4.439455 s, deltaX: 0.599998 m, approachRate: 0.135151 m/s, LOS rate: -0.606434 deg/s, posRepo size: 4
2021-12-04T13:30:40.320Z,1638624640.320 [Micromodem](INFO): Nmea in: $SNTTA,0.083726,,,,133039.65*40

2021-12-04T13:30:40.321Z,1638624640.321 [Micromodem](INFO): Nmea in: $CAREV,133040,AUV,2.1.4000*2F

2021-12-04T13:30:40.704Z,1638624640.704 [Micromodem](INFO): Nmea in: $CAREV,133040,COPROC,0.20.0.39330*7E

2021-12-04T13:30:41.533Z,1638624641.533 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:30:42.739Z,1638624642.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:43.529Z,1638624643.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:43.927Z,1638624643.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:44.395Z,1638624644.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.779999 m, bearing: 110.267544 deg, deltaT: 4.490712 s, deltaX: 0.300003 m, approachRate: 0.066805 m/s, LOS rate: 0.855841 deg/s, posRepo size: 4
2021-12-04T13:30:44.768Z,1638624644.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133044.10*5E

2021-12-04T13:30:44.769Z,1638624644.769 [Micromodem](INFO): Nmea in: $CAREV,133045,AUV,2.1.4000*2A

2021-12-04T13:30:45.168Z,1638624645.168 [Micromodem](INFO): Nmea in: $CAREV,133045,COPROC,0.20.0.39330*7B

2021-12-04T13:30:47.205Z,1638624647.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:47.972Z,1638624647.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:48.411Z,1638624648.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:48.795Z,1638624648.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.380005 m, bearing: 109.739966 deg, deltaT: 4.400874 s, deltaX: 0.600006 m, approachRate: 0.136338 m/s, LOS rate: -0.119880 deg/s, posRepo size: 4
2021-12-04T13:30:49.208Z,1638624649.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133048.55*53

2021-12-04T13:30:49.209Z,1638624649.209 [Micromodem](INFO): Nmea in: $CAREV,133049,AUV,2.1.4000*26

2021-12-04T13:30:49.604Z,1638624649.604 [Micromodem](INFO): Nmea in: $CAREV,133049,COPROC,0.20.0.39330*77

2021-12-04T13:30:51.656Z,1638624651.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:52.432Z,1638624652.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:52.816Z,1638624652.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:53.273Z,1638624653.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.559998 m, bearing: 107.897537 deg, deltaT: 4.458150 s, deltaX: 0.179993 m, approachRate: 0.040374 m/s, LOS rate: -0.413272 deg/s, posRepo size: 4
2021-12-04T13:30:53.652Z,1638624653.652 [Micromodem](INFO): Nmea in: $SNTTA,0.082975,,,,133053.00*46

2021-12-04T13:30:53.653Z,1638624653.653 [Micromodem](INFO): Nmea in: $CAREV,133054,AUV,2.1.4000*2A

2021-12-04T13:30:54.040Z,1638624654.040 [Micromodem](INFO): Nmea in: $CAREV,133054,COPROC,0.20.0.39330*7B

2021-12-04T13:30:56.069Z,1638624656.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:30:56.857Z,1638624656.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:30:57.271Z,1638624657.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:30:57.683Z,1638624657.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.040001 m, bearing: 108.175730 deg, deltaT: 4.429067 s, deltaX: 0.480003 m, approachRate: 0.108376 m/s, LOS rate: 0.062811 deg/s, posRepo size: 4
2021-12-04T13:30:58.104Z,1638624658.104 [Micromodem](INFO): Nmea in: $SNTTA,0.113862,,,,133057.43*4B

2021-12-04T13:30:58.106Z,1638624658.106 [Micromodem](INFO): Nmea in: $CAREV,133058,AUV,2.1.4000*26

2021-12-04T13:30:58.492Z,1638624658.492 [Micromodem](INFO): Nmea in: $CAREV,133058,COPROC,0.20.0.39330*77

2021-12-04T13:31:00.513Z,1638624660.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:01.301Z,1638624661.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:01.703Z,1638624661.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:02.133Z,1638624662.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.460007 m, bearing: 107.943961 deg, deltaT: 4.450699 s, deltaX: 0.420006 m, approachRate: 0.094369 m/s, LOS rate: -0.052075 deg/s, posRepo size: 4
2021-12-04T13:31:02.536Z,1638624662.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133101.88*5F

2021-12-04T13:31:02.537Z,1638624662.537 [Micromodem](INFO): Nmea in: $CAREV,133102,AUV,2.1.4000*28

2021-12-04T13:31:02.948Z,1638624662.948 [Micromodem](INFO): Nmea in: $CAREV,133102,COPROC,0.20.0.39330*79

2021-12-04T13:31:05.005Z,1638624665.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:05.742Z,1638624665.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:06.147Z,1638624666.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:06.585Z,1638624666.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 108.124388 deg, deltaT: 4.451568 s, deltaX: 0.359993 m, approachRate: 0.080869 m/s, LOS rate: 0.040531 deg/s, posRepo size: 4
2021-12-04T13:31:07.008Z,1638624667.008 [Micromodem](INFO): Nmea in: $SNTTA,0.109663,,,,133106.32*4C

2021-12-04T13:31:07.009Z,1638624667.009 [Micromodem](INFO): Nmea in: $CAREV,133107,AUV,2.1.4000*2D

2021-12-04T13:31:07.385Z,1638624667.385 [Micromodem](INFO): Nmea in: $CAREV,133107,COPROC,0.20.0.39330*7C

2021-12-04T13:31:09.442Z,1638624669.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:10.189Z,1638624670.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:10.591Z,1638624670.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:11.060Z,1638624671.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.239998 m, bearing: 107.774340 deg, deltaT: 4.474734 s, deltaX: 0.419998 m, approachRate: 0.093860 m/s, LOS rate: -0.078227 deg/s, posRepo size: 4
2021-12-04T13:31:11.428Z,1638624671.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133110.76*5E

2021-12-04T13:31:11.429Z,1638624671.429 [Micromodem](INFO): Nmea in: $CAREV,133111,AUV,2.1.4000*2A

2021-12-04T13:31:11.820Z,1638624671.820 [Micromodem](INFO): Nmea in: $CAREV,133111,COPROC,0.20.0.39330*7B

2021-12-04T13:31:13.836Z,1638624673.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:14.633Z,1638624674.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:15.045Z,1638624675.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:15.493Z,1638624675.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.660004 m, bearing: 110.512939 deg, deltaT: 4.433286 s, deltaX: 0.420006 m, approachRate: 0.094739 m/s, LOS rate: 0.617736 deg/s, posRepo size: 4
2021-12-04T13:31:15.876Z,1638624675.876 [Micromodem](INFO): Nmea in: $SNTTA,0.071363,,,,133115.21*47

2021-12-04T13:31:15.877Z,1638624675.877 [Micromodem](INFO): Nmea in: $CAREV,133116,AUV,2.1.4000*2D

2021-12-04T13:31:16.260Z,1638624676.260 [Micromodem](INFO): Nmea in: $CAREV,133116,COPROC,0.20.0.39330*7C

2021-12-04T13:31:18.284Z,1638624678.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:19.077Z,1638624679.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:19.483Z,1638624679.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:19.899Z,1638624679.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.140007 m, bearing: 108.235836 deg, deltaT: 4.406362 s, deltaX: 0.480003 m, approachRate: 0.108934 m/s, LOS rate: -0.516776 deg/s, posRepo size: 4
2021-12-04T13:31:20.316Z,1638624680.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133119.65*55

2021-12-04T13:31:20.318Z,1638624680.318 [Micromodem](INFO): Nmea in: $CAREV,133120,AUV,2.1.4000*28

2021-12-04T13:31:20.712Z,1638624680.712 [Micromodem](INFO): Nmea in: $CAREV,133120,COPROC,0.20.0.39330*79

2021-12-04T13:31:22.745Z,1638624682.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:23.517Z,1638624683.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:23.931Z,1638624683.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:24.420Z,1638624684.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.619995 m, bearing: 109.627207 deg, deltaT: 4.511427 s, deltaX: 0.479988 m, approachRate: 0.106394 m/s, LOS rate: 0.308410 deg/s, posRepo size: 4
2021-12-04T13:31:24.752Z,1638624684.752 [Micromodem](INFO): Nmea in: $SNTTA,0.081680,,,,133124.09*48

2021-12-04T13:31:24.753Z,1638624684.753 [Micromodem](INFO): Nmea in: $CAREV,133125,AUV,2.1.4000*2D

2021-12-04T13:31:25.148Z,1638624685.148 [Micromodem](INFO): Nmea in: $CAREV,133125,COPROC,0.20.0.39330*7C

2021-12-04T13:31:27.199Z,1638624687.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:27.958Z,1638624687.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:28.379Z,1638624688.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:28.810Z,1638624688.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.920006 m, bearing: 109.107368 deg, deltaT: 4.399597 s, deltaX: 0.300011 m, approachRate: 0.068190 m/s, LOS rate: -0.118156 deg/s, posRepo size: 4
2021-12-04T13:31:29.212Z,1638624689.212 [Micromodem](INFO): Nmea in: $SNTTA,0.075377,,,,133128.53*4D

2021-12-04T13:31:29.213Z,1638624689.213 [Micromodem](INFO): Nmea in: $CAREV,133129,AUV,2.1.4000*21

2021-12-04T13:31:29.592Z,1638624689.592 [Micromodem](INFO): Nmea in: $CAREV,133129,COPROC,0.20.0.39330*70

2021-12-04T13:31:31.627Z,1638624691.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:32.417Z,1638624692.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:32.818Z,1638624692.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:33.268Z,1638624693.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.400009 m, bearing: 108.788371 deg, deltaT: 4.458331 s, deltaX: 0.480003 m, approachRate: 0.107664 m/s, LOS rate: -0.071551 deg/s, posRepo size: 4
2021-12-04T13:31:33.660Z,1638624693.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133132.99*5F

2021-12-04T13:31:33.661Z,1638624693.661 [Micromodem](INFO): Nmea in: $CAREV,133134,AUV,2.1.4000*2D

2021-12-04T13:31:34.040Z,1638624694.040 [Micromodem](INFO): Nmea in: $CAREV,133134,COPROC,0.20.0.39330*7C

2021-12-04T13:31:36.069Z,1638624696.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:36.849Z,1638624696.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:37.274Z,1638624697.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:37.709Z,1638624697.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.879997 m, bearing: 151.865718 deg, deltaT: 4.436466 s, deltaX: 0.479988 m, approachRate: 0.108192 m/s, LOS rate: 9.709834 deg/s, posRepo size: 4
2021-12-04T13:31:38.100Z,1638624698.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133137.42*5C

2021-12-04T13:31:38.101Z,1638624698.101 [Micromodem](INFO): Nmea in: $CAREV,133138,AUV,2.1.4000*21

2021-12-04T13:31:38.484Z,1638624698.484 [Micromodem](INFO): Nmea in: $CAREV,133138,COPROC,0.20.0.39330*70

2021-12-04T13:31:40.534Z,1638624700.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:41.307Z,1638624701.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:41.703Z,1638624701.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:42.165Z,1638624702.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.240005 m, bearing: 106.895609 deg, deltaT: 4.455628 s, deltaX: 0.360008 m, approachRate: 0.080799 m/s, LOS rate: -10.092877 deg/s, posRepo size: 4
2021-12-04T13:31:42.540Z,1638624702.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133141.88*5B

2021-12-04T13:31:42.541Z,1638624702.541 [Micromodem](INFO): Nmea in: $CAREV,133142,AUV,2.1.4000*2C

2021-12-04T13:31:42.952Z,1638624702.952 [Micromodem](INFO): Nmea in: $CAREV,133142,COPROC,0.20.0.39330*7D

2021-12-04T13:31:44.988Z,1638624704.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:45.737Z,1638624705.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:46.143Z,1638624706.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:46.594Z,1638624706.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.420006 m, bearing: 105.987515 deg, deltaT: 4.433066 s, deltaX: 0.180000 m, approachRate: 0.040604 m/s, LOS rate: -0.204846 deg/s, posRepo size: 4
2021-12-04T13:31:47.013Z,1638624707.013 [Micromodem](INFO): Nmea in: $SNTTA,0.092986,,,,133146.31*4C

2021-12-04T13:31:47.014Z,1638624707.014 [Micromodem](INFO): Nmea in: $CAREV,133147,AUV,2.1.4000*29

2021-12-04T13:31:47.384Z,1638624707.384 [Micromodem](INFO): Nmea in: $CAREV,133147,COPROC,0.20.0.39330*78

2021-12-04T13:31:49.456Z,1638624709.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:50.181Z,1638624710.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:50.599Z,1638624710.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:51.100Z,1638624711.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.079994 m, bearing: 105.594841 deg, deltaT: 4.493460 s, deltaX: 0.659988 m, approachRate: 0.146878 m/s, LOS rate: -0.087388 deg/s, posRepo size: 4
2021-12-04T13:31:51.440Z,1638624711.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133150.75*59

2021-12-04T13:31:51.441Z,1638624711.441 [Micromodem](INFO): Nmea in: $CAREV,133151,AUV,2.1.4000*2E

2021-12-04T13:31:51.808Z,1638624711.808 [Micromodem](INFO): Nmea in: $CAREV,133151,COPROC,0.20.0.39330*7F

2021-12-04T13:31:53.840Z,1638624713.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:54.637Z,1638624714.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:55.036Z,1638624715.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:55.487Z,1638624715.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 103.834851 deg, deltaT: 4.395324 s, deltaX: 0.420006 m, approachRate: 0.095557 m/s, LOS rate: -0.400423 deg/s, posRepo size: 4
2021-12-04T13:31:55.872Z,1638624715.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133155.21*5D

2021-12-04T13:31:55.873Z,1638624715.873 [Micromodem](INFO): Nmea in: $CAREV,133156,AUV,2.1.4000*29

2021-12-04T13:31:56.256Z,1638624716.256 [Micromodem](INFO): Nmea in: $CAREV,133156,COPROC,0.20.0.39330*78

2021-12-04T13:31:58.284Z,1638624718.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:31:59.069Z,1638624719.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:31:59.480Z,1638624719.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:31:59.915Z,1638624719.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 103.022755 deg, deltaT: 4.432529 s, deltaX: 0.480003 m, approachRate: 0.108291 m/s, LOS rate: -0.183213 deg/s, posRepo size: 4
2021-12-04T13:32:00.316Z,1638624720.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133159.64*50

2021-12-04T13:32:00.318Z,1638624720.318 [Micromodem](INFO): Nmea in: $CAREV,133200,AUV,2.1.4000*29

2021-12-04T13:32:00.712Z,1638624720.712 [Micromodem](INFO): Nmea in: $CAREV,133200,COPROC,0.20.0.39330*78

2021-12-04T13:32:02.512Z,1638624722.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:03.266Z,1638624723.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:03.680Z,1638624723.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:04.133Z,1638624724.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 102.322039 deg, deltaT: 4.195129 s, deltaX: 0.480003 m, approachRate: 0.114419 m/s, LOS rate: -0.167031 deg/s, posRepo size: 4
2021-12-04T13:32:04.516Z,1638624724.516 [Micromodem](INFO): Nmea in: $SNTTA,0.084014,,,,133203.84*45

2021-12-04T13:32:04.517Z,1638624724.517 [Micromodem](INFO): Nmea in: $CAREV,133204,AUV,2.1.4000*2D

2021-12-04T13:32:04.915Z,1638624724.915 [Micromodem](INFO): Nmea in: $CAREV,133204,COPROC,0.20.0.39330*7C

2021-12-04T13:32:06.987Z,1638624726.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:07.761Z,1638624727.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:08.157Z,1638624728.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:08.607Z,1638624728.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.700005 m, bearing: 101.757237 deg, deltaT: 4.496931 s, deltaX: 0.239998 m, approachRate: 0.053369 m/s, LOS rate: -0.125597 deg/s, posRepo size: 4
2021-12-04T13:32:09.021Z,1638624729.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133208.33*55

2021-12-04T13:32:09.022Z,1638624729.022 [Micromodem](INFO): Nmea in: $CAREV,133209,AUV,2.1.4000*20

2021-12-04T13:32:09.392Z,1638624729.392 [Micromodem](INFO): Nmea in: $CAREV,133209,COPROC,0.20.0.39330*71

2021-12-04T13:32:11.449Z,1638624731.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:12.197Z,1638624732.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:12.615Z,1638624732.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:13.105Z,1638624733.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 103.387194 deg, deltaT: 4.493640 s, deltaX: 0.299995 m, approachRate: 0.066760 m/s, LOS rate: 0.362725 deg/s, posRepo size: 4
2021-12-04T13:32:13.447Z,1638624733.447 [Micromodem](INFO): Nmea in: $SNTTA,0.076917,,,,133212.77*4E

2021-12-04T13:32:13.448Z,1638624733.448 [Micromodem](INFO): Nmea in: $CAREV,133213,AUV,2.1.4000*2B

2021-12-04T13:32:13.828Z,1638624733.828 [Micromodem](INFO): Nmea in: $CAREV,133213,COPROC,0.20.0.39330*7A

2021-12-04T13:32:15.853Z,1638624735.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:16.636Z,1638624736.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:17.049Z,1638624737.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:17.493Z,1638624737.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.599998 m, bearing: 100.069388 deg, deltaT: 4.392467 s, deltaX: 0.599998 m, approachRate: 0.136597 m/s, LOS rate: -0.755340 deg/s, posRepo size: 4
2021-12-04T13:32:17.880Z,1638624737.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133217.21*58

2021-12-04T13:32:17.881Z,1638624737.881 [Micromodem](INFO): Nmea in: $CAREV,133218,AUV,2.1.4000*20

2021-12-04T13:32:18.264Z,1638624738.264 [Micromodem](INFO): Nmea in: $CAREV,133218,COPROC,0.20.0.39330*71

2021-12-04T13:32:20.289Z,1638624740.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:21.081Z,1638624741.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:21.484Z,1638624741.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:21.936Z,1638624741.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 96.433310 deg, deltaT: 4.442486 s, deltaX: 0.360008 m, approachRate: 0.081038 m/s, LOS rate: -0.818478 deg/s, posRepo size: 4
2021-12-04T13:32:22.322Z,1638624742.322 [Micromodem](INFO): Nmea in: $SNTTA,0.079393,,,,133221.66*47

2021-12-04T13:32:22.346Z,1638624742.346 [Micromodem](INFO): Nmea in: $CAREV,133222,AUV,2.1.4000*29

2021-12-04T13:32:22.720Z,1638624742.720 [Micromodem](INFO): Nmea in: $CAREV,133222,COPROC,0.20.0.39330*78

2021-12-04T13:32:24.747Z,1638624744.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:25.534Z,1638624745.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:25.947Z,1638624745.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:26.411Z,1638624746.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 97.420361 deg, deltaT: 4.466960 s, deltaX: 0.539993 m, approachRate: 0.120886 m/s, LOS rate: 0.220967 deg/s, posRepo size: 4
2021-12-04T13:32:26.776Z,1638624746.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133226.11*59

2021-12-04T13:32:26.777Z,1638624746.777 [Micromodem](INFO): Nmea in: $CAREV,133227,AUV,2.1.4000*2C

2021-12-04T13:32:27.156Z,1638624747.156 [Micromodem](INFO): Nmea in: $CAREV,133227,COPROC,0.20.0.39330*7D

2021-12-04T13:32:29.198Z,1638624749.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:29.966Z,1638624749.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:30.415Z,1638624750.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:30.839Z,1638624750.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.799995 m, bearing: 97.763114 deg, deltaT: 4.420803 s, deltaX: 0.299995 m, approachRate: 0.067860 m/s, LOS rate: 0.077532 deg/s, posRepo size: 4
2021-12-04T13:32:31.216Z,1638624751.216 [Micromodem](INFO): Nmea in: $SNTTA,0.076702,,,,133230.54*45

2021-12-04T13:32:31.217Z,1638624751.217 [Micromodem](INFO): Nmea in: $CAREV,133231,AUV,2.1.4000*2B

2021-12-04T13:32:31.596Z,1638624751.596 [Micromodem](INFO): Nmea in: $CAREV,133231,COPROC,0.20.0.39330*7A

2021-12-04T13:32:33.627Z,1638624753.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:34.465Z,1638624754.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:34.816Z,1638624754.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:35.284Z,1638624755.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.279999 m, bearing: 96.995523 deg, deltaT: 4.444484 s, deltaX: 0.480003 m, approachRate: 0.108000 m/s, LOS rate: -0.172706 deg/s, posRepo size: 4
2021-12-04T13:32:35.642Z,1638624755.642 [Micromodem](INFO): Nmea in: $SNTTA,0.076605,,,,133235.04*43

2021-12-04T13:32:36.040Z,1638624756.040 [Micromodem](INFO): Nmea in: $CAREV,133236,AUV,2.1.4000*2C

2021-12-04T13:32:36.041Z,1638624756.041 [Micromodem](INFO): Nmea in: $CAREV,133236,COPROC,0.20.0.39330*7D

2021-12-04T13:32:38.057Z,1638624758.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:38.857Z,1638624758.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:39.263Z,1638624759.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:39.697Z,1638624759.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 99.315807 deg, deltaT: 4.429046 s, deltaX: 0.480003 m, approachRate: 0.108376 m/s, LOS rate: 0.523879 deg/s, posRepo size: 4
2021-12-04T13:32:40.108Z,1638624760.108 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133239.43*50

2021-12-04T13:32:40.109Z,1638624760.109 [Micromodem](INFO): Nmea in: $CAREV,133240,AUV,2.1.4000*2D

2021-12-04T13:32:40.512Z,1638624760.512 [Micromodem](INFO): Nmea in: $CAREV,133240,COPROC,0.20.0.39330*7C

2021-12-04T13:32:42.516Z,1638624762.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:43.297Z,1638624763.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:43.708Z,1638624763.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:44.164Z,1638624764.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 100.453320 deg, deltaT: 4.463233 s, deltaX: 0.180000 m, approachRate: 0.040330 m/s, LOS rate: 0.254863 deg/s, posRepo size: 4
2021-12-04T13:32:44.540Z,1638624764.540 [Micromodem](INFO): Nmea in: $SNTTA,0.091732,,,,133243.87*45

2021-12-04T13:32:44.541Z,1638624764.541 [Micromodem](INFO): Nmea in: $CAREV,133244,AUV,2.1.4000*29

2021-12-04T13:32:44.955Z,1638624764.955 [Micromodem](INFO): Nmea in: $CAREV,133244,COPROC,0.20.0.39330*78

2021-12-04T13:32:47.015Z,1638624767.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:47.742Z,1638624767.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:48.163Z,1638624768.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:48.599Z,1638624768.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.600006 m, bearing: 102.200237 deg, deltaT: 4.439283 s, deltaX: 0.660004 m, approachRate: 0.148673 m/s, LOS rate: 0.393513 deg/s, posRepo size: 4
2021-12-04T13:32:49.020Z,1638624769.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133248.32*50

2021-12-04T13:32:49.021Z,1638624769.021 [Micromodem](INFO): Nmea in: $CAREV,133249,AUV,2.1.4000*24

2021-12-04T13:32:49.388Z,1638624769.388 [Micromodem](INFO): Nmea in: $CAREV,133249,COPROC,0.20.0.39330*75

2021-12-04T13:32:51.445Z,1638624771.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:52.197Z,1638624772.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:52.608Z,1638624772.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:53.083Z,1638624773.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 99.911953 deg, deltaT: 4.467773 s, deltaX: 0.180000 m, approachRate: 0.040289 m/s, LOS rate: -0.512176 deg/s, posRepo size: 4
2021-12-04T13:32:53.441Z,1638624773.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133252.77*5A

2021-12-04T13:32:53.442Z,1638624773.442 [Micromodem](INFO): Nmea in: $CAREV,133253,AUV,2.1.4000*2F

2021-12-04T13:32:53.824Z,1638624773.824 [Micromodem](INFO): Nmea in: $CAREV,133253,COPROC,0.20.0.39330*7E

2021-12-04T13:32:55.840Z,1638624775.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:32:56.637Z,1638624776.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:32:57.061Z,1638624777.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:32:57.492Z,1638624777.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.380005 m, bearing: 105.640876 deg, deltaT: 4.424642 s, deltaX: 0.599998 m, approachRate: 0.135604 m/s, LOS rate: 1.294777 deg/s, posRepo size: 4
2021-12-04T13:32:57.884Z,1638624777.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133257.21*5C

2021-12-04T13:32:57.885Z,1638624777.885 [Micromodem](INFO): Nmea in: $CAREV,133258,AUV,2.1.4000*24

2021-12-04T13:32:58.264Z,1638624778.264 [Micromodem](INFO): Nmea in: $CAREV,133258,COPROC,0.20.0.39330*75

2021-12-04T13:33:00.305Z,1638624780.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:01.083Z,1638624781.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:01.523Z,1638624781.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:01.974Z,1638624781.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.739998 m, bearing: 102.378026 deg, deltaT: 4.481744 s, deltaX: 0.359993 m, approachRate: 0.080324 m/s, LOS rate: -0.728031 deg/s, posRepo size: 4
2021-12-04T13:33:02.372Z,1638624782.372 [Micromodem](INFO): Nmea in: $SNTTA,0.086727,,,,133301.66*4F

2021-12-04T13:33:02.373Z,1638624782.373 [Micromodem](INFO): Nmea in: $CAREV,133302,AUV,2.1.4000*2A

2021-12-04T13:33:02.752Z,1638624782.752 [Micromodem](INFO): Nmea in: $CAREV,133302,COPROC,0.20.0.39330*7B

2021-12-04T13:33:04.775Z,1638624784.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:05.558Z,1638624785.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:05.966Z,1638624785.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:06.420Z,1638624786.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 102.042336 deg, deltaT: 4.446834 s, deltaX: 0.420006 m, approachRate: 0.094451 m/s, LOS rate: -0.075490 deg/s, posRepo size: 4
2021-12-04T13:33:06.810Z,1638624786.810 [Micromodem](INFO): Nmea in: $SNTTA,0.082284,,,,133306.13*42

2021-12-04T13:33:06.812Z,1638624786.812 [Micromodem](INFO): Nmea in: $CAREV,133307,AUV,2.1.4000*2F

2021-12-04T13:33:07.184Z,1638624787.184 [Micromodem](INFO): Nmea in: $CAREV,133307,COPROC,0.20.0.39330*7E

2021-12-04T13:33:09.245Z,1638624789.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:10.001Z,1638624790.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:10.411Z,1638624790.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:10.851Z,1638624790.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.700005 m, bearing: 101.311820 deg, deltaT: 4.427999 s, deltaX: 0.540001 m, approachRate: 0.121951 m/s, LOS rate: -0.164977 deg/s, posRepo size: 4
2021-12-04T13:33:11.244Z,1638624791.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133310.58*50

2021-12-04T13:33:11.245Z,1638624791.245 [Micromodem](INFO): Nmea in: $CAREV,133311,AUV,2.1.4000*28

2021-12-04T13:33:11.628Z,1638624791.628 [Micromodem](INFO): Nmea in: $CAREV,133311,COPROC,0.20.0.39330*79

2021-12-04T13:33:13.678Z,1638624793.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:14.446Z,1638624794.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:14.852Z,1638624794.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:15.305Z,1638624795.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 99.561489 deg, deltaT: 4.456822 s, deltaX: 0.599998 m, approachRate: 0.134625 m/s, LOS rate: -0.392731 deg/s, posRepo size: 4
2021-12-04T13:33:15.688Z,1638624795.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133315.02*5A

2021-12-04T13:33:15.689Z,1638624795.689 [Micromodem](INFO): Nmea in: $CAREV,133316,AUV,2.1.4000*2F

2021-12-04T13:33:16.184Z,1638624796.184 [Micromodem](INFO): Nmea in: $CAREV,133316,COPROC,0.20.0.39330*7E

2021-12-04T13:33:18.224Z,1638624798.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:19.015Z,1638624799.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:19.400Z,1638624799.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:19.851Z,1638624799.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.540001 m, bearing: 148.093569 deg, deltaT: 4.542177 s, deltaX: 0.239998 m, approachRate: 0.052838 m/s, LOS rate: 10.684762 deg/s, posRepo size: 4
2021-12-04T13:33:20.228Z,1638624800.228 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133319.59*58

2021-12-04T13:33:20.229Z,1638624800.229 [Micromodem](INFO): Nmea in: $CAREV,133320,AUV,2.1.4000*2A

2021-12-04T13:33:20.632Z,1638624800.632 [Micromodem](INFO): Nmea in: $CAREV,133320,COPROC,0.20.0.39330*7B

2021-12-04T13:33:22.654Z,1638624802.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:23.441Z,1638624803.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:23.859Z,1638624803.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:24.290Z,1638624804.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 146.542296 deg, deltaT: 4.442218 s, deltaX: 0.300003 m, approachRate: 0.067535 m/s, LOS rate: -0.349211 deg/s, posRepo size: 4
2021-12-04T13:33:24.693Z,1638624804.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133324.02*58

2021-12-04T13:33:24.694Z,1638624804.694 [Micromodem](INFO): Nmea in: $CAREV,133325,AUV,2.1.4000*2F

2021-12-04T13:33:25.072Z,1638624805.072 [Micromodem](INFO): Nmea in: $CAREV,133325,COPROC,0.20.0.39330*7E

2021-12-04T13:33:27.111Z,1638624807.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:27.882Z,1638624807.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:28.292Z,1638624808.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:28.717Z,1638624808.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.260002 m, bearing: 143.834604 deg, deltaT: 4.427579 s, deltaX: 0.419998 m, approachRate: 0.094860 m/s, LOS rate: -0.611551 deg/s, posRepo size: 4
2021-12-04T13:33:29.120Z,1638624809.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133328.46*54

2021-12-04T13:33:29.121Z,1638624809.121 [Micromodem](INFO): Nmea in: $CAREV,133329,AUV,2.1.4000*23

2021-12-04T13:33:29.512Z,1638624809.512 [Micromodem](INFO): Nmea in: $CAREV,133329,COPROC,0.20.0.39330*72

2021-12-04T13:33:31.542Z,1638624811.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:32.359Z,1638624812.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:32.735Z,1638624812.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:33.193Z,1638624813.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.799995 m, bearing: 144.406810 deg, deltaT: 4.476198 s, deltaX: 0.539993 m, approachRate: 0.120637 m/s, LOS rate: 0.127833 deg/s, posRepo size: 4
2021-12-04T13:33:33.564Z,1638624813.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133332.93*57

2021-12-04T13:33:33.565Z,1638624813.565 [Micromodem](INFO): Nmea in: $CAREV,133333,AUV,2.1.4000*28

2021-12-04T13:33:33.964Z,1638624813.964 [Micromodem](INFO): Nmea in: $CAREV,133333,COPROC,0.20.0.39330*79

2021-12-04T13:33:35.985Z,1638624815.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:36.773Z,1638624816.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:37.179Z,1638624817.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:37.605Z,1638624817.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 135.202242 deg, deltaT: 4.411717 s, deltaX: 0.660004 m, approachRate: 0.149602 m/s, LOS rate: -2.086391 deg/s, posRepo size: 4
2021-12-04T13:33:38.008Z,1638624818.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133337.35*5E

2021-12-04T13:33:38.009Z,1638624818.009 [Micromodem](INFO): Nmea in: $CAREV,133338,AUV,2.1.4000*23

2021-12-04T13:33:38.424Z,1638624818.424 [Micromodem](INFO): Nmea in: $CAREV,133338,COPROC,0.20.0.39330*72

2021-12-04T13:33:40.466Z,1638624820.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:41.213Z,1638624821.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:41.631Z,1638624821.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:42.047Z,1638624822.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.879997 m, bearing: 141.162866 deg, deltaT: 4.442266 s, deltaX: 0.419998 m, approachRate: 0.094546 m/s, LOS rate: 1.341798 deg/s, posRepo size: 4
2021-12-04T13:33:42.448Z,1638624822.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133341.79*57

2021-12-04T13:33:42.449Z,1638624822.449 [Micromodem](INFO): Nmea in: $CAREV,133342,AUV,2.1.4000*2E

2021-12-04T13:33:42.852Z,1638624822.852 [Micromodem](INFO): Nmea in: $CAREV,133342,COPROC,0.20.0.39330*7F

2021-12-04T13:33:44.864Z,1638624824.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:45.669Z,1638624825.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:46.067Z,1638624826.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:46.518Z,1638624826.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.300003 m, bearing: 142.240479 deg, deltaT: 4.469501 s, deltaX: 0.420006 m, approachRate: 0.093972 m/s, LOS rate: 0.241104 deg/s, posRepo size: 4
2021-12-04T13:33:46.924Z,1638624826.924 [Micromodem](INFO): Nmea in: $SNTTA,0.090762,,,,133346.25*4D

2021-12-04T13:33:46.928Z,1638624826.928 [Micromodem](INFO): Nmea in: $CAREV,133347,AUV,2.1.4000*2B

2021-12-04T13:33:47.296Z,1638624827.296 [Micromodem](INFO): Nmea in: $CAREV,133347,COPROC,0.20.0.39330*7A

2021-12-04T13:33:49.303Z,1638624829.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:50.113Z,1638624830.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:50.537Z,1638624830.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:50.991Z,1638624830.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.480003 m, bearing: 143.000297 deg, deltaT: 4.465349 s, deltaX: 0.180000 m, approachRate: 0.040310 m/s, LOS rate: 0.170159 deg/s, posRepo size: 4
2021-12-04T13:33:51.353Z,1638624831.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133350.69*56

2021-12-04T13:33:51.375Z,1638624831.375 [Micromodem](INFO): Nmea in: $CAREV,133351,AUV,2.1.4000*2C

2021-12-04T13:33:51.742Z,1638624831.742 [Micromodem](INFO): Nmea in: $CAREV,133351,COPROC,0.20.0.39330*7D

2021-12-04T13:33:53.771Z,1638624833.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:54.547Z,1638624834.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:54.987Z,1638624834.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:55.410Z,1638624835.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.139999 m, bearing: 147.097659 deg, deltaT: 4.427336 s, deltaX: 0.659996 m, approachRate: 0.149073 m/s, LOS rate: 0.925469 deg/s, posRepo size: 4
2021-12-04T13:33:55.792Z,1638624835.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133355.13*5E

2021-12-04T13:33:55.793Z,1638624835.793 [Micromodem](INFO): Nmea in: $CAREV,133356,AUV,2.1.4000*2B

2021-12-04T13:33:56.176Z,1638624836.176 [Micromodem](INFO): Nmea in: $CAREV,133356,COPROC,0.20.0.39330*7A

2021-12-04T13:33:58.208Z,1638624838.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:33:59.021Z,1638624839.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:33:59.411Z,1638624839.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:33:59.830Z,1638624839.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.620003 m, bearing: 147.372260 deg, deltaT: 4.420212 s, deltaX: 0.480003 m, approachRate: 0.108593 m/s, LOS rate: 0.062124 deg/s, posRepo size: 4
2021-12-04T13:34:00.229Z,1638624840.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133359.60*56

2021-12-04T13:34:00.230Z,1638624840.230 [Micromodem](INFO): Nmea in: $CAREV,133400,AUV,2.1.4000*2F

2021-12-04T13:34:00.624Z,1638624840.624 [Micromodem](INFO): Nmea in: $CAREV,133400,COPROC,0.20.0.39330*7E

2021-12-04T13:34:02.641Z,1638624842.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:03.437Z,1638624843.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:03.851Z,1638624843.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:04.265Z,1638624844.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.860008 m, bearing: 146.052394 deg, deltaT: 4.435402 s, deltaX: 0.240005 m, approachRate: 0.054111 m/s, LOS rate: -0.297575 deg/s, posRepo size: 4
2021-12-04T13:34:04.684Z,1638624844.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133404.01*5E

2021-12-04T13:34:04.685Z,1638624844.685 [Micromodem](INFO): Nmea in: $CAREV,133405,AUV,2.1.4000*2A

2021-12-04T13:34:05.064Z,1638624845.064 [Micromodem](INFO): Nmea in: $CAREV,133405,COPROC,0.20.0.39330*7B

2021-12-04T13:34:07.132Z,1638624847.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:07.884Z,1638624847.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:08.296Z,1638624848.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:08.748Z,1638624848.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.340004 m, bearing: 152.065392 deg, deltaT: 4.481913 s, deltaX: 0.479996 m, approachRate: 0.107096 m/s, LOS rate: 1.341614 deg/s, posRepo size: 4
2021-12-04T13:34:09.127Z,1638624849.127 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133408.46*51

2021-12-04T13:34:09.128Z,1638624849.128 [Micromodem](INFO): Nmea in: $CAREV,133409,AUV,2.1.4000*26

2021-12-04T13:34:09.517Z,1638624849.517 [Micromodem](INFO): Nmea in: $CAREV,133409,COPROC,0.20.0.39330*77

2021-12-04T13:34:11.544Z,1638624851.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:12.325Z,1638624852.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:12.735Z,1638624852.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:13.180Z,1638624853.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.760002 m, bearing: 147.425098 deg, deltaT: 4.433244 s, deltaX: 0.419998 m, approachRate: 0.094738 m/s, LOS rate: -1.046704 deg/s, posRepo size: 4
2021-12-04T13:34:13.581Z,1638624853.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133412.90*51

2021-12-04T13:34:13.582Z,1638624853.582 [Micromodem](INFO): Nmea in: $CAREV,133413,AUV,2.1.4000*2D

2021-12-04T13:34:13.948Z,1638624853.948 [Micromodem](INFO): Nmea in: $CAREV,133413,COPROC,0.20.0.39330*7C

2021-12-04T13:34:15.981Z,1638624855.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:16.761Z,1638624856.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:17.179Z,1638624857.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:17.618Z,1638624857.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 54.869874 deg, deltaT: 4.437198 s, deltaX: 0.419998 m, approachRate: 0.094654 m/s, LOS rate: -20.858935 deg/s, posRepo size: 4
2021-12-04T13:34:18.020Z,1638624858.020 [Micromodem](INFO): Nmea in: $SNTTA,0.082622,,,,133417.34*48

2021-12-04T13:34:18.021Z,1638624858.021 [Micromodem](INFO): Nmea in: $CAREV,133418,AUV,2.1.4000*26

2021-12-04T13:34:18.428Z,1638624858.428 [Micromodem](INFO): Nmea in: $CAREV,133418,COPROC,0.20.0.39330*77

2021-12-04T13:34:20.434Z,1638624860.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:21.221Z,1638624861.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:21.619Z,1638624861.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:22.048Z,1638624862.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.540001 m, bearing: 151.597415 deg, deltaT: 4.430232 s, deltaX: 0.360001 m, approachRate: 0.081260 m/s, LOS rate: 21.833516 deg/s, posRepo size: 4
2021-12-04T13:34:22.456Z,1638624862.456 [Micromodem](INFO): Nmea in: $SNTTA,0.112962,,,,133421.80*41

2021-12-04T13:34:22.457Z,1638624862.457 [Micromodem](INFO): Nmea in: $CAREV,133422,AUV,2.1.4000*2F

2021-12-04T13:34:22.840Z,1638624862.840 [Micromodem](INFO): Nmea in: $CAREV,133422,COPROC,0.20.0.39330*7E

2021-12-04T13:34:24.861Z,1638624864.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:25.653Z,1638624865.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:26.055Z,1638624866.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:26.511Z,1638624866.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.959999 m, bearing: 55.156004 deg, deltaT: 4.462521 s, deltaX: 0.419998 m, approachRate: 0.094117 m/s, LOS rate: -21.611419 deg/s, posRepo size: 4
2021-12-04T13:34:26.912Z,1638624866.912 [Micromodem](INFO): Nmea in: $SNTTA,0.093221,,,,133426.23*4B

2021-12-04T13:34:26.924Z,1638624866.924 [Micromodem](INFO): Nmea in: $CAREV,133427,AUV,2.1.4000*2A

2021-12-04T13:34:27.284Z,1638624867.284 [Micromodem](INFO): Nmea in: $CAREV,133427,COPROC,0.20.0.39330*7B

2021-12-04T13:34:29.393Z,1638624869.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:30.109Z,1638624870.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:30.507Z,1638624870.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:31.026Z,1638624871.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.500008 m, bearing: 143.243984 deg, deltaT: 4.515303 s, deltaX: 0.540009 m, approachRate: 0.119595 m/s, LOS rate: 19.508764 deg/s, posRepo size: 4
2021-12-04T13:34:31.364Z,1638624871.364 [Micromodem](INFO): Nmea in: $SNTTA,0.094059,,,,133430.69*48

2021-12-04T13:34:31.365Z,1638624871.365 [Micromodem](INFO): Nmea in: $CAREV,133431,AUV,2.1.4000*2D

2021-12-04T13:34:31.732Z,1638624871.732 [Micromodem](INFO): Nmea in: $CAREV,133431,COPROC,0.20.0.39330*7C

2021-12-04T13:34:33.749Z,1638624873.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:34.545Z,1638624874.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:34.991Z,1638624874.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:35.402Z,1638624875.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 135.333573 deg, deltaT: 4.376583 s, deltaX: 0.539993 m, approachRate: 0.123382 m/s, LOS rate: -1.807440 deg/s, posRepo size: 4
2021-12-04T13:34:35.787Z,1638624875.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133435.12*5E

2021-12-04T13:34:35.788Z,1638624875.788 [Micromodem](INFO): Nmea in: $CAREV,133436,AUV,2.1.4000*2A

2021-12-04T13:34:36.168Z,1638624876.168 [Micromodem](INFO): Nmea in: $CAREV,133436,COPROC,0.20.0.39330*7B

2021-12-04T13:34:38.200Z,1638624878.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:39.021Z,1638624879.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:39.407Z,1638624879.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:39.823Z,1638624879.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.520004 m, bearing: 147.897433 deg, deltaT: 4.420901 s, deltaX: 0.480003 m, approachRate: 0.108576 m/s, LOS rate: 2.841923 deg/s, posRepo size: 4
2021-12-04T13:34:40.227Z,1638624880.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133439.60*57

2021-12-04T13:34:40.228Z,1638624880.228 [Micromodem](INFO): Nmea in: $CAREV,133440,AUV,2.1.4000*2B

2021-12-04T13:34:40.624Z,1638624880.624 [Micromodem](INFO): Nmea in: $CAREV,133440,COPROC,0.20.0.39330*7A

2021-12-04T13:34:42.647Z,1638624882.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:43.433Z,1638624883.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:43.847Z,1638624883.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:44.285Z,1638624884.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.940002 m, bearing: 148.550645 deg, deltaT: 4.461801 s, deltaX: 0.419998 m, approachRate: 0.094132 m/s, LOS rate: 0.146401 deg/s, posRepo size: 4
2021-12-04T13:34:44.680Z,1638624884.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133444.01*5A

2021-12-04T13:34:44.681Z,1638624884.681 [Micromodem](INFO): Nmea in: $CAREV,133445,AUV,2.1.4000*2E

2021-12-04T13:34:45.064Z,1638624885.064 [Micromodem](INFO): Nmea in: $CAREV,133445,COPROC,0.20.0.39330*7F

2021-12-04T13:34:47.100Z,1638624887.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:47.881Z,1638624887.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:48.289Z,1638624888.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:48.733Z,1638624888.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.360008 m, bearing: 147.157464 deg, deltaT: 4.448570 s, deltaX: 0.420006 m, approachRate: 0.094414 m/s, LOS rate: -0.313175 deg/s, posRepo size: 4
2021-12-04T13:34:49.119Z,1638624889.119 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133448.46*55

2021-12-04T13:34:49.120Z,1638624889.120 [Micromodem](INFO): Nmea in: $CAREV,133449,AUV,2.1.4000*22

2021-12-04T13:34:49.512Z,1638624889.512 [Micromodem](INFO): Nmea in: $CAREV,133449,COPROC,0.20.0.39330*73

2021-12-04T13:34:51.538Z,1638624891.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:52.317Z,1638624892.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:52.736Z,1638624892.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:53.169Z,1638624893.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.900002 m, bearing: 146.099167 deg, deltaT: 4.435178 s, deltaX: 0.539993 m, approachRate: 0.121752 m/s, LOS rate: -0.238614 deg/s, posRepo size: 4
2021-12-04T13:34:53.564Z,1638624893.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133452.89*5D

2021-12-04T13:34:53.565Z,1638624893.565 [Micromodem](INFO): Nmea in: $CAREV,133453,AUV,2.1.4000*29

2021-12-04T13:34:53.940Z,1638624893.940 [Micromodem](INFO): Nmea in: $CAREV,133453,COPROC,0.20.0.39330*78

2021-12-04T13:34:55.976Z,1638624895.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:34:56.777Z,1638624896.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:34:57.167Z,1638624897.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:34:57.625Z,1638624897.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.260002 m, bearing: 144.516913 deg, deltaT: 4.456261 s, deltaX: 0.360001 m, approachRate: 0.080785 m/s, LOS rate: -0.355063 deg/s, posRepo size: 4
2021-12-04T13:34:58.012Z,1638624898.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133457.35*5F

2021-12-04T13:34:58.013Z,1638624898.013 [Micromodem](INFO): Nmea in: $CAREV,133458,AUV,2.1.4000*22

2021-12-04T13:34:58.431Z,1638624898.431 [Micromodem](INFO): Nmea in: $CAREV,133458,COPROC,0.20.0.39330*73

2021-12-04T13:35:00.446Z,1638624900.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:01.205Z,1638624901.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:01.626Z,1638624901.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:02.067Z,1638624902.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.860001 m, bearing: 143.482604 deg, deltaT: 4.438063 s, deltaX: 0.599998 m, approachRate: 0.135194 m/s, LOS rate: -0.233054 deg/s, posRepo size: 4
2021-12-04T13:35:02.458Z,1638624902.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133501.78*54

2021-12-04T13:35:02.460Z,1638624902.460 [Micromodem](INFO): Nmea in: $CAREV,133502,AUV,2.1.4000*2C

2021-12-04T13:35:02.839Z,1638624902.839 [Micromodem](INFO): Nmea in: $CAREV,133502,COPROC,0.20.0.39330*7D

2021-12-04T13:35:04.875Z,1638624904.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:05.653Z,1638624905.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:06.087Z,1638624906.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:06.553Z,1638624906.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.160004 m, bearing: 142.898554 deg, deltaT: 4.490044 s, deltaX: 0.300003 m, approachRate: 0.066815 m/s, LOS rate: -0.130077 deg/s, posRepo size: 4
2021-12-04T13:35:06.923Z,1638624906.923 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133506.23*5D

2021-12-04T13:35:06.927Z,1638624906.927 [Micromodem](INFO): Nmea in: $CAREV,133507,AUV,2.1.4000*29

2021-12-04T13:35:07.324Z,1638624907.324 [Micromodem](INFO): Nmea in: $CAREV,133507,COPROC,0.20.0.39330*78

2021-12-04T13:35:09.392Z,1638624909.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:10.121Z,1638624910.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:10.523Z,1638624910.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:11.008Z,1638624911.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.519997 m, bearing: 143.248123 deg, deltaT: 4.455244 s, deltaX: 0.359993 m, approachRate: 0.080802 m/s, LOS rate: 0.078462 deg/s, posRepo size: 4
2021-12-04T13:35:11.376Z,1638624911.376 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133510.70*5C

2021-12-04T13:35:11.378Z,1638624911.378 [Micromodem](INFO): Nmea in: $CAREV,133511,AUV,2.1.4000*2E

2021-12-04T13:35:11.756Z,1638624911.756 [Micromodem](INFO): Nmea in: $CAREV,133511,COPROC,0.20.0.39330*7F

2021-12-04T13:35:13.772Z,1638624913.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:14.572Z,1638624914.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:15.007Z,1638624915.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:15.450Z,1638624915.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.299995 m, bearing: 143.797585 deg, deltaT: 4.437024 s, deltaX: 0.779999 m, approachRate: 0.175793 m/s, LOS rate: 0.123836 deg/s, posRepo size: 4
2021-12-04T13:35:15.800Z,1638624915.800 [Micromodem](INFO): Nmea in: $SNTTA,0.087706,,,,133515.15*4A

2021-12-04T13:35:15.801Z,1638624915.801 [Micromodem](INFO): Nmea in: $CAREV,133516,AUV,2.1.4000*29

2021-12-04T13:35:16.200Z,1638624916.200 [Micromodem](INFO): Nmea in: $CAREV,133516,COPROC,0.20.0.39330*78

2021-12-04T13:35:18.216Z,1638624918.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:19.017Z,1638624919.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:19.427Z,1638624919.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:19.867Z,1638624919.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.779999 m, bearing: 142.028798 deg, deltaT: 4.420999 s, deltaX: 0.480003 m, approachRate: 0.108574 m/s, LOS rate: -0.400088 deg/s, posRepo size: 4
2021-12-04T13:35:20.260Z,1638624920.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133519.59*5E

2021-12-04T13:35:20.261Z,1638624920.261 [Micromodem](INFO): Nmea in: $CAREV,133520,AUV,2.1.4000*2C

2021-12-04T13:35:20.648Z,1638624920.648 [Micromodem](INFO): Nmea in: $CAREV,133520,COPROC,0.20.0.39330*7D

2021-12-04T13:35:22.678Z,1638624922.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:23.453Z,1638624923.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:23.859Z,1638624923.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:24.290Z,1638624924.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.200005 m, bearing: 140.522154 deg, deltaT: 4.423720 s, deltaX: 0.420006 m, approachRate: 0.094944 m/s, LOS rate: -0.340583 deg/s, posRepo size: 4
2021-12-04T13:35:24.700Z,1638624924.700 [Micromodem](INFO): Nmea in: $SNTTA,0.114829,,,,133524.03*46

2021-12-04T13:35:24.701Z,1638624924.701 [Micromodem](INFO): Nmea in: $CAREV,133525,AUV,2.1.4000*29

2021-12-04T13:35:25.084Z,1638624925.084 [Micromodem](INFO): Nmea in: $CAREV,133525,COPROC,0.20.0.39330*78

2021-12-04T13:35:27.127Z,1638624927.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:27.901Z,1638624927.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:28.321Z,1638624928.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:28.755Z,1638624928.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.559998 m, bearing: 146.273624 deg, deltaT: 4.465017 s, deltaX: 0.359993 m, approachRate: 0.080625 m/s, LOS rate: 1.288118 deg/s, posRepo size: 4
2021-12-04T13:35:29.147Z,1638624929.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133528.48*5C

2021-12-04T13:35:29.148Z,1638624929.148 [Micromodem](INFO): Nmea in: $CAREV,133529,AUV,2.1.4000*25

2021-12-04T13:35:29.528Z,1638624929.528 [Micromodem](INFO): Nmea in: $CAREV,133529,COPROC,0.20.0.39330*74

2021-12-04T13:35:31.566Z,1638624931.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:32.374Z,1638624932.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:32.749Z,1638624932.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:35:33.222Z,1638624933.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.220001 m, bearing: 147.454249 deg, deltaT: 4.447066 s, deltaX: 0.660004 m, approachRate: 0.148413 m/s, LOS rate: 0.265484 deg/s, posRepo size: 4
2021-12-04T13:35:36.009Z,1638624936.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:36.805Z,1638624936.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:38.846Z,1638624938.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:39.636Z,1638624939.636 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:35:41.667Z,1638624941.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:44.490Z,1638624944.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:45.292Z,1638624945.292 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:35:47.395Z,1638624947.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:48.109Z,1638624948.109 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:50.146Z,1638624950.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:50.970Z,1638624950.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:35:53.032Z,1638624953.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:55.796Z,1638624955.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:56.592Z,1638624956.592 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:35:58.652Z,1638624958.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:35:59.427Z,1638624959.427 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:35:59.824Z,1638624959.824 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-12-04T13:35:59.824Z,1638624959.824 [Micromodem] Hardware Fault, FailCount= 1
2021-12-04T13:35:59.824Z,1638624959.824 [Micromodem](ERROR): Hardware Fault
2021-12-04T13:35:59.923Z,1638624959.923 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-12-04T13:36:00.239Z,1638624960.239 [Micromodem](INFO): Powering down
2021-12-04T13:36:00.643Z,1638624960.643 [Micromodem](FAULT): LCB 1 fault:  Software Overcurrent.
2021-12-04T13:36:01.222Z,1638624961.222 [CBIT](INFO): Clearing failed state for component Micromodem
2021-12-04T13:36:01.222Z,1638624961.222 [Micromodem] No Fault, FailCount= 1
2021-12-04T13:36:01.470Z,1638624961.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:02.252Z,1638624962.252 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:36:03.864Z,1638624963.864 [Micromodem](INFO): Powering up
2021-12-04T13:36:03.864Z,1638624963.864 [Micromodem](DEBUG): Initializing Micromodem.
2021-12-04T13:36:04.284Z,1638624964.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:07.146Z,1638624967.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:07.911Z,1638624967.911 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:36:09.971Z,1638624969.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:10.352Z,1638624970.352 [Micromodem](INFO): Nmea in: $CAREV,133610,INIT,2.1.4000*74

2021-12-04T13:36:10.749Z,1638624970.749 [Micromodem](INFO): Nmea in: $CAREV,133610,SLOT1,2.1.4000*5B

2021-12-04T13:36:10.750Z,1638624970.750 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:11.141Z,1638624971.141 [Micromodem](INFO): Nmea in: $CAREV,133610,AUV,2.1.4000*2C

2021-12-04T13:36:11.547Z,1638624971.547 [Micromodem](INFO): Nmea in: $CAREV,133610,COPROC,0.20.0.39330*7D

2021-12-04T13:36:11.607Z,1638624971.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 110.825673 deg, deltaT: 38.396475 s, deltaX: 4.380005 m, approachRate: 0.114073 m/s, LOS rate: -0.953957 deg/s, posRepo size: 4
2021-12-04T13:36:11.973Z,1638624971.973 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T13:36:10.431999Z,RTC,RTC*5F

2021-12-04T13:36:11.973Z,1638624971.973 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-12-04T13:36:10.431999Z,RTC,RTC*5F

2021-12-04T13:36:12.382Z,1638624972.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:12.394Z,1638624972.394 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-12-04T13:36:12.773Z,1638624972.773 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-12-04T13:36:12.773Z,1638624972.773 [Micromodem](INFO): Nmea out: $CCCFG,POW,20*08

2021-12-04T13:36:13.171Z,1638624973.171 [Micromodem](INFO): Nmea in: $CACFG,POW,20*0A

2021-12-04T13:36:13.172Z,1638624973.172 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-12-04T13:36:13.583Z,1638624973.583 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-12-04T13:36:13.584Z,1638624973.584 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-12-04T13:36:13.984Z,1638624973.984 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-12-04T13:36:13.984Z,1638624973.984 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-12-04T13:36:14.393Z,1638624974.393 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-12-04T13:36:14.393Z,1638624974.393 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-12-04T13:36:14.427Z,1638624974.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:14.781Z,1638624974.781 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-12-04T13:36:14.783Z,1638624974.783 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-12-04T13:36:15.176Z,1638624975.176 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-12-04T13:36:15.177Z,1638624975.177 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-12-04T13:36:15.589Z,1638624975.589 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-12-04T13:36:15.589Z,1638624975.589 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-12-04T13:36:15.985Z,1638624975.985 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-12-04T13:36:15.985Z,1638624975.985 [Micromodem](INFO): Nmea out: $CCCLK,2021,12,04,13,36,16*42

2021-12-04T13:36:16.405Z,1638624976.405 [Micromodem](INFO): Nmea in: $CACLK,2021,12,4,13,36,16*70

2021-12-04T13:36:16.790Z,1638624976.790 [Micromodem](INFO): Nmea in: $CATMS,0,2021-12-04T13:36:17Z*71

2021-12-04T13:36:16.791Z,1638624976.791 [Micromodem](INFO): Nmea in: $CATMG,2021-12-04T13:36:17.026409Z,USER_CMD,RTC*1F

2021-12-04T13:36:17.237Z,1638624977.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:20.044Z,1638624980.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:22.041Z,1638624982.041 [Micromodem](INFO): Nmea in: $CAREV,133622,AUV,2.1.4000*2D

2021-12-04T13:36:22.042Z,1638624982.042 [Micromodem](INFO): Nmea in: $CAREV,133622,COPROC,0.20.0.39330*7C

2021-12-04T13:36:22.864Z,1638624982.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:23.658Z,1638624983.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:24.074Z,1638624984.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:24.515Z,1638624984.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 112.625557 deg, deltaT: 12.915722 s, deltaX: 1.199997 m, approachRate: 0.092910 m/s, LOS rate: 0.139356 deg/s, posRepo size: 4
2021-12-04T13:36:24.916Z,1638624984.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133624.23*5E

2021-12-04T13:36:24.925Z,1638624984.925 [Micromodem](INFO): Nmea in: $CAREV,133625,AUV,2.1.4000*2A

2021-12-04T13:36:25.285Z,1638624985.285 [Micromodem](INFO): Nmea in: $CAREV,133625,COPROC,0.20.0.39330*7B

2021-12-04T13:36:27.391Z,1638624987.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:28.113Z,1638624988.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:28.519Z,1638624988.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:29.006Z,1638624989.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 111.421094 deg, deltaT: 4.491408 s, deltaX: 0.599991 m, approachRate: 0.133586 m/s, LOS rate: -0.268170 deg/s, posRepo size: 4
2021-12-04T13:36:29.372Z,1638624989.372 [Micromodem](INFO): Nmea in: $SNTTA,0.087134,,,,133628.69*4B

2021-12-04T13:36:29.373Z,1638624989.373 [Micromodem](INFO): Nmea in: $CAREV,133629,AUV,2.1.4000*26

2021-12-04T13:36:29.736Z,1638624989.736 [Micromodem](INFO): Nmea in: $CAREV,133629,COPROC,0.20.0.39330*77

2021-12-04T13:36:31.761Z,1638624991.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:32.553Z,1638624992.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:33.001Z,1638624993.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:33.406Z,1638624993.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.759995 m, bearing: 110.393752 deg, deltaT: 4.399976 s, deltaX: 0.360001 m, approachRate: 0.081819 m/s, LOS rate: -0.233488 deg/s, posRepo size: 4
2021-12-04T13:36:33.796Z,1638624993.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133633.13*5B

2021-12-04T13:36:33.797Z,1638624993.797 [Micromodem](INFO): Nmea in: $CAREV,133634,AUV,2.1.4000*2A

2021-12-04T13:36:34.176Z,1638624994.176 [Micromodem](INFO): Nmea in: $CAREV,133634,COPROC,0.20.0.39330*7B

2021-12-04T13:36:36.196Z,1638624996.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:37.011Z,1638624997.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:37.408Z,1638624997.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:37.821Z,1638624997.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.240005 m, bearing: 111.579671 deg, deltaT: 4.415267 s, deltaX: 0.480011 m, approachRate: 0.108716 m/s, LOS rate: 0.268595 deg/s, posRepo size: 4
2021-12-04T13:36:38.228Z,1638624998.228 [Micromodem](INFO): Nmea in: $SNTTA,0.104181,,,,133637.59*42

2021-12-04T13:36:38.229Z,1638624998.229 [Micromodem](INFO): Nmea in: $CAREV,133638,AUV,2.1.4000*26

2021-12-04T13:36:38.624Z,1638624998.624 [Micromodem](INFO): Nmea in: $CAREV,133638,COPROC,0.20.0.39330*77

2021-12-04T13:36:40.643Z,1638625000.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:41.441Z,1638625001.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:41.854Z,1638625001.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:42.292Z,1638625002.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 108.096063 deg, deltaT: 4.467003 s, deltaX: 0.660004 m, approachRate: 0.147751 m/s, LOS rate: -0.779854 deg/s, posRepo size: 4
2021-12-04T13:36:42.684Z,1638625002.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133642.02*5D

2021-12-04T13:36:42.685Z,1638625002.685 [Micromodem](INFO): Nmea in: $CAREV,133643,AUV,2.1.4000*2A

2021-12-04T13:36:43.060Z,1638625003.060 [Micromodem](INFO): Nmea in: $CAREV,133643,COPROC,0.20.0.39330*7B

2021-12-04T13:36:45.112Z,1638625005.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:45.883Z,1638625005.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:46.291Z,1638625006.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:46.737Z,1638625006.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.320007 m, bearing: 109.732467 deg, deltaT: 4.449246 s, deltaX: 0.419998 m, approachRate: 0.094398 m/s, LOS rate: 0.367794 deg/s, posRepo size: 4
2021-12-04T13:36:47.132Z,1638625007.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133646.46*59

2021-12-04T13:36:47.133Z,1638625007.133 [Micromodem](INFO): Nmea in: $CAREV,133647,AUV,2.1.4000*2E

2021-12-04T13:36:47.520Z,1638625007.520 [Micromodem](INFO): Nmea in: $CAREV,133647,COPROC,0.20.0.39330*7F

2021-12-04T13:36:49.547Z,1638625009.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:50.343Z,1638625010.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:50.756Z,1638625010.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:51.189Z,1638625011.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.860001 m, bearing: 107.753433 deg, deltaT: 4.451455 s, deltaX: 0.539993 m, approachRate: 0.121307 m/s, LOS rate: -0.444581 deg/s, posRepo size: 4
2021-12-04T13:36:51.560Z,1638625011.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133650.92*57

2021-12-04T13:36:51.561Z,1638625011.561 [Micromodem](INFO): Nmea in: $CAREV,133651,AUV,2.1.4000*29

2021-12-04T13:36:51.952Z,1638625011.952 [Micromodem](INFO): Nmea in: $CAREV,133651,COPROC,0.20.0.39330*78

2021-12-04T13:36:53.987Z,1638625013.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:54.761Z,1638625014.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:55.172Z,1638625015.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:36:55.641Z,1638625015.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.279999 m, bearing: 108.699039 deg, deltaT: 4.441055 s, deltaX: 0.419998 m, approachRate: 0.094572 m/s, LOS rate: 0.212924 deg/s, posRepo size: 4
2021-12-04T13:36:56.008Z,1638625016.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133655.34*5E

2021-12-04T13:36:56.009Z,1638625016.009 [Micromodem](INFO): Nmea in: $CAREV,133656,AUV,2.1.4000*2E

2021-12-04T13:36:56.417Z,1638625016.417 [Micromodem](INFO): Nmea in: $CAREV,133656,COPROC,0.20.0.39330*7F

2021-12-04T13:36:58.452Z,1638625018.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:36:59.205Z,1638625019.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:36:59.615Z,1638625019.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:00.042Z,1638625020.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.459991 m, bearing: 106.763998 deg, deltaT: 4.411495 s, deltaX: 0.179993 m, approachRate: 0.040801 m/s, LOS rate: -0.438636 deg/s, posRepo size: 4
2021-12-04T13:37:00.467Z,1638625020.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133659.78*5A

2021-12-04T13:37:00.468Z,1638625020.468 [Micromodem](INFO): Nmea in: $CAREV,133700,AUV,2.1.4000*2C

2021-12-04T13:37:00.844Z,1638625020.844 [Micromodem](INFO): Nmea in: $CAREV,133700,COPROC,0.20.0.39330*7D

2021-12-04T13:37:02.856Z,1638625022.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:03.653Z,1638625023.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:04.059Z,1638625024.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:04.514Z,1638625024.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 109.011834 deg, deltaT: 4.468092 s, deltaX: 1.080017 m, approachRate: 0.241718 m/s, LOS rate: 0.503086 deg/s, posRepo size: 4
2021-12-04T13:37:04.903Z,1638625024.903 [Micromodem](INFO): Nmea in: $SNTTA,0.094026,,,,133704.23*4A

2021-12-04T13:37:04.927Z,1638625024.927 [Micromodem](INFO): Nmea in: $CAREV,133705,AUV,2.1.4000*29

2021-12-04T13:37:05.280Z,1638625025.280 [Micromodem](INFO): Nmea in: $CAREV,133705,COPROC,0.20.0.39330*78

2021-12-04T13:37:07.321Z,1638625027.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:08.097Z,1638625028.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:08.499Z,1638625028.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:08.991Z,1638625028.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.840012 m, bearing: 108.436766 deg, deltaT: 4.472912 s, deltaX: 0.300003 m, approachRate: 0.067071 m/s, LOS rate: -0.128567 deg/s, posRepo size: 4
2021-12-04T13:37:09.344Z,1638625029.344 [Micromodem](INFO): Nmea in: $SNTTA,0.112093,,,,133708.68*48

2021-12-04T13:37:09.347Z,1638625029.347 [Micromodem](INFO): Nmea in: $CAREV,133709,AUV,2.1.4000*25

2021-12-04T13:37:09.724Z,1638625029.724 [Micromodem](INFO): Nmea in: $CAREV,133709,COPROC,0.20.0.39330*74

2021-12-04T13:37:11.756Z,1638625031.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:12.541Z,1638625032.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:12.979Z,1638625032.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:13.405Z,1638625033.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.260010 m, bearing: 109.803972 deg, deltaT: 4.422375 s, deltaX: 0.419998 m, approachRate: 0.094971 m/s, LOS rate: 0.309156 deg/s, posRepo size: 4
2021-12-04T13:37:13.787Z,1638625033.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133713.12*59

2021-12-04T13:37:13.788Z,1638625033.788 [Micromodem](INFO): Nmea in: $CAREV,133714,AUV,2.1.4000*29

2021-12-04T13:37:14.168Z,1638625034.168 [Micromodem](INFO): Nmea in: $CAREV,133714,COPROC,0.20.0.39330*78

2021-12-04T13:37:16.196Z,1638625036.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:17.005Z,1638625037.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:17.432Z,1638625037.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:17.829Z,1638625037.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.800003 m, bearing: 110.204549 deg, deltaT: 4.424015 s, deltaX: 0.539993 m, approachRate: 0.122060 m/s, LOS rate: 0.090546 deg/s, posRepo size: 4
2021-12-04T13:37:18.220Z,1638625038.220 [Micromodem](INFO): Nmea in: $SNTTA,0.113616,,,,133717.59*4E

2021-12-04T13:37:18.221Z,1638625038.221 [Micromodem](INFO): Nmea in: $CAREV,133718,AUV,2.1.4000*25

2021-12-04T13:37:18.604Z,1638625038.604 [Micromodem](INFO): Nmea in: $CAREV,133718,COPROC,0.20.0.39330*74

2021-12-04T13:37:20.646Z,1638625040.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:21.429Z,1638625041.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:21.840Z,1638625041.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:22.278Z,1638625042.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.279999 m, bearing: 113.156058 deg, deltaT: 4.449641 s, deltaX: 0.479996 m, approachRate: 0.107873 m/s, LOS rate: 0.663314 deg/s, posRepo size: 4
2021-12-04T13:37:22.676Z,1638625042.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133722.01*59

2021-12-04T13:37:22.677Z,1638625042.677 [Micromodem](INFO): Nmea in: $CAREV,133723,AUV,2.1.4000*2D

2021-12-04T13:37:23.060Z,1638625043.060 [Micromodem](INFO): Nmea in: $CAREV,133723,COPROC,0.20.0.39330*7C

2021-12-04T13:37:25.104Z,1638625045.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:25.877Z,1638625045.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:26.280Z,1638625046.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:26.716Z,1638625046.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.820007 m, bearing: 109.590003 deg, deltaT: 4.437679 s, deltaX: 0.540009 m, approachRate: 0.121687 m/s, LOS rate: -0.803586 deg/s, posRepo size: 4
2021-12-04T13:37:26.717Z,1638625046.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 137.82 m. Resuming terminal guidance.
2021-12-04T13:37:26.717Z,1638625046.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T13:37:27.124Z,1638625047.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133726.45*5D

2021-12-04T13:37:27.125Z,1638625047.125 [Micromodem](INFO): Nmea in: $CAREV,133727,AUV,2.1.4000*29

2021-12-04T13:37:27.182Z,1638625047.182 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T13:37:27.182Z,1638625047.182 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:37:27.182Z,1638625047.182 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T13:37:27.182Z,1638625047.182 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T13:37:27.182Z,1638625047.182 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T13:37:27.183Z,1638625047.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T13:37:27.183Z,1638625047.183 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T13:37:27.508Z,1638625047.508 [Micromodem](INFO): Nmea in: $CAREV,133727,COPROC,0.20.0.39330*78

2021-12-04T13:37:29.531Z,1638625049.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:30.317Z,1638625050.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:30.757Z,1638625050.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:31.185Z,1638625051.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.240005 m, bearing: 108.713785 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T13:37:31.185Z,1638625051.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 108.713785deg and heading rate command to 0 deg/s.
2021-12-04T13:37:31.560Z,1638625051.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133730.90*52

2021-12-04T13:37:31.561Z,1638625051.561 [Micromodem](INFO): Nmea in: $CAREV,133731,AUV,2.1.4000*2E

2021-12-04T13:37:31.945Z,1638625051.945 [Micromodem](INFO): Nmea in: $CAREV,133731,COPROC,0.20.0.39330*7F

2021-12-04T13:37:33.983Z,1638625053.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:34.765Z,1638625054.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:35.173Z,1638625055.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:35.617Z,1638625055.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.900009 m, bearing: 103.606163 deg, deltaT: 4.432459 s, deltaX: 0.660004 m, approachRate: 0.148902 m/s, LOS rate: -1.152322 deg/s, posRepo size: 2
2021-12-04T13:37:35.619Z,1638625055.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 103.606163 deg,
      approachRate: 0.148902 m/s,
      LOS rate: -1.152322 deg/s,
      cmd update: -3.456967 deg/s,
      cmd heading: 108.713785 deg,
      new cmd heading: 108.713785 deg.

2021-12-04T13:37:35.000Z,1638625056.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133735.35*58

2021-12-04T13:37:36.001Z,1638625056.001 [Micromodem](INFO): Nmea in: $CAREV,133736,AUV,2.1.4000*29

2021-12-04T13:37:36.424Z,1638625056.424 [Micromodem](INFO): Nmea in: $CAREV,133736,COPROC,0.20.0.39330*78

2021-12-04T13:37:38.440Z,1638625058.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:39.205Z,1638625059.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:39.626Z,1638625059.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:40.052Z,1638625060.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.680008 m, bearing: 86.373971 deg, deltaT: 4.434423 s, deltaX: 0.779999 m, approachRate: 0.175896 m/s, LOS rate: -3.886005 deg/s, posRepo size: 3
2021-12-04T13:37:40.054Z,1638625060.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.680008 m,
      bearing: 86.373971 deg,
      approachRate: 0.175896 m/s,
      LOS rate: -3.886005 deg/s,
      cmd update: -11.658016 deg/s,
      cmd heading: 93.324171 deg,
      new cmd heading: 92.051209 deg.

2021-12-04T13:37:40.450Z,1638625060.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133739.79*5C

2021-12-04T13:37:40.451Z,1638625060.451 [Micromodem](INFO): Nmea in: $CAREV,133740,AUV,2.1.4000*28

2021-12-04T13:37:40.832Z,1638625060.832 [Micromodem](INFO): Nmea in: $CAREV,133740,COPROC,0.20.0.39330*79

2021-12-04T13:37:42.877Z,1638625062.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:43.644Z,1638625063.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:44.059Z,1638625064.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:44.540Z,1638625064.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.760010 m, bearing: 91.853613 deg, deltaT: 4.484654 s, deltaX: 1.080002 m, approachRate: 0.240822 m/s, LOS rate: 1.221865 deg/s, posRepo size: 4
2021-12-04T13:37:44.546Z,1638625064.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.760010 m,
      bearing: 91.853613 deg,
      approachRate: 0.240822 m/s,
      LOS rate: 1.221865 deg/s,
      cmd update: 3.665595 deg/s,
      cmd heading: 41.946291 deg,
      new cmd heading: 36.699706 deg.

2021-12-04T13:37:44.885Z,1638625064.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133744.23*59

2021-12-04T13:37:44.886Z,1638625064.886 [Micromodem](INFO): Nmea in: $CAREV,133745,AUV,2.1.4000*2D

2021-12-04T13:37:45.273Z,1638625065.273 [Micromodem](INFO): Nmea in: $CAREV,133745,COPROC,0.20.0.39330*7C

2021-12-04T13:37:47.345Z,1638625067.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:48.097Z,1638625068.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:48.501Z,1638625068.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:48.990Z,1638625068.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.479996 m, bearing: 96.504221 deg, deltaT: 4.444971 s, deltaX: 0.719986 m, approachRate: 0.161978 m/s, LOS rate: 1.046263 deg/s, posRepo size: 4
2021-12-04T13:37:48.992Z,1638625068.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 96.504221 deg,
      approachRate: 0.161978 m/s,
      LOS rate: 1.046263 deg/s,
      cmd update: 3.138788 deg/s,
      cmd heading: 58.372648 deg,
      new cmd heading: 59.877892 deg.

2021-12-04T13:37:49.335Z,1638625069.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133748.68*5A

2021-12-04T13:37:49.339Z,1638625069.339 [Micromodem](INFO): Nmea in: $CAREV,133749,AUV,2.1.4000*21

2021-12-04T13:37:49.728Z,1638625069.728 [Micromodem](INFO): Nmea in: $CAREV,133749,COPROC,0.20.0.39330*70

2021-12-04T13:37:50.994Z,1638625070.994 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T13:37:51.741Z,1638625071.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:52.541Z,1638625072.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:52.974Z,1638625072.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:53.403Z,1638625073.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.479996 m, bearing: 43.242795 deg, deltaT: 4.420962 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -12.047474 deg/s, posRepo size: 4
2021-12-04T13:37:53.403Z,1638625073.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.047474 deg/s. Setting heading cmd to target bearing of 43.242795deg and heading rate command to 0 deg/s.
2021-12-04T13:37:53.784Z,1638625073.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133753.12*5D

2021-12-04T13:37:53.785Z,1638625073.785 [Micromodem](INFO): Nmea in: $CAREV,133754,AUV,2.1.4000*2D

2021-12-04T13:37:54.164Z,1638625074.164 [Micromodem](INFO): Nmea in: $CAREV,133754,COPROC,0.20.0.39330*7C

2021-12-04T13:37:56.197Z,1638625076.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:37:57.005Z,1638625077.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:37:57.407Z,1638625077.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:37:57.820Z,1638625077.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.400009 m, bearing: 25.725313 deg, deltaT: 4.417826 s, deltaX: -1.079987 m, approachRate: -0.244461 m/s, LOS rate: -3.965181 deg/s, posRepo size: 4
2021-12-04T13:37:57.822Z,1638625077.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 25.725313 deg,
      approachRate: -0.244461 m/s,
      LOS rate: -3.965181 deg/s,
      cmd update: -11.895545 deg/s,
      cmd heading: 43.242795 deg,
      new cmd heading: 43.242795 deg.

2021-12-04T13:37:58.216Z,1638625078.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133757.58*57

2021-12-04T13:37:58.217Z,1638625078.217 [Micromodem](INFO): Nmea in: $CAREV,133758,AUV,2.1.4000*21

2021-12-04T13:37:58.604Z,1638625078.604 [Micromodem](INFO): Nmea in: $CAREV,133758,COPROC,0.20.0.39330*70

2021-12-04T13:38:00.639Z,1638625080.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:01.425Z,1638625081.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:01.828Z,1638625081.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:02.258Z,1638625082.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.960007 m, bearing: 34.376154 deg, deltaT: 4.437757 s, deltaX: -1.440002 m, approachRate: -0.324489 m/s, LOS rate: 1.949372 deg/s, posRepo size: 4
2021-12-04T13:38:02.260Z,1638625082.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.960007 m,
      bearing: 34.376154 deg,
      approachRate: -0.324489 m/s,
      LOS rate: 1.949372 deg/s,
      cmd update: 5.848117 deg/s,
      cmd heading: 350.854841 deg,
      new cmd heading: 346.104081 deg.

2021-12-04T13:38:02.672Z,1638625082.672 [Micromodem](INFO): Nmea in: $SNTTA,0.092346,,,,133802.00*41

2021-12-04T13:38:02.673Z,1638625082.673 [Micromodem](INFO): Nmea in: $CAREV,133803,AUV,2.1.4000*20

2021-12-04T13:38:03.052Z,1638625083.052 [Micromodem](INFO): Nmea in: $CAREV,133803,COPROC,0.20.0.39330*71

2021-12-04T13:38:05.098Z,1638625085.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:05.881Z,1638625085.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:06.272Z,1638625086.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:06.714Z,1638625086.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.919998 m, bearing: 29.380820 deg, deltaT: 4.456057 s, deltaX: -2.040009 m, approachRate: -0.457806 m/s, LOS rate: -1.121021 deg/s, posRepo size: 4
2021-12-04T13:38:06.716Z,1638625086.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.919998 m,
      bearing: 29.380820 deg,
      approachRate: -0.457806 m/s,
      LOS rate: -1.121021 deg/s,
      cmd update: -3.363063 deg/s,
      cmd heading: 16.843482 deg,
      new cmd heading: 19.249889 deg.

2021-12-04T13:38:07.109Z,1638625087.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133806.46*53

2021-12-04T13:38:07.111Z,1638625087.111 [Micromodem](INFO): Nmea in: $CAREV,133807,AUV,2.1.4000*24

2021-12-04T13:38:07.492Z,1638625087.492 [Micromodem](INFO): Nmea in: $CAREV,133807,COPROC,0.20.0.39330*75

2021-12-04T13:38:09.535Z,1638625089.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:10.313Z,1638625090.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:10.758Z,1638625090.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:11.169Z,1638625091.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.059998 m, bearing: 29.882921 deg, deltaT: 4.455370 s, deltaX: -1.860001 m, approachRate: -0.417474 m/s, LOS rate: 0.112696 deg/s, posRepo size: 4
2021-12-04T13:38:11.172Z,1638625091.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.059998 m,
      bearing: 29.882921 deg,
      approachRate: -0.417474 m/s,
      LOS rate: 0.112696 deg/s,
      cmd update: 0.338087 deg/s,
      cmd heading: 1.194697 deg,
      new cmd heading: 0.475946 deg.

2021-12-04T13:38:11.552Z,1638625091.552 [Micromodem](INFO): Nmea in: $SNTTA,0.096007,,,,133810.89*41

2021-12-04T13:38:11.553Z,1638625091.553 [Micromodem](INFO): Nmea in: $CAREV,133811,AUV,2.1.4000*23

2021-12-04T13:38:11.944Z,1638625091.944 [Micromodem](INFO): Nmea in: $CAREV,133811,COPROC,0.20.0.39330*72

2021-12-04T13:38:13.980Z,1638625093.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:14.757Z,1638625094.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:15.172Z,1638625095.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:15.612Z,1638625095.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.300003 m, bearing: 24.097946 deg, deltaT: 4.442957 s, deltaX: -2.759995 m, approachRate: -0.621207 m/s, LOS rate: -1.302055 deg/s, posRepo size: 4
2021-12-04T13:38:15.615Z,1638625095.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.300003 m,
      bearing: 24.097946 deg,
      approachRate: -0.621207 m/s,
      LOS rate: -1.302055 deg/s,
      cmd update: -3.906166 deg/s,
      cmd heading: 2.643048 deg,
      new cmd heading: 2.769053 deg.

2021-12-04T13:38:16.002Z,1638625096.002 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133815.33*53

2021-12-04T13:38:16.003Z,1638625096.003 [Micromodem](INFO): Nmea in: $CAREV,133816,AUV,2.1.4000*24

2021-12-04T13:38:16.417Z,1638625096.417 [Micromodem](INFO): Nmea in: $CAREV,133816,COPROC,0.20.0.39330*75

2021-12-04T13:38:18.426Z,1638625098.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:19.197Z,1638625099.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:19.625Z,1638625099.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:19.639Z,1638625099.639 [Micromodem](INFO): Nmea in: C,0.20.0.39330*70

2021-12-04T13:38:19.640Z,1638625099.640 [Micromodem](ERROR): Response from modem failed NMEA checksum: C,0.20.0.39330*70
 expected 0
2021-12-04T13:38:20.045Z,1638625100.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.199997 m, bearing: 22.971323 deg, deltaT: 4.432338 s, deltaX: -2.100006 m, approachRate: -0.473792 m/s, LOS rate: -0.254182 deg/s, posRepo size: 4
2021-12-04T13:38:20.047Z,1638625100.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.199997 m,
      bearing: 22.971323 deg,
      approachRate: -0.473792 m/s,
      LOS rate: -0.254182 deg/s,
      cmd update: -0.762547 deg/s,
      cmd heading: 345.301503 deg,
      new cmd heading: 343.873905 deg.

2021-12-04T13:38:22.849Z,1638625102.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:23.645Z,1638625103.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:24.052Z,1638625104.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:24.513Z,1638625104.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.459991 m, bearing: 25.951090 deg, deltaT: 4.464767 s, deltaX: -1.740005 m, approachRate: -0.389719 m/s, LOS rate: 0.667396 deg/s, posRepo size: 4
2021-12-04T13:38:24.520Z,1638625104.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.459991 m,
      bearing: 25.951090 deg,
      approachRate: -0.389719 m/s,
      LOS rate: 0.667396 deg/s,
      cmd update: 2.002188 deg/s,
      cmd heading: 341.935220 deg,
      new cmd heading: 341.615154 deg.

2021-12-04T13:38:24.883Z,1638625104.883 [Micromodem](INFO): Nmea in: $SNTTA,0.093181,,,,133824.22*4D

2021-12-04T13:38:24.885Z,1638625104.885 [Micromodem](INFO): Nmea in: $CAREV,133825,AUV,2.1.4000*24

2021-12-04T13:38:25.276Z,1638625105.276 [Micromodem](INFO): Nmea in: $CAREV,133825,COPROC,0.20.0.39330*75

2021-12-04T13:38:27.286Z,1638625107.286 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:38:27.305Z,1638625107.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:28.085Z,1638625108.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:28.500Z,1638625108.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:28.978Z,1638625108.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.960007 m, bearing: 29.490213 deg, deltaT: 4.460757 s, deltaX: -1.499985 m, approachRate: -0.336262 m/s, LOS rate: 0.793391 deg/s, posRepo size: 4
2021-12-04T13:38:28.980Z,1638625108.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.960007 m,
      bearing: 29.490213 deg,
      approachRate: -0.336262 m/s,
      LOS rate: 0.793391 deg/s,
      cmd update: 2.380172 deg/s,
      cmd heading: 350.860434 deg,
      new cmd heading: 351.706963 deg.

2021-12-04T13:38:29.347Z,1638625109.347 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133828.66*5D

2021-12-04T13:38:29.350Z,1638625109.350 [Micromodem](INFO): Nmea in: $CAREV,133829,AUV,2.1.4000*28

2021-12-04T13:38:29.716Z,1638625109.716 [Micromodem](INFO): Nmea in: $CAREV,133829,COPROC,0.20.0.39330*79

2021-12-04T13:38:31.746Z,1638625111.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:32.554Z,1638625112.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:32.973Z,1638625112.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:33.405Z,1638625113.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.520004 m, bearing: 24.517138 deg, deltaT: 4.434826 s, deltaX: -1.440002 m, approachRate: -0.324703 m/s, LOS rate: -1.121369 deg/s, posRepo size: 4
2021-12-04T13:38:33.408Z,1638625113.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.520004 m,
      bearing: 24.517138 deg,
      approachRate: -0.324703 m/s,
      LOS rate: -1.121369 deg/s,
      cmd update: -3.364106 deg/s,
      cmd heading: 1.542042 deg,
      new cmd heading: 2.413915 deg.

2021-12-04T13:38:33.772Z,1638625113.772 [Micromodem](INFO): Nmea in: $SNTTA,0.085751,,,,133833.13*45

2021-12-04T13:38:33.773Z,1638625113.773 [Micromodem](INFO): Nmea in: $CAREV,133834,AUV,2.1.4000*24

2021-12-04T13:38:34.177Z,1638625114.177 [Micromodem](INFO): Nmea in: $CAREV,133834,COPROC,0.20.0.39330*75

2021-12-04T13:38:36.180Z,1638625116.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:36.997Z,1638625116.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:37.415Z,1638625117.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:37.812Z,1638625117.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.420006 m, bearing: 28.223288 deg, deltaT: 4.406850 s, deltaX: -2.099998 m, approachRate: -0.476531 m/s, LOS rate: 0.840997 deg/s, posRepo size: 4
2021-12-04T13:38:37.814Z,1638625117.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.420006 m,
      bearing: 28.223288 deg,
      approachRate: -0.476531 m/s,
      LOS rate: 0.840997 deg/s,
      cmd update: 2.522992 deg/s,
      cmd heading: 346.612172 deg,
      new cmd heading: 345.486949 deg.

2021-12-04T13:38:38.205Z,1638625118.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133837.58*5E

2021-12-04T13:38:38.207Z,1638625118.207 [Micromodem](INFO): Nmea in: $CAREV,133838,AUV,2.1.4000*28

2021-12-04T13:38:38.600Z,1638625118.600 [Micromodem](INFO): Nmea in: $CAREV,133838,COPROC,0.20.0.39330*79

2021-12-04T13:38:40.649Z,1638625120.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:41.413Z,1638625121.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:41.828Z,1638625121.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:42.260Z,1638625122.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 29.374560 deg, deltaT: 4.444175 s, deltaX: -1.920006 m, approachRate: -0.432027 m/s, LOS rate: 0.259052 deg/s, posRepo size: 4
2021-12-04T13:38:42.263Z,1638625122.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 29.374560 deg,
      approachRate: -0.432027 m/s,
      LOS rate: 0.259052 deg/s,
      cmd update: 0.777156 deg/s,
      cmd heading: 357.666382 deg,
      new cmd heading: 358.676826 deg.

2021-12-04T13:38:42.668Z,1638625122.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133841.99*52

2021-12-04T13:38:42.669Z,1638625122.669 [Micromodem](INFO): Nmea in: $CAREV,133843,AUV,2.1.4000*24

2021-12-04T13:38:43.048Z,1638625123.048 [Micromodem](INFO): Nmea in: $CAREV,133843,COPROC,0.20.0.39330*75

2021-12-04T13:38:45.088Z,1638625125.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:45.869Z,1638625125.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:46.275Z,1638625126.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:46.702Z,1638625126.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.059998 m, bearing: 28.568376 deg, deltaT: 4.445571 s, deltaX: -1.440002 m, approachRate: -0.323918 m/s, LOS rate: -0.181345 deg/s, posRepo size: 4
2021-12-04T13:38:46.704Z,1638625126.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.059998 m,
      bearing: 28.568376 deg,
      approachRate: -0.323918 m/s,
      LOS rate: -0.181345 deg/s,
      cmd update: -0.544037 deg/s,
      cmd heading: 1.143515 deg,
      new cmd heading: 1.430210 deg.

2021-12-04T13:38:47.116Z,1638625127.116 [Micromodem](INFO): Nmea in: $SNTTA,0.105329,,,,133846.45*46

2021-12-04T13:38:47.117Z,1638625127.117 [Micromodem](INFO): Nmea in: $CAREV,133847,AUV,2.1.4000*20

2021-12-04T13:38:47.496Z,1638625127.496 [Micromodem](INFO): Nmea in: $CAREV,133847,COPROC,0.20.0.39330*71

2021-12-04T13:38:49.538Z,1638625129.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:50.313Z,1638625130.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:50.715Z,1638625130.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:51.174Z,1638625131.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.840004 m, bearing: 30.872346 deg, deltaT: 4.472600 s, deltaX: -2.219994 m, approachRate: -0.496354 m/s, LOS rate: 0.515130 deg/s, posRepo size: 4
2021-12-04T13:38:51.176Z,1638625131.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.840004 m,
      bearing: 30.872346 deg,
      approachRate: -0.496354 m/s,
      LOS rate: 0.515130 deg/s,
      cmd update: 1.545389 deg/s,
      cmd heading: 358.711095 deg,
      new cmd heading: 358.509560 deg.

2021-12-04T13:38:51.560Z,1638625131.560 [Micromodem](INFO): Nmea in: $SNTTA,0.090930,,,,133850.89*4E

2021-12-04T13:38:51.561Z,1638625131.561 [Micromodem](INFO): Nmea in: $CAREV,133851,AUV,2.1.4000*27

2021-12-04T13:38:51.944Z,1638625131.944 [Micromodem](INFO): Nmea in: $CAREV,133851,COPROC,0.20.0.39330*76

2021-12-04T13:38:53.962Z,1638625133.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:54.765Z,1638625134.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:55.159Z,1638625135.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:38:55.613Z,1638625135.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.680000 m, bearing: 31.647600 deg, deltaT: 4.418717 s, deltaX: -2.160004 m, approachRate: -0.488831 m/s, LOS rate: 0.175448 deg/s, posRepo size: 4
2021-12-04T13:38:55.619Z,1638625135.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.680000 m,
      bearing: 31.647600 deg,
      approachRate: -0.488831 m/s,
      LOS rate: 0.175448 deg/s,
      cmd update: 0.526343 deg/s,
      cmd heading: 5.534592 deg,
      new cmd heading: 6.143066 deg.

2021-12-04T13:38:55.996Z,1638625135.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133855.34*50

2021-12-04T13:38:55.997Z,1638625135.997 [Micromodem](INFO): Nmea in: $CAREV,133856,AUV,2.1.4000*20

2021-12-04T13:38:56.408Z,1638625136.408 [Micromodem](INFO): Nmea in: $CAREV,133856,COPROC,0.20.0.39330*71

2021-12-04T13:38:58.447Z,1638625138.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:38:59.205Z,1638625139.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:38:59.599Z,1638625139.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:00.025Z,1638625140.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.520004 m, bearing: 34.293823 deg, deltaT: 4.432292 s, deltaX: -2.159996 m, approachRate: -0.487332 m/s, LOS rate: 0.597033 deg/s, posRepo size: 4
2021-12-04T13:39:00.027Z,1638625140.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.520004 m,
      bearing: 34.293823 deg,
      approachRate: -0.487332 m/s,
      LOS rate: 0.597033 deg/s,
      cmd update: 1.791098 deg/s,
      cmd heading: 7.868261 deg,
      new cmd heading: 8.064220 deg.

2021-12-04T13:39:00.445Z,1638625140.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133859.78*54

2021-12-04T13:39:00.446Z,1638625140.446 [Micromodem](INFO): Nmea in: $CAREV,133900,AUV,2.1.4000*22

2021-12-04T13:39:00.853Z,1638625140.853 [Micromodem](INFO): Nmea in: $CAREV,133900,COPROC,0.20.0.39330*73

2021-12-04T13:39:02.859Z,1638625142.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:03.647Z,1638625143.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:04.048Z,1638625144.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:04.506Z,1638625144.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.480003 m, bearing: 36.847040 deg, deltaT: 4.476229 s, deltaX: -2.040001 m, approachRate: -0.455741 m/s, LOS rate: 0.570395 deg/s, posRepo size: 4
2021-12-04T13:39:04.512Z,1638625144.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.480003 m,
      bearing: 36.847040 deg,
      approachRate: -0.455741 m/s,
      LOS rate: 0.570395 deg/s,
      cmd update: 1.711184 deg/s,
      cmd heading: 15.816483 deg,
      new cmd heading: 16.559886 deg.

2021-12-04T13:39:04.884Z,1638625144.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133904.23*53

2021-12-04T13:39:04.885Z,1638625144.885 [Micromodem](INFO): Nmea in: $CAREV,133905,AUV,2.1.4000*27

2021-12-04T13:39:05.260Z,1638625145.260 [Micromodem](INFO): Nmea in: $CAREV,133905,COPROC,0.20.0.39330*76

2021-12-04T13:39:07.348Z,1638625147.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:08.085Z,1638625148.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:08.491Z,1638625148.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:08.985Z,1638625148.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 37.778558 deg, deltaT: 4.479133 s, deltaX: -2.160004 m, approachRate: -0.482237 m/s, LOS rate: 0.207968 deg/s, posRepo size: 4
2021-12-04T13:39:08.991Z,1638625148.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 37.778558 deg,
      approachRate: -0.482237 m/s,
      LOS rate: 0.207968 deg/s,
      cmd update: 0.623905 deg/s,
      cmd heading: 23.414180 deg,
      new cmd heading: 24.191097 deg.

2021-12-04T13:39:09.348Z,1638625149.348 [Micromodem](INFO): Nmea in: $SNTTA,,0.103782,,,133908.66*4F

2021-12-04T13:39:09.351Z,1638625149.351 [Micromodem](INFO): Nmea in: $CAREV,133909,AUV,2.1.4000*2B

2021-12-04T13:39:09.708Z,1638625149.708 [Micromodem](INFO): Nmea in: $CAREV,133909,COPROC,0.20.0.39330*7A

2021-12-04T13:39:11.733Z,1638625151.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:12.537Z,1638625152.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:12.961Z,1638625152.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:13.405Z,1638625153.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.799995 m, bearing: 37.449763 deg, deltaT: 4.424024 s, deltaX: -2.520004 m, approachRate: -0.569618 m/s, LOS rate: -0.074320 deg/s, posRepo size: 4
2021-12-04T13:39:13.407Z,1638625153.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.799995 m,
      bearing: 37.449763 deg,
      approachRate: -0.569618 m/s,
      LOS rate: -0.074320 deg/s,
      cmd update: -0.222961 deg/s,
      cmd heading: 26.206975 deg,
      new cmd heading: 26.455099 deg.

2021-12-04T13:39:13.772Z,1638625153.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133913.11*54

2021-12-04T13:39:13.773Z,1638625153.773 [Micromodem](INFO): Nmea in: $CAREV,133914,AUV,2.1.4000*27

2021-12-04T13:39:14.156Z,1638625154.156 [Micromodem](INFO): Nmea in: $CAREV,133914,COPROC,0.20.0.39330*76

2021-12-04T13:39:16.182Z,1638625156.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:17.001Z,1638625157.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:17.415Z,1638625157.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:17.827Z,1638625157.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 38.685888 deg, deltaT: 4.422322 s, deltaX: -2.699989 m, approachRate: -0.610537 m/s, LOS rate: 0.279519 deg/s, posRepo size: 4
2021-12-04T13:39:17.829Z,1638625157.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.100006 m,
      bearing: 38.685888 deg,
      approachRate: -0.610537 m/s,
      LOS rate: 0.279519 deg/s,
      cmd update: 0.838558 deg/s,
      cmd heading: 25.213766 deg,
      new cmd heading: 25.132343 deg.

2021-12-04T13:39:18.208Z,1638625158.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133917.58*5D

2021-12-04T13:39:18.209Z,1638625158.209 [Micromodem](INFO): Nmea in: $CAREV,133918,AUV,2.1.4000*2B

2021-12-04T13:39:18.604Z,1638625158.604 [Micromodem](INFO): Nmea in: $CAREV,133918,COPROC,0.20.0.39330*7A

2021-12-04T13:39:20.643Z,1638625160.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:21.421Z,1638625161.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:21.824Z,1638625161.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:22.267Z,1638625162.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.879997 m, bearing: 39.250556 deg, deltaT: 4.420496 s, deltaX: -2.220009 m, approachRate: -0.502208 m/s, LOS rate: 0.127739 deg/s, posRepo size: 4
2021-12-04T13:39:22.269Z,1638625162.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.879997 m,
      bearing: 39.250556 deg,
      approachRate: -0.502208 m/s,
      LOS rate: 0.127739 deg/s,
      cmd update: 0.383216 deg/s,
      cmd heading: 28.904321 deg,
      new cmd heading: 29.226834 deg.

2021-12-04T13:39:22.660Z,1638625162.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133922.00*56

2021-12-04T13:39:22.661Z,1638625162.661 [Micromodem](INFO): Nmea in: $CAREV,133923,AUV,2.1.4000*23

2021-12-04T13:39:23.052Z,1638625163.052 [Micromodem](INFO): Nmea in: $CAREV,133923,COPROC,0.20.0.39330*72

2021-12-04T13:39:25.088Z,1638625165.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:25.861Z,1638625165.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:26.282Z,1638625166.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:26.725Z,1638625166.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.940010 m, bearing: 39.675080 deg, deltaT: 4.473838 s, deltaX: -2.939987 m, approachRate: -0.657151 m/s, LOS rate: 0.094890 deg/s, posRepo size: 4
2021-12-04T13:39:26.731Z,1638625166.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.940010 m,
      bearing: 39.675080 deg,
      approachRate: -0.657151 m/s,
      LOS rate: 0.094890 deg/s,
      cmd update: 0.284671 deg/s,
      cmd heading: 30.631059 deg,
      new cmd heading: 30.767784 deg.

2021-12-04T13:39:27.108Z,1638625167.108 [Micromodem](INFO): Nmea in: $SNTTA,0.075693,,,,133926.44*42

2021-12-04T13:39:27.109Z,1638625167.109 [Micromodem](INFO): Nmea in: $CAREV,133927,AUV,2.1.4000*27

2021-12-04T13:39:27.492Z,1638625167.492 [Micromodem](INFO): Nmea in: $CAREV,133927,COPROC,0.20.0.39330*76

2021-12-04T13:39:29.538Z,1638625169.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:30.305Z,1638625170.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:30.756Z,1638625170.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:31.178Z,1638625171.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.299995 m, bearing: 41.193824 deg, deltaT: 4.456562 s, deltaX: -2.640015 m, approachRate: -0.592388 m/s, LOS rate: 0.340788 deg/s, posRepo size: 4
2021-12-04T13:39:31.181Z,1638625171.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.299995 m,
      bearing: 41.193824 deg,
      approachRate: -0.592388 m/s,
      LOS rate: 0.340788 deg/s,
      cmd update: 1.022365 deg/s,
      cmd heading: 31.905254 deg,
      new cmd heading: 32.000194 deg.

2021-12-04T13:39:31.551Z,1638625171.551 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133930.89*54

2021-12-04T13:39:31.553Z,1638625171.553 [Micromodem](INFO): Nmea in: $CAREV,133931,AUV,2.1.4000*20

2021-12-04T13:39:31.941Z,1638625171.941 [Micromodem](INFO): Nmea in: $CAREV,133931,COPROC,0.20.0.39330*71

2021-12-04T13:39:33.963Z,1638625173.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:34.761Z,1638625174.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:35.158Z,1638625175.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:35.599Z,1638625175.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 40.927801 deg, deltaT: 4.420707 s, deltaX: -2.579994 m, approachRate: -0.583616 m/s, LOS rate: -0.060176 deg/s, posRepo size: 4
2021-12-04T13:39:35.601Z,1638625175.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.720001 m,
      bearing: 40.927801 deg,
      approachRate: -0.583616 m/s,
      LOS rate: -0.060176 deg/s,
      cmd update: -0.180529 deg/s,
      cmd heading: 36.396495 deg,
      new cmd heading: 36.765616 deg.

2021-12-04T13:39:36.001Z,1638625176.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133935.34*57

2021-12-04T13:39:36.003Z,1638625176.003 [Micromodem](INFO): Nmea in: $CAREV,133936,AUV,2.1.4000*27

2021-12-04T13:39:36.388Z,1638625176.388 [Micromodem](INFO): Nmea in: $CAREV,133936,COPROC,0.20.0.39330*76

2021-12-04T13:39:38.436Z,1638625178.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:39.193Z,1638625179.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:39.603Z,1638625179.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:40.035Z,1638625180.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.959999 m, bearing: 42.077012 deg, deltaT: 4.435834 s, deltaX: -2.760002 m, approachRate: -0.622206 m/s, LOS rate: 0.259074 deg/s, posRepo size: 4
2021-12-04T13:39:40.037Z,1638625180.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.959999 m,
      bearing: 42.077012 deg,
      approachRate: -0.622206 m/s,
      LOS rate: 0.259074 deg/s,
      cmd update: 0.777222 deg/s,
      cmd heading: 35.601983 deg,
      new cmd heading: 35.530491 deg.

2021-12-04T13:39:40.447Z,1638625180.447 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133939.77*5C

2021-12-04T13:39:40.448Z,1638625180.448 [Micromodem](INFO): Nmea in: $CAREV,133940,AUV,2.1.4000*26

2021-12-04T13:39:40.832Z,1638625180.832 [Micromodem](INFO): Nmea in: $CAREV,133940,COPROC,0.20.0.39330*77

2021-12-04T13:39:42.840Z,1638625182.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:43.637Z,1638625183.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:44.049Z,1638625184.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:44.490Z,1638625184.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.380005 m, bearing: 41.823372 deg, deltaT: 4.455168 s, deltaX: -2.579994 m, approachRate: -0.579101 m/s, LOS rate: -0.056931 deg/s, posRepo size: 4
2021-12-04T13:39:44.492Z,1638625184.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.380005 m,
      bearing: 41.823372 deg,
      approachRate: -0.579101 m/s,
      LOS rate: -0.056931 deg/s,
      cmd update: -0.170794 deg/s,
      cmd heading: 39.055985 deg,
      new cmd heading: 39.372290 deg.

2021-12-04T13:39:44.872Z,1638625184.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133944.22*56

2021-12-04T13:39:44.873Z,1638625184.873 [Micromodem](INFO): Nmea in: $CAREV,133945,AUV,2.1.4000*23

2021-12-04T13:39:45.264Z,1638625185.264 [Micromodem](INFO): Nmea in: $CAREV,133945,COPROC,0.20.0.39330*72

2021-12-04T13:39:47.324Z,1638625187.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:48.081Z,1638625188.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:48.491Z,1638625188.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:48.972Z,1638625188.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 44.027328 deg, deltaT: 4.478354 s, deltaX: -2.580002 m, approachRate: -0.576105 m/s, LOS rate: 0.492135 deg/s, posRepo size: 4
2021-12-04T13:39:48.974Z,1638625188.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.800003 m,
      bearing: 44.027328 deg,
      approachRate: -0.576105 m/s,
      LOS rate: 0.492135 deg/s,
      cmd update: 1.476405 deg/s,
      cmd heading: 38.295663 deg,
      new cmd heading: 38.221642 deg.

2021-12-04T13:39:49.331Z,1638625189.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133948.66*5A

2021-12-04T13:39:49.334Z,1638625189.334 [Micromodem](INFO): Nmea in: $CAREV,133949,AUV,2.1.4000*2F

2021-12-04T13:39:49.700Z,1638625189.700 [Micromodem](INFO): Nmea in: $CAREV,133949,COPROC,0.20.0.39330*7E

2021-12-04T13:39:51.733Z,1638625191.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:52.521Z,1638625192.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:52.961Z,1638625192.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:53.401Z,1638625193.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.040009 m, bearing: 43.905658 deg, deltaT: 4.433204 s, deltaX: -2.759995 m, approachRate: -0.622573 m/s, LOS rate: -0.027445 deg/s, posRepo size: 4
2021-12-04T13:39:53.403Z,1638625193.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.040009 m,
      bearing: 43.905658 deg,
      approachRate: -0.622573 m/s,
      LOS rate: -0.027445 deg/s,
      cmd update: -0.082335 deg/s,
      cmd heading: 44.898694 deg,
      new cmd heading: 45.481105 deg.

2021-12-04T13:39:53.771Z,1638625193.771 [Micromodem](INFO): Nmea in: $SNTTA,0.068737,,,,133953.10*42

2021-12-04T13:39:53.772Z,1638625193.772 [Micromodem](INFO): Nmea in: $CAREV,133954,AUV,2.1.4000*23

2021-12-04T13:39:54.156Z,1638625194.156 [Micromodem](INFO): Nmea in: $CAREV,133954,COPROC,0.20.0.39330*72

2021-12-04T13:39:56.172Z,1638625196.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:39:56.997Z,1638625196.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:39:57.403Z,1638625197.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:39:57.811Z,1638625197.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.279999 m, bearing: 43.738943 deg, deltaT: 4.410159 s, deltaX: -2.760010 m, approachRate: -0.625830 m/s, LOS rate: -0.037802 deg/s, posRepo size: 4
2021-12-04T13:39:57.813Z,1638625197.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.279999 m,
      bearing: 43.738943 deg,
      approachRate: -0.625830 m/s,
      LOS rate: -0.037802 deg/s,
      cmd update: -0.113407 deg/s,
      cmd heading: 44.532529 deg,
      new cmd heading: 44.503122 deg.

2021-12-04T13:39:58.194Z,1638625198.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133957.58*59

2021-12-04T13:39:58.197Z,1638625198.197 [Micromodem](INFO): Nmea in: $CAREV,133958,AUV,2.1.4000*2F

2021-12-04T13:39:58.600Z,1638625198.600 [Micromodem](INFO): Nmea in: $CAREV,133958,COPROC,0.20.0.39330*7E

2021-12-04T13:40:00.635Z,1638625200.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:01.413Z,1638625201.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:01.818Z,1638625201.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:02.248Z,1638625202.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.760002 m, bearing: 44.119204 deg, deltaT: 4.436914 s, deltaX: -2.519997 m, approachRate: -0.567962 m/s, LOS rate: 0.085704 deg/s, posRepo size: 4
2021-12-04T13:40:02.250Z,1638625202.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.760002 m,
      bearing: 44.119204 deg,
      approachRate: -0.567962 m/s,
      LOS rate: 0.085704 deg/s,
      cmd update: 0.257112 deg/s,
      cmd heading: 44.033830 deg,
      new cmd heading: 43.988822 deg.

2021-12-04T13:40:02.648Z,1638625202.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134001.99*59

2021-12-04T13:40:02.649Z,1638625202.649 [Micromodem](INFO): Nmea in: $CAREV,134003,AUV,2.1.4000*2F

2021-12-04T13:40:03.048Z,1638625203.048 [Micromodem](INFO): Nmea in: $CAREV,134003,COPROC,0.20.0.39330*7E

2021-12-04T13:40:05.085Z,1638625205.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:05.872Z,1638625205.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:06.263Z,1638625206.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:06.709Z,1638625206.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 44.342978 deg, deltaT: 4.445099 s, deltaX: -2.820000 m, approachRate: -0.634407 m/s, LOS rate: 0.050342 deg/s, posRepo size: 4
2021-12-04T13:40:06.716Z,1638625206.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 44.342978 deg,
      approachRate: -0.634407 m/s,
      LOS rate: 0.050342 deg/s,
      cmd update: 0.151025 deg/s,
      cmd heading: 45.180578 deg,
      new cmd heading: 45.282908 deg.

2021-12-04T13:40:07.092Z,1638625207.092 [Micromodem](INFO): Nmea in: $SNTTA,0.079804,,,,134006.45*43

2021-12-04T13:40:07.093Z,1638625207.093 [Micromodem](INFO): Nmea in: $CAREV,134007,AUV,2.1.4000*2B

2021-12-04T13:40:07.481Z,1638625207.481 [Micromodem](INFO): Nmea in: $CAREV,134007,COPROC,0.20.0.39330*7A

2021-12-04T13:40:09.522Z,1638625209.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:10.301Z,1638625210.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:10.715Z,1638625210.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:11.165Z,1638625211.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.660004 m, bearing: 44.866990 deg, deltaT: 4.471619 s, deltaX: -2.279999 m, approachRate: -0.509882 m/s, LOS rate: 0.117186 deg/s, posRepo size: 4
2021-12-04T13:40:11.167Z,1638625211.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.660004 m,
      bearing: 44.866990 deg,
      approachRate: -0.509882 m/s,
      LOS rate: 0.117186 deg/s,
      cmd update: 0.351559 deg/s,
      cmd heading: 45.855222 deg,
      new cmd heading: 45.913573 deg.

2021-12-04T13:40:11.540Z,1638625211.540 [Micromodem](INFO): Nmea in: $SNTTA,0.065861,,,,134010.88*4B

2021-12-04T13:40:11.541Z,1638625211.541 [Micromodem](INFO): Nmea in: $CAREV,134011,AUV,2.1.4000*2C

2021-12-04T13:40:11.936Z,1638625211.936 [Micromodem](INFO): Nmea in: $CAREV,134011,COPROC,0.20.0.39330*7D

2021-12-04T13:40:13.948Z,1638625213.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:14.749Z,1638625214.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:15.171Z,1638625215.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:15.602Z,1638625215.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 45.249621 deg, deltaT: 4.437303 s, deltaX: -3.239998 m, approachRate: -0.730173 m/s, LOS rate: 0.086230 deg/s, posRepo size: 4
2021-12-04T13:40:15.604Z,1638625215.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.420006 m,
      bearing: 45.249621 deg,
      approachRate: -0.730173 m/s,
      LOS rate: 0.086230 deg/s,
      cmd update: 0.258691 deg/s,
      cmd heading: 47.421908 deg,
      new cmd heading: 47.551038 deg.

2021-12-04T13:40:15.984Z,1638625215.984 [Micromodem](INFO): Nmea in: $SNTTA,0.486949,0.486949,,,134015.33*5C

2021-12-04T13:40:15.985Z,1638625215.985 [Micromodem](INFO): Nmea in: $CAREV,134016,AUV,2.1.4000*2B

2021-12-04T13:40:16.404Z,1638625216.404 [Micromodem](INFO): Nmea in: $CAREV,134016,COPROC,0.20.0.39330*7A

2021-12-04T13:40:18.431Z,1638625218.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:19.195Z,1638625219.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:19.600Z,1638625219.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:20.038Z,1638625220.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 44.825797 deg, deltaT: 4.436002 s, deltaX: -2.220009 m, approachRate: -0.500453 m/s, LOS rate: -0.095542 deg/s, posRepo size: 4
2021-12-04T13:40:20.040Z,1638625220.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 44.825797 deg,
      approachRate: -0.500453 m/s,
      LOS rate: -0.095542 deg/s,
      cmd update: -0.286625 deg/s,
      cmd heading: 48.562194 deg,
      new cmd heading: 48.664482 deg.

2021-12-04T13:40:20.436Z,1638625220.436 [Micromodem](INFO): Nmea in: $SNTTA,0.061403,,,,134019.77*4E

2021-12-04T13:40:20.437Z,1638625220.437 [Micromodem](INFO): Nmea in: $CAREV,134020,AUV,2.1.4000*2E

2021-12-04T13:40:20.817Z,1638625220.817 [Micromodem](INFO): Nmea in: $CAREV,134020,COPROC,0.20.0.39330*7F

2021-12-04T13:40:22.844Z,1638625222.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:23.636Z,1638625223.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:24.050Z,1638625224.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:24.497Z,1638625224.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.080009 m, bearing: 45.853450 deg, deltaT: 4.455255 s, deltaX: -3.119987 m, approachRate: -0.700294 m/s, LOS rate: 0.230661 deg/s, posRepo size: 4
2021-12-04T13:40:24.504Z,1638625224.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 45.853450 deg,
      approachRate: -0.700294 m/s,
      LOS rate: 0.230661 deg/s,
      cmd update: 0.691983 deg/s,
      cmd heading: 47.288165 deg,
      new cmd heading: 47.170730 deg.

2021-12-04T13:40:24.869Z,1638625224.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134024.25*59

2021-12-04T13:40:24.872Z,1638625224.872 [Micromodem](INFO): Nmea in: $CAREV,134025,AUV,2.1.4000*2B

2021-12-04T13:40:25.260Z,1638625225.260 [Micromodem](INFO): Nmea in: $CAREV,134025,COPROC,0.20.0.39330*7A

2021-12-04T13:40:27.358Z,1638625227.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:28.077Z,1638625228.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:28.483Z,1638625228.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:28.975Z,1638625228.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 46.045478 deg, deltaT: 4.472563 s, deltaX: -2.760006 m, approachRate: -0.617097 m/s, LOS rate: 0.042935 deg/s, posRepo size: 4
2021-12-04T13:40:28.977Z,1638625228.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.320004 m,
      bearing: 46.045478 deg,
      approachRate: -0.617097 m/s,
      LOS rate: 0.042935 deg/s,
      cmd update: 0.128804 deg/s,
      cmd heading: 50.373600 deg,
      new cmd heading: 50.667069 deg.

2021-12-04T13:40:29.334Z,1638625229.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134028.66*52

2021-12-04T13:40:29.341Z,1638625229.341 [Micromodem](INFO): Nmea in: $CAREV,134029,AUV,2.1.4000*27

2021-12-04T13:40:29.708Z,1638625229.708 [Micromodem](INFO): Nmea in: $CAREV,134029,COPROC,0.20.0.39330*76

2021-12-04T13:40:31.726Z,1638625231.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:32.521Z,1638625232.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:32.964Z,1638625232.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:33.392Z,1638625233.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 45.691978 deg, deltaT: 4.426265 s, deltaX: -2.520004 m, approachRate: -0.569330 m/s, LOS rate: -0.079864 deg/s, posRepo size: 4
2021-12-04T13:40:33.395Z,1638625233.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.799999 m,
      bearing: 45.691978 deg,
      approachRate: -0.569330 m/s,
      LOS rate: -0.079864 deg/s,
      cmd update: -0.239592 deg/s,
      cmd heading: 50.950659 deg,
      new cmd heading: 50.997764 deg.

2021-12-04T13:40:33.768Z,1638625233.768 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134033.10*59

2021-12-04T13:40:33.769Z,1638625233.769 [Micromodem](INFO): Nmea in: $CAREV,134034,AUV,2.1.4000*2B

2021-12-04T13:40:34.156Z,1638625234.156 [Micromodem](INFO): Nmea in: $CAREV,134034,COPROC,0.20.0.39330*7A

2021-12-04T13:40:36.168Z,1638625236.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:36.997Z,1638625236.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:37.391Z,1638625237.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:37.815Z,1638625237.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 45.569479 deg, deltaT: 4.418854 s, deltaX: -2.819996 m, approachRate: -0.638174 m/s, LOS rate: -0.027722 deg/s, posRepo size: 4
2021-12-04T13:40:37.817Z,1638625237.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 45.569479 deg,
      approachRate: -0.638174 m/s,
      LOS rate: -0.027722 deg/s,
      cmd update: -0.083166 deg/s,
      cmd heading: 49.891144 deg,
      new cmd heading: 49.804409 deg.

2021-12-04T13:40:38.194Z,1638625238.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134037.58*51

2021-12-04T13:40:38.196Z,1638625238.196 [Micromodem](INFO): Nmea in: $CAREV,134038,AUV,2.1.4000*27

2021-12-04T13:40:38.596Z,1638625238.596 [Micromodem](INFO): Nmea in: $CAREV,134038,COPROC,0.20.0.39330*76

2021-12-04T13:40:40.630Z,1638625240.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:41.413Z,1638625241.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:41.823Z,1638625241.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:42.235Z,1638625242.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 46.010237 deg, deltaT: 4.423443 s, deltaX: -2.700001 m, approachRate: -0.610384 m/s, LOS rate: 0.099642 deg/s, posRepo size: 4
2021-12-04T13:40:42.237Z,1638625242.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.280003 m,
      bearing: 46.010237 deg,
      approachRate: -0.610384 m/s,
      LOS rate: 0.099642 deg/s,
      cmd update: 0.298925 deg/s,
      cmd heading: 49.523694 deg,
      new cmd heading: 49.493099 deg.

2021-12-04T13:40:42.656Z,1638625242.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134041.99*5D

2021-12-04T13:40:42.657Z,1638625242.657 [Micromodem](INFO): Nmea in: $CAREV,134043,AUV,2.1.4000*2B

2021-12-04T13:40:43.039Z,1638625243.039 [Micromodem](INFO): Nmea in: $CAREV,134043,COPROC,0.20.0.39330*7A

2021-12-04T13:40:45.091Z,1638625245.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:45.876Z,1638625245.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:46.276Z,1638625246.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:46.719Z,1638625246.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 46.376687 deg, deltaT: 4.475500 s, deltaX: -2.760002 m, approachRate: -0.616691 m/s, LOS rate: 0.081879 deg/s, posRepo size: 4
2021-12-04T13:40:46.721Z,1638625246.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.520000 m,
      bearing: 46.376687 deg,
      approachRate: -0.616691 m/s,
      LOS rate: 0.081879 deg/s,
      cmd update: 0.245637 deg/s,
      cmd heading: 50.852073 deg,
      new cmd heading: 50.972720 deg.

2021-12-04T13:40:47.084Z,1638625247.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134046.46*58

2021-12-04T13:40:47.085Z,1638625247.085 [Micromodem](INFO): Nmea in: $CAREV,134047,AUV,2.1.4000*2F

2021-12-04T13:40:47.481Z,1638625247.481 [Micromodem](INFO): Nmea in: $CAREV,134047,COPROC,0.20.0.39330*7E

2021-12-04T13:40:49.526Z,1638625249.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:50.301Z,1638625250.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:50.711Z,1638625250.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:51.143Z,1638625251.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 45.769938 deg, deltaT: 4.433450 s, deltaX: -2.639999 m, approachRate: -0.595473 m/s, LOS rate: -0.136857 deg/s, posRepo size: 4
2021-12-04T13:40:51.145Z,1638625251.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.880001 m,
      bearing: 45.769938 deg,
      approachRate: -0.595473 m/s,
      LOS rate: -0.136857 deg/s,
      cmd update: -0.410572 deg/s,
      cmd heading: 51.942819 deg,
      new cmd heading: 52.039056 deg.

2021-12-04T13:40:51.539Z,1638625251.539 [Micromodem](INFO): Nmea in: $SNTTA,0.061541,,,,134050.88*44

2021-12-04T13:40:51.540Z,1638625251.540 [Micromodem](INFO): Nmea in: $CAREV,134051,AUV,2.1.4000*28

2021-12-04T13:40:51.920Z,1638625251.920 [Micromodem](INFO): Nmea in: $CAREV,134051,COPROC,0.20.0.39330*79

2021-12-04T13:40:53.944Z,1638625253.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:54.741Z,1638625254.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:55.143Z,1638625255.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:40:55.607Z,1638625255.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 44.923097 deg, deltaT: 4.443821 s, deltaX: -2.520000 m, approachRate: -0.567080 m/s, LOS rate: -0.190566 deg/s, posRepo size: 4
2021-12-04T13:40:55.609Z,1638625255.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.360001 m,
      bearing: 44.923097 deg,
      approachRate: -0.567080 m/s,
      LOS rate: -0.190566 deg/s,
      cmd update: -0.571698 deg/s,
      cmd heading: 50.116856 deg,
      new cmd heading: 49.957443 deg.

2021-12-04T13:40:55.992Z,1638625255.992 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134055.32*59

2021-12-04T13:40:55.993Z,1638625255.993 [Micromodem](INFO): Nmea in: $CAREV,134056,AUV,2.1.4000*2F

2021-12-04T13:40:56.392Z,1638625256.392 [Micromodem](INFO): Nmea in: $CAREV,134056,COPROC,0.20.0.39330*7E

2021-12-04T13:40:58.438Z,1638625258.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:40:59.185Z,1638625259.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:40:59.591Z,1638625259.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:00.018Z,1638625260.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 45.642374 deg, deltaT: 4.430606 s, deltaX: -2.940002 m, approachRate: -0.663567 m/s, LOS rate: 0.162343 deg/s, posRepo size: 4
2021-12-04T13:41:00.020Z,1638625260.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.419998 m,
      bearing: 45.642374 deg,
      approachRate: -0.663567 m/s,
      LOS rate: 0.162343 deg/s,
      cmd update: 0.487028 deg/s,
      cmd heading: 47.571592 deg,
      new cmd heading: 47.361758 deg.

2021-12-04T13:41:00.436Z,1638625260.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134059.76*55

2021-12-04T13:41:00.437Z,1638625260.437 [Micromodem](INFO): Nmea in: $CAREV,134100,AUV,2.1.4000*2D

2021-12-04T13:41:00.816Z,1638625260.816 [Micromodem](INFO): Nmea in: $CAREV,134100,COPROC,0.20.0.39330*7C

2021-12-04T13:41:02.832Z,1638625262.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:03.637Z,1638625263.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:04.035Z,1638625264.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:04.481Z,1638625264.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.840000 m, bearing: 44.291475 deg, deltaT: 4.447023 s, deltaX: -2.579998 m, approachRate: -0.580163 m/s, LOS rate: -0.303776 deg/s, posRepo size: 4
2021-12-04T13:41:04.481Z,1638625264.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 39.84 m.
2021-12-04T13:41:04.487Z,1638625264.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.840000 m,
      bearing: 44.291475 deg,
      approachRate: -0.580163 m/s,
      LOS rate: -0.303776 deg/s,
      cmd update: -0.911328 deg/s,
      cmd heading: 49.729908 deg,
      new cmd heading: 49.923903 deg.

2021-12-04T13:41:04.904Z,1638625264.904 [Micromodem](INFO): Nmea in: $SNTTA,0.042650,,,,134104.22*46

2021-12-04T13:41:04.907Z,1638625264.907 [Micromodem](INFO): Nmea in: $CAREV,134105,AUV,2.1.4000*28

2021-12-04T13:41:04.970Z,1638625264.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T13:41:04.974Z,1638625264.974 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:41:04.975Z,1638625264.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T13:41:04.976Z,1638625264.976 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 39.840000 m (mode 1 count ).
2021-12-04T13:41:04.976Z,1638625264.976 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T13:41:04.976Z,1638625264.976 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T13:41:05.284Z,1638625265.284 [Micromodem](INFO): Nmea in: $CAREV,134105,COPROC,0.20.0.39330*79

2021-12-04T13:41:05.333Z,1638625265.333 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T13:41:05.334Z,1638625265.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:41:05.334Z,1638625265.334 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T13:41:05.335Z,1638625265.335 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:41:07.304Z,1638625267.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:08.077Z,1638625268.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:08.487Z,1638625268.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:08.966Z,1638625268.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:08.979Z,1638625268.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.959999 m, bearing: 43.480339 deg, deltaT: 4.510257 s, deltaX: -2.880001 m, approachRate: -0.638545 m/s, LOS rate: -0.179843 deg/s, posRepo size: 4
2021-12-04T13:41:08.980Z,1638625268.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 36.96 m.
2021-12-04T13:41:08.982Z,1638625268.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.959999 m,
      bearing: 43.480339 deg,
      approachRate: -0.638545 m/s,
      LOS rate: -0.179843 deg/s,
      cmd update: -0.539528 deg/s,
      cmd heading: 45.679936 deg,
      new cmd heading: 45.271281 deg.

2021-12-04T13:41:09.324Z,1638625269.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134108.66*51

2021-12-04T13:41:09.329Z,1638625269.329 [Micromodem](INFO): Nmea in: $CAREV,134109,AUV,2.1.4000*24

2021-12-04T13:41:09.704Z,1638625269.704 [Micromodem](INFO): Nmea in: $CAREV,134109,COPROC,0.20.0.39330*75

2021-12-04T13:41:11.759Z,1638625271.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:12.513Z,1638625272.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:12.960Z,1638625272.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:13.388Z,1638625273.388 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:13.409Z,1638625273.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 43.294886 deg, deltaT: 4.417906 s, deltaX: -2.400002 m, approachRate: -0.543244 m/s, LOS rate: -0.041978 deg/s, posRepo size: 4
2021-12-04T13:41:13.410Z,1638625273.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 34.56 m.
2021-12-04T13:41:13.410Z,1638625273.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.56 m.
2021-12-04T13:41:13.414Z,1638625273.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T13:41:13.416Z,1638625273.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 43.261662 deg,
      new cmd heading: 43.045647 deg.

2021-12-04T13:41:13.764Z,1638625273.764 [Micromodem](INFO): Nmea in: $SNTTA,0.056712,,,,134113.10*43

2021-12-04T13:41:13.765Z,1638625273.765 [Micromodem](INFO): Nmea in: $CAREV,134114,AUV,2.1.4000*28

2021-12-04T13:41:13.787Z,1638625273.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 43.211241 deg,
      new cmd heading: 43.163713 deg.

2021-12-04T13:41:14.148Z,1638625274.148 [Micromodem](INFO): Nmea in: $CAREV,134114,COPROC,0.20.0.39330*79

2021-12-04T13:41:14.167Z,1638625274.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 43.163713 deg,
      new cmd heading: 43.115846 deg.

2021-12-04T13:41:14.624Z,1638625274.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 43.115846 deg,
      new cmd heading: 43.060880 deg.

2021-12-04T13:41:15.044Z,1638625275.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 43.060880 deg,
      new cmd heading: 43.005937 deg.

2021-12-04T13:41:15.409Z,1638625275.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 43.005937 deg,
      new cmd heading: 42.959377 deg.

2021-12-04T13:41:15.839Z,1638625275.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 42.959377 deg,
      new cmd heading: 42.905297 deg.

2021-12-04T13:41:16.177Z,1638625276.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:16.182Z,1638625276.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 42.905297 deg,
      new cmd heading: 42.862213 deg.

2021-12-04T13:41:16.598Z,1638625276.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 42.862213 deg,
      new cmd heading: 42.809672 deg.

2021-12-04T13:41:17.005Z,1638625277.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:17.115Z,1638625277.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 42.809672 deg,
      new cmd heading: 42.744558 deg.

2021-12-04T13:41:17.388Z,1638625277.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:17.440Z,1638625277.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 43.294886 deg,
      approachRate: -0.543244 m/s,
      LOS rate: -0.041978 deg/s,
      cmd update: -0.125933 deg/s,
      cmd heading: 42.744558 deg,
      new cmd heading: 42.703676 deg.

2021-12-04T13:41:17.824Z,1638625277.824 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:17.833Z,1638625277.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 44.123172 deg, deltaT: 4.435502 s, deltaX: -2.519997 m, approachRate: -0.568142 m/s, LOS rate: 0.186740 deg/s, posRepo size: 4
2021-12-04T13:41:17.839Z,1638625277.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 42.703676 deg,
      new cmd heading: 42.654179 deg.

2021-12-04T13:41:18.182Z,1638625278.182 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134117.59*53

2021-12-04T13:41:18.239Z,1638625278.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 42.923869 deg,
      new cmd heading: 43.149493 deg.

2021-12-04T13:41:18.600Z,1638625278.600 [Micromodem](INFO): Nmea in: $CAREV,134118,AUV,2.1.4000*24

2021-12-04T13:41:18.602Z,1638625278.602 [Micromodem](INFO): Nmea in: $CAREV,134118,COPROC,0.20.0.39330*75

2021-12-04T13:41:18.678Z,1638625278.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 43.149493 deg,
      new cmd heading: 43.397411 deg.

2021-12-04T13:41:19.052Z,1638625279.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 43.397411 deg,
      new cmd heading: 43.606503 deg.

2021-12-04T13:41:19.461Z,1638625279.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 43.606503 deg,
      new cmd heading: 43.836237 deg.

2021-12-04T13:41:19.827Z,1638625279.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 43.836237 deg,
      new cmd heading: 44.041005 deg.

2021-12-04T13:41:20.243Z,1638625280.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 44.041005 deg,
      new cmd heading: 44.273206 deg.

2021-12-04T13:41:20.631Z,1638625280.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:20.633Z,1638625280.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 44.273206 deg,
      new cmd heading: 44.492904 deg.

2021-12-04T13:41:21.041Z,1638625281.041 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:41:21.075Z,1638625281.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 44.492904 deg,
      new cmd heading: 44.732751 deg.

2021-12-04T13:41:21.412Z,1638625281.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:21.527Z,1638625281.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 44.732751 deg,
      new cmd heading: 44.990859 deg.

2021-12-04T13:41:21.826Z,1638625281.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:21.889Z,1638625281.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 44.123172 deg,
      approachRate: -0.568142 m/s,
      LOS rate: 0.186740 deg/s,
      cmd update: 0.560221 deg/s,
      cmd heading: 44.990859 deg,
      new cmd heading: 45.196273 deg.

2021-12-04T13:41:22.224Z,1638625282.224 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:22.229Z,1638625282.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 43.222926 deg, deltaT: 4.399970 s, deltaX: -2.759998 m, approachRate: -0.627277 m/s, LOS rate: -0.204603 deg/s, posRepo size: 4
2021-12-04T13:41:22.231Z,1638625282.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 45.196273 deg,
      new cmd heading: 45.386805 deg.

2021-12-04T13:41:22.661Z,1638625282.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134121.99*5A

2021-12-04T13:41:22.662Z,1638625282.662 [Micromodem](INFO): Nmea in: $CAREV,134123,AUV,2.1.4000*2C

2021-12-04T13:41:22.722Z,1638625282.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 44.987516 deg,
      new cmd heading: 44.685232 deg.

2021-12-04T13:41:23.028Z,1638625283.028 [Micromodem](INFO): Nmea in: $CAREV,134123,COPROC,0.20.0.39330*7D

2021-12-04T13:41:23.079Z,1638625283.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 44.685232 deg,
      new cmd heading: 44.466335 deg.

2021-12-04T13:41:23.494Z,1638625283.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 44.466335 deg,
      new cmd heading: 44.212626 deg.

2021-12-04T13:41:23.851Z,1638625283.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 44.212626 deg,
      new cmd heading: 43.992109 deg.

2021-12-04T13:41:24.272Z,1638625284.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 43.992109 deg,
      new cmd heading: 43.734946 deg.

2021-12-04T13:41:24.675Z,1638625284.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 43.734946 deg,
      new cmd heading: 43.486342 deg.

2021-12-04T13:41:25.113Z,1638625285.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:25.121Z,1638625285.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 43.486342 deg,
      new cmd heading: 43.215798 deg.

2021-12-04T13:41:25.491Z,1638625285.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 43.215798 deg,
      new cmd heading: 42.985263 deg.

2021-12-04T13:41:25.849Z,1638625285.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:25.962Z,1638625285.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 42.985263 deg,
      new cmd heading: 42.696478 deg.

2021-12-04T13:41:26.263Z,1638625286.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:26.295Z,1638625286.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.280003 m,
      bearing: 43.222926 deg,
      approachRate: -0.627277 m/s,
      LOS rate: -0.204603 deg/s,
      cmd update: -0.613808 deg/s,
      cmd heading: 42.696478 deg,
      new cmd heading: 42.492041 deg.

2021-12-04T13:41:26.690Z,1638625286.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:26.695Z,1638625286.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 42.856555 deg, deltaT: 4.465932 s, deltaX: -2.520002 m, approachRate: -0.564272 m/s, LOS rate: -0.082037 deg/s, posRepo size: 4
2021-12-04T13:41:26.697Z,1638625286.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 42.492041 deg,
      new cmd heading: 42.246555 deg.

2021-12-04T13:41:27.095Z,1638625287.095 [Micromodem](INFO): Nmea in: $SNTTA,0.050070,,,,134126.43*46

2021-12-04T13:41:27.096Z,1638625287.096 [Micromodem](INFO): Nmea in: $CAREV,134127,AUV,2.1.4000*28

2021-12-04T13:41:27.129Z,1638625287.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 42.393612 deg,
      new cmd heading: 42.286814 deg.

2021-12-04T13:41:27.472Z,1638625287.472 [Micromodem](INFO): Nmea in: $CAREV,134127,COPROC,0.20.0.39330*79

2021-12-04T13:41:27.509Z,1638625287.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 42.286814 deg,
      new cmd heading: 42.193302 deg.

2021-12-04T13:41:27.892Z,1638625287.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 42.193302 deg,
      new cmd heading: 42.099114 deg.

2021-12-04T13:41:28.303Z,1638625288.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 42.099114 deg,
      new cmd heading: 41.997758 deg.

2021-12-04T13:41:28.728Z,1638625288.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 41.997758 deg,
      new cmd heading: 41.897247 deg.

2021-12-04T13:41:29.127Z,1638625289.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 41.897247 deg,
      new cmd heading: 41.795021 deg.

2021-12-04T13:41:29.515Z,1638625289.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:29.518Z,1638625289.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 41.795021 deg,
      new cmd heading: 41.698834 deg.

2021-12-04T13:41:29.927Z,1638625289.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 41.698834 deg,
      new cmd heading: 41.598101 deg.

2021-12-04T13:41:30.285Z,1638625290.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:30.395Z,1638625290.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 41.598101 deg,
      new cmd heading: 41.484065 deg.

2021-12-04T13:41:30.700Z,1638625290.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:30.749Z,1638625290.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.760000 m,
      bearing: 42.856555 deg,
      approachRate: -0.564272 m/s,
      LOS rate: -0.082037 deg/s,
      cmd update: -0.246111 deg/s,
      cmd heading: 41.484065 deg,
      new cmd heading: 41.395706 deg.

2021-12-04T13:41:31.109Z,1638625291.109 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:41:31.122Z,1638625291.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:31.127Z,1638625291.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 43.541083 deg, deltaT: 4.432842 s, deltaX: -2.639997 m, approachRate: -0.595554 m/s, LOS rate: 0.154422 deg/s, posRepo size: 4
2021-12-04T13:41:31.129Z,1638625291.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 41.395706 deg,
      new cmd heading: 41.302702 deg.

2021-12-04T13:41:31.528Z,1638625291.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134130.87*55

2021-12-04T13:41:31.529Z,1638625291.529 [Micromodem](INFO): Nmea in: $CAREV,134131,AUV,2.1.4000*2F

2021-12-04T13:41:31.578Z,1638625291.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 41.570772 deg,
      new cmd heading: 41.779547 deg.

2021-12-04T13:41:31.928Z,1638625291.928 [Micromodem](INFO): Nmea in: $CAREV,134131,COPROC,0.20.0.39330*7E

2021-12-04T13:41:31.944Z,1638625291.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 41.779547 deg,
      new cmd heading: 41.948584 deg.

2021-12-04T13:41:32.378Z,1638625292.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 41.948584 deg,
      new cmd heading: 42.150170 deg.

2021-12-04T13:41:32.756Z,1638625292.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 42.150170 deg,
      new cmd heading: 42.325424 deg.

2021-12-04T13:41:33.184Z,1638625293.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 42.325424 deg,
      new cmd heading: 42.523746 deg.

2021-12-04T13:41:33.566Z,1638625293.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 42.523746 deg,
      new cmd heading: 42.700400 deg.

2021-12-04T13:41:33.940Z,1638625293.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:33.943Z,1638625293.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 42.700400 deg,
      new cmd heading: 42.875226 deg.

2021-12-04T13:41:34.396Z,1638625294.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 42.875226 deg,
      new cmd heading: 43.085212 deg.

2021-12-04T13:41:34.737Z,1638625294.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:34.856Z,1638625294.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 43.085212 deg,
      new cmd heading: 43.295831 deg.

2021-12-04T13:41:35.143Z,1638625295.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:35.203Z,1638625295.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 43.541083 deg,
      approachRate: -0.595554 m/s,
      LOS rate: 0.154422 deg/s,
      cmd update: 0.463266 deg/s,
      cmd heading: 43.295831 deg,
      new cmd heading: 43.458959 deg.

2021-12-04T13:41:35.568Z,1638625295.568 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:35.573Z,1638625295.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 46.620955 deg, deltaT: 4.445976 s, deltaX: -1.800003 m, approachRate: -0.404861 m/s, LOS rate: 0.692733 deg/s, posRepo size: 4
2021-12-04T13:41:35.575Z,1638625295.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 43.458959 deg,
      new cmd heading: 43.630549 deg.

2021-12-04T13:41:36.016Z,1638625296.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134135.32*5E

2021-12-04T13:41:36.017Z,1638625296.017 [Micromodem](INFO): Nmea in: $CAREV,134136,AUV,2.1.4000*28

2021-12-04T13:41:36.040Z,1638625296.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 44.228709 deg,
      new cmd heading: 45.196812 deg.

2021-12-04T13:41:36.379Z,1638625296.379 [Micromodem](INFO): Nmea in: $CAREV,134136,COPROC,0.20.0.39330*79

2021-12-04T13:41:36.404Z,1638625296.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 45.196812 deg,
      new cmd heading: 45.954274 deg.

2021-12-04T13:41:36.783Z,1638625296.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 45.954274 deg,
      new cmd heading: 46.741959 deg.

2021-12-04T13:41:37.229Z,1638625297.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 46.741959 deg,
      new cmd heading: 47.669255 deg.

2021-12-04T13:41:37.608Z,1638625297.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 47.669255 deg,
      new cmd heading: 48.456222 deg.

2021-12-04T13:41:37.999Z,1638625297.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 48.456222 deg,
      new cmd heading: 49.268960 deg.

2021-12-04T13:41:38.444Z,1638625298.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:38.447Z,1638625298.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 49.268960 deg,
      new cmd heading: 50.200821 deg.

2021-12-04T13:41:38.812Z,1638625298.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 50.200821 deg,
      new cmd heading: 50.959862 deg.

2021-12-04T13:41:39.173Z,1638625299.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:39.284Z,1638625299.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 50.959862 deg,
      new cmd heading: 51.939749 deg.

2021-12-04T13:41:39.589Z,1638625299.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:39.649Z,1638625299.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 46.620955 deg,
      approachRate: -0.404861 m/s,
      LOS rate: 0.692733 deg/s,
      cmd update: 2.078198 deg/s,
      cmd heading: 51.939749 deg,
      new cmd heading: 52.694295 deg.

2021-12-04T13:41:40.010Z,1638625300.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:40.015Z,1638625300.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 44.507094 deg, deltaT: 4.441997 s, deltaX: -3.480000 m, approachRate: -0.783431 m/s, LOS rate: -0.475881 deg/s, posRepo size: 4
2021-12-04T13:41:40.017Z,1638625300.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 52.694295 deg,
      new cmd heading: 53.459562 deg.

2021-12-04T13:41:40.428Z,1638625300.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134139.75*51

2021-12-04T13:41:40.429Z,1638625300.429 [Micromodem](INFO): Nmea in: $CAREV,134140,AUV,2.1.4000*29

2021-12-04T13:41:40.453Z,1638625300.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 52.168586 deg,
      new cmd heading: 51.543380 deg.

2021-12-04T13:41:40.816Z,1638625300.816 [Micromodem](INFO): Nmea in: $CAREV,134140,COPROC,0.20.0.39330*78

2021-12-04T13:41:40.831Z,1638625300.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 51.543380 deg,
      new cmd heading: 51.004277 deg.

2021-12-04T13:41:41.226Z,1638625301.226 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:41:41.247Z,1638625301.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 51.004277 deg,
      new cmd heading: 50.410444 deg.

2021-12-04T13:41:41.644Z,1638625301.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 50.410444 deg,
      new cmd heading: 49.842784 deg.

2021-12-04T13:41:42.043Z,1638625302.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 49.842784 deg,
      new cmd heading: 49.273556 deg.

2021-12-04T13:41:42.456Z,1638625302.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 49.273556 deg,
      new cmd heading: 48.707352 deg.

2021-12-04T13:41:42.836Z,1638625302.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:42.840Z,1638625302.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 48.707352 deg,
      new cmd heading: 48.136768 deg.

2021-12-04T13:41:43.304Z,1638625303.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 48.136768 deg,
      new cmd heading: 47.481123 deg.

2021-12-04T13:41:43.633Z,1638625303.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:43.738Z,1638625303.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 47.481123 deg,
      new cmd heading: 46.854391 deg.

2021-12-04T13:41:44.035Z,1638625304.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:44.068Z,1638625304.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 44.507094 deg,
      approachRate: -0.783431 m/s,
      LOS rate: -0.475881 deg/s,
      cmd update: -1.427643 deg/s,
      cmd heading: 46.854391 deg,
      new cmd heading: 46.384396 deg.

2021-12-04T13:41:44.453Z,1638625304.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:44.473Z,1638625304.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 42.440173 deg, deltaT: 4.442182 s, deltaX: -2.459999 m, approachRate: -0.553782 m/s, LOS rate: -0.465294 deg/s, posRepo size: 4
2021-12-04T13:41:44.480Z,1638625304.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 46.384396 deg,
      new cmd heading: 45.803586 deg.

2021-12-04T13:41:44.872Z,1638625304.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134144.21*5A

2021-12-04T13:41:44.873Z,1638625304.873 [Micromodem](INFO): Nmea in: $CAREV,134145,AUV,2.1.4000*2C

2021-12-04T13:41:44.907Z,1638625304.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 45.816507 deg,
      new cmd heading: 45.218355 deg.

2021-12-04T13:41:45.252Z,1638625305.252 [Micromodem](INFO): Nmea in: $CAREV,134145,COPROC,0.20.0.39330*7D

2021-12-04T13:41:45.309Z,1638625305.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 45.218355 deg,
      new cmd heading: 44.650566 deg.

2021-12-04T13:41:45.743Z,1638625305.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 44.650566 deg,
      new cmd heading: 44.050646 deg.

2021-12-04T13:41:46.095Z,1638625306.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 44.050646 deg,
      new cmd heading: 43.553729 deg.

2021-12-04T13:41:46.487Z,1638625306.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 43.553729 deg,
      new cmd heading: 43.006296 deg.

2021-12-04T13:41:46.955Z,1638625306.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 43.006296 deg,
      new cmd heading: 42.371636 deg.

2021-12-04T13:41:47.300Z,1638625307.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:47.306Z,1638625307.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 42.371636 deg,
      new cmd heading: 41.867802 deg.

2021-12-04T13:41:47.714Z,1638625307.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 41.867802 deg,
      new cmd heading: 41.297722 deg.

2021-12-04T13:41:48.069Z,1638625308.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:48.175Z,1638625308.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 41.297722 deg,
      new cmd heading: 40.655876 deg.

2021-12-04T13:41:48.476Z,1638625308.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:48.522Z,1638625308.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 42.440173 deg,
      approachRate: -0.553782 m/s,
      LOS rate: -0.465294 deg/s,
      cmd update: -1.395882 deg/s,
      cmd heading: 40.655876 deg,
      new cmd heading: 40.165177 deg.

2021-12-04T13:41:48.957Z,1638625308.957 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:48.972Z,1638625308.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 46.313693 deg, deltaT: 4.510847 s, deltaX: -2.460004 m, approachRate: -0.545353 m/s, LOS rate: 0.858712 deg/s, posRepo size: 4
2021-12-04T13:41:48.978Z,1638625308.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 40.165177 deg,
      new cmd heading: 39.536529 deg.

2021-12-04T13:41:49.322Z,1638625309.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134148.65*56

2021-12-04T13:41:49.325Z,1638625309.325 [Micromodem](INFO): Nmea in: $CAREV,134149,AUV,2.1.4000*20

2021-12-04T13:41:49.409Z,1638625309.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 41.325364 deg,
      new cmd heading: 42.450800 deg.

2021-12-04T13:41:49.692Z,1638625309.692 [Micromodem](INFO): Nmea in: $CAREV,134149,COPROC,0.20.0.39330*71

2021-12-04T13:41:49.711Z,1638625309.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 42.450800 deg,
      new cmd heading: 43.227325 deg.

2021-12-04T13:41:50.123Z,1638625310.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 43.227325 deg,
      new cmd heading: 44.288297 deg.

2021-12-04T13:41:50.540Z,1638625310.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 44.288297 deg,
      new cmd heading: 45.321109 deg.

2021-12-04T13:41:51.014Z,1638625311.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 45.321109 deg,
      new cmd heading: 46.574701 deg.

2021-12-04T13:41:51.367Z,1638625311.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 46.574701 deg,
      new cmd heading: 47.452012 deg.

2021-12-04T13:41:51.748Z,1638625311.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:51.765Z,1638625311.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 47.452012 deg,
      new cmd heading: 48.482859 deg.

2021-12-04T13:41:52.134Z,1638625312.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 48.482859 deg,
      new cmd heading: 49.470122 deg.

2021-12-04T13:41:52.513Z,1638625312.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:52.626Z,1638625312.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 49.470122 deg,
      new cmd heading: 50.727423 deg.

2021-12-04T13:41:52.933Z,1638625312.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:53.003Z,1638625313.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 46.313693 deg,
      approachRate: -0.545353 m/s,
      LOS rate: 0.858712 deg/s,
      cmd update: 2.576137 deg/s,
      cmd heading: 50.727423 deg,
      new cmd heading: 51.708329 deg.

2021-12-04T13:41:53.382Z,1638625313.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:53.387Z,1638625313.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 44.041818 deg, deltaT: 4.419066 s, deltaX: -2.580000 m, approachRate: -0.583834 m/s, LOS rate: -0.514107 deg/s, posRepo size: 4
2021-12-04T13:41:53.389Z,1638625313.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 51.708329 deg,
      new cmd heading: 52.698439 deg.

2021-12-04T13:41:53.760Z,1638625313.760 [Micromodem](INFO): Nmea in: $SNTTA,0.036743,,,,134153.09*4D

2021-12-04T13:41:53.761Z,1638625313.761 [Micromodem](INFO): Nmea in: $CAREV,134154,AUV,2.1.4000*2C

2021-12-04T13:41:53.785Z,1638625313.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 51.115554 deg,
      new cmd heading: 50.501846 deg.

2021-12-04T13:41:54.144Z,1638625314.144 [Micromodem](INFO): Nmea in: $CAREV,134154,COPROC,0.20.0.39330*7D

2021-12-04T13:41:54.167Z,1638625314.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 50.501846 deg,
      new cmd heading: 49.913112 deg.

2021-12-04T13:41:54.575Z,1638625314.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 49.913112 deg,
      new cmd heading: 49.284650 deg.

2021-12-04T13:41:55.035Z,1638625315.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 49.284650 deg,
      new cmd heading: 48.574094 deg.

2021-12-04T13:41:55.395Z,1638625315.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 48.574094 deg,
      new cmd heading: 48.019373 deg.

2021-12-04T13:41:55.783Z,1638625315.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 48.019373 deg,
      new cmd heading: 47.421227 deg.

2021-12-04T13:41:56.161Z,1638625316.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:41:56.164Z,1638625316.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 47.421227 deg,
      new cmd heading: 46.833832 deg.

2021-12-04T13:41:56.604Z,1638625316.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 46.833832 deg,
      new cmd heading: 46.153999 deg.

2021-12-04T13:41:57.001Z,1638625317.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:41:57.113Z,1638625317.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 46.153999 deg,
      new cmd heading: 45.370094 deg.

2021-12-04T13:41:57.384Z,1638625317.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:41:57.423Z,1638625317.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 44.041818 deg,
      approachRate: -0.583834 m/s,
      LOS rate: -0.514107 deg/s,
      cmd update: -1.542322 deg/s,
      cmd heading: 45.370094 deg,
      new cmd heading: 44.891628 deg.

2021-12-04T13:41:57.787Z,1638625317.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:41:57.792Z,1638625317.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 39.177173 deg, deltaT: 4.404387 s, deltaX: -2.459997 m, approachRate: -0.558533 m/s, LOS rate: -1.104500 deg/s, posRepo size: 4
2021-12-04T13:41:57.794Z,1638625317.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 44.891628 deg,
      new cmd heading: 44.322556 deg.

2021-12-04T13:41:58.181Z,1638625318.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134157.58*56

2021-12-04T13:41:58.184Z,1638625318.184 [Micromodem](INFO): Nmea in: $CAREV,134158,AUV,2.1.4000*20

2021-12-04T13:41:58.240Z,1638625318.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 43.669043 deg,
      new cmd heading: 42.198684 deg.

2021-12-04T13:41:58.584Z,1638625318.584 [Micromodem](INFO): Nmea in: $CAREV,134158,COPROC,0.20.0.39330*71

2021-12-04T13:41:58.629Z,1638625318.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 42.198684 deg,
      new cmd heading: 40.895312 deg.

2021-12-04T13:41:59.029Z,1638625319.029 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:41:59.044Z,1638625319.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 40.895312 deg,
      new cmd heading: 39.521161 deg.

2021-12-04T13:41:59.452Z,1638625319.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 39.521161 deg,
      new cmd heading: 38.169700 deg.

2021-12-04T13:41:59.823Z,1638625319.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 38.169700 deg,
      new cmd heading: 36.937867 deg.

2021-12-04T13:42:00.236Z,1638625320.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 36.937867 deg,
      new cmd heading: 35.624025 deg.

2021-12-04T13:42:00.618Z,1638625320.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:00.621Z,1638625320.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 35.624025 deg,
      new cmd heading: 34.293366 deg.

2021-12-04T13:42:01.054Z,1638625321.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 34.293366 deg,
      new cmd heading: 32.860572 deg.

2021-12-04T13:42:01.409Z,1638625321.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:01.521Z,1638625321.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 32.860572 deg,
      new cmd heading: 31.312389 deg.

2021-12-04T13:42:01.811Z,1638625321.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:01.851Z,1638625321.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 39.177173 deg,
      approachRate: -0.558533 m/s,
      LOS rate: -1.104500 deg/s,
      cmd update: -3.313500 deg/s,
      cmd heading: 31.312389 deg,
      new cmd heading: 30.217997 deg.

2021-12-04T13:42:02.222Z,1638625322.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:42:02.227Z,1638625322.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 42.876711 deg, deltaT: 4.435439 s, deltaX: -1.980000 m, approachRate: -0.446405 m/s, LOS rate: 0.834086 deg/s, posRepo size: 4
2021-12-04T13:42:02.229Z,1638625322.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 30.217997 deg,
      new cmd heading: 28.972277 deg.

2021-12-04T13:42:02.652Z,1638625322.652 [Micromodem](INFO): Nmea in: $SNTTA,0.055640,,,,134201.99*47

2021-12-04T13:42:02.653Z,1638625322.653 [Micromodem](INFO): Nmea in: $CAREV,134203,AUV,2.1.4000*2D

2021-12-04T13:42:02.679Z,1638625322.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 31.158728 deg,
      new cmd heading: 32.287977 deg.

2021-12-04T13:42:03.028Z,1638625323.028 [Micromodem](INFO): Nmea in: $CAREV,134203,COPROC,0.20.0.39330*7C

2021-12-04T13:42:03.072Z,1638625323.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 32.287977 deg,
      new cmd heading: 33.273534 deg.

2021-12-04T13:42:03.467Z,1638625323.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 33.273534 deg,
      new cmd heading: 34.261298 deg.

2021-12-04T13:42:03.855Z,1638625323.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 34.261298 deg,
      new cmd heading: 35.231281 deg.

2021-12-04T13:42:04.267Z,1638625324.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 35.231281 deg,
      new cmd heading: 36.262354 deg.

2021-12-04T13:42:04.674Z,1638625324.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 36.262354 deg,
      new cmd heading: 37.280388 deg.

2021-12-04T13:42:05.087Z,1638625325.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:05.094Z,1638625325.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 37.280388 deg,
      new cmd heading: 38.322741 deg.

2021-12-04T13:42:05.488Z,1638625325.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 38.322741 deg,
      new cmd heading: 39.317386 deg.

2021-12-04T13:42:05.853Z,1638625325.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:05.974Z,1638625325.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 39.317386 deg,
      new cmd heading: 40.533666 deg.

2021-12-04T13:42:06.251Z,1638625326.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:06.295Z,1638625326.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 42.876711 deg,
      approachRate: -0.446405 m/s,
      LOS rate: 0.834086 deg/s,
      cmd update: 2.502258 deg/s,
      cmd heading: 40.533666 deg,
      new cmd heading: 41.336733 deg.

2021-12-04T13:42:06.697Z,1638625326.697 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:42:06.703Z,1638625326.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 42.336630 deg, deltaT: 4.475146 s, deltaX: -2.099999 m, approachRate: -0.469258 m/s, LOS rate: -0.120684 deg/s, posRepo size: 4
2021-12-04T13:42:06.704Z,1638625326.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 41.336733 deg,
      new cmd heading: 42.357349 deg.

2021-12-04T13:42:07.092Z,1638625327.092 [Micromodem](INFO): Nmea in: $SNTTA,0.002988,,,,134206.43*4E

2021-12-04T13:42:07.093Z,1638625327.093 [Micromodem](INFO): Nmea in: $CAREV,134207,AUV,2.1.4000*29

2021-12-04T13:42:07.141Z,1638625327.141 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T13:42:07.141Z,1638625327.141 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:42:07.142Z,1638625327.142 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T13:42:07.142Z,1638625327.142 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:42:07.142Z,1638625327.142 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T13:42:07.143Z,1638625327.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.800000 m 
2021-12-04T13:42:07.143Z,1638625327.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T13:42:07.143Z,1638625327.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T13:42:07.143Z,1638625327.143 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T13:42:07.146Z,1638625327.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 41.189060 deg,
      new cmd heading: 41.028543 deg.

2021-12-04T13:42:07.484Z,1638625327.484 [Micromodem](INFO): Nmea in: $CAREV,134207,COPROC,0.20.0.39330*78

2021-12-04T13:42:07.507Z,1638625327.507 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T134207: (41.552319, -70.708603)
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T13:42:07.508Z,1638625327.508 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:42:07.511Z,1638625327.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 41.028543 deg,
      new cmd heading: 40.896375 deg.

2021-12-04T13:42:07.911Z,1638625327.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.896375 deg,
      new cmd heading: 40.751533 deg.

2021-12-04T13:42:08.343Z,1638625328.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.751533 deg,
      new cmd heading: 40.597038 deg.

2021-12-04T13:42:08.715Z,1638625328.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.597038 deg,
      new cmd heading: 40.460613 deg.

2021-12-04T13:42:09.135Z,1638625329.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.460613 deg,
      new cmd heading: 40.308576 deg.

2021-12-04T13:42:09.497Z,1638625329.497 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:42:09.528Z,1638625329.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:09.535Z,1638625329.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.308576 deg,
      new cmd heading: 40.165196 deg.

2021-12-04T13:42:09.920Z,1638625329.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.165196 deg,
      new cmd heading: 40.024045 deg.

2021-12-04T13:42:10.289Z,1638625330.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:10.393Z,1638625330.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 40.024045 deg,
      new cmd heading: 39.852932 deg.

2021-12-04T13:42:10.703Z,1638625330.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:10.758Z,1638625330.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 42.336630 deg,
      approachRate: -0.469258 m/s,
      LOS rate: -0.120684 deg/s,
      cmd update: -0.362053 deg/s,
      cmd heading: 39.852932 deg,
      new cmd heading: 39.720739 deg.

2021-12-04T13:42:11.114Z,1638625331.114 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T13:42:11.126Z,1638625331.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:42:11.131Z,1638625331.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.660000 m, bearing: 37.376868 deg, deltaT: 4.428598 s, deltaX: -1.140000 m, approachRate: -0.257418 m/s, LOS rate: -1.119940 deg/s, posRepo size: 4
2021-12-04T13:42:11.133Z,1638625331.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 39.720739 deg,
      new cmd heading: 39.585767 deg.

2021-12-04T13:42:11.537Z,1638625331.537 [Micromodem](INFO): Nmea in: $SNTTA,0.039293,,,,134210.87*48

2021-12-04T13:42:11.539Z,1638625331.539 [Micromodem](INFO): Nmea in: $CAREV,134211,AUV,2.1.4000*2E

2021-12-04T13:42:11.584Z,1638625331.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 38.468209 deg,
      new cmd heading: 37.015077 deg.

2021-12-04T13:42:11.917Z,1638625331.917 [Micromodem](INFO): Nmea in: $CAREV,134211,COPROC,0.20.0.39330*7F

2021-12-04T13:42:11.932Z,1638625331.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 37.015077 deg,
      new cmd heading: 35.778005 deg.

2021-12-04T13:42:12.370Z,1638625332.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 35.778005 deg,
      new cmd heading: 34.304775 deg.

2021-12-04T13:42:12.748Z,1638625332.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 3.66 m.
2021-12-04T13:42:12.748Z,1638625332.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting latch delay timer at range: 3.66 m.
2021-12-04T13:42:12.748Z,1638625332.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Cable is present.
2021-12-04T13:42:12.750Z,1638625332.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 34.304775 deg,
      new cmd heading: 33.030799 deg.

2021-12-04T13:42:13.177Z,1638625333.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 33.030799 deg,
      new cmd heading: 31.593338 deg.

2021-12-04T13:42:13.590Z,1638625333.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 31.593338 deg,
      new cmd heading: 30.270943 deg.

2021-12-04T13:42:13.956Z,1638625333.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:13.966Z,1638625333.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 30.270943 deg,
      new cmd heading: 28.947296 deg.

2021-12-04T13:42:14.390Z,1638625334.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 28.947296 deg,
      new cmd heading: 27.519443 deg.

2021-12-04T13:42:14.736Z,1638625334.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:14.852Z,1638625334.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 27.519443 deg,
      new cmd heading: 25.979981 deg.

2021-12-04T13:42:15.152Z,1638625335.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:15.215Z,1638625335.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.660000 m,
      bearing: 37.376868 deg,
      approachRate: -0.257418 m/s,
      LOS rate: -1.119940 deg/s,
      cmd update: -3.359819 deg/s,
      cmd heading: 25.979981 deg,
      new cmd heading: 24.745725 deg.

2021-12-04T13:42:15.594Z,1638625335.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:42:15.601Z,1638625335.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.300000 m, bearing: 36.371177 deg, deltaT: 4.467903 s, deltaX: -0.360000 m, approachRate: -0.080575 m/s, LOS rate: -0.225092 deg/s, posRepo size: 4
2021-12-04T13:42:15.605Z,1638625335.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 24.745725 deg,
      new cmd heading: 23.450632 deg.

2021-12-04T13:42:15.970Z,1638625335.970 [DDM](ERROR): Could not parse whisker state
2021-12-04T13:42:15.992Z,1638625335.992 [Micromodem](INFO): Nmea in: $SNTTA,0.001866,,,,134215.32*48

2021-12-04T13:42:15.993Z,1638625335.993 [Micromodem](INFO): Nmea in: $CAREV,134216,AUV,2.1.4000*29

2021-12-04T13:42:16.037Z,1638625336.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 24.485429 deg,
      new cmd heading: 24.190537 deg.

2021-12-04T13:42:16.375Z,1638625336.375 [Micromodem](INFO): Nmea in: $CAREV,134216,COPROC,0.20.0.39330*78

2021-12-04T13:42:16.413Z,1638625336.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 24.190537 deg,
      new cmd heading: 23.937690 deg.

2021-12-04T13:42:16.787Z,1638625336.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 23.937690 deg,
      new cmd heading: 23.684602 deg.

2021-12-04T13:42:17.233Z,1638625337.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 23.684602 deg,
      new cmd heading: 23.387062 deg.

2021-12-04T13:42:17.592Z,1638625337.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 23.387062 deg,
      new cmd heading: 23.141225 deg.

2021-12-04T13:42:18.012Z,1638625338.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 23.141225 deg,
      new cmd heading: 22.858648 deg.

2021-12-04T13:42:18.421Z,1638625338.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:18.424Z,1638625338.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 22.858648 deg,
      new cmd heading: 22.578706 deg.

2021-12-04T13:42:18.798Z,1638625338.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 22.578706 deg,
      new cmd heading: 22.326530 deg.

2021-12-04T13:42:19.177Z,1638625339.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:19.290Z,1638625339.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 22.326530 deg,
      new cmd heading: 21.994221 deg.

2021-12-04T13:42:19.587Z,1638625339.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:19.671Z,1638625339.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 36.371177 deg,
      approachRate: -0.080575 m/s,
      LOS rate: -0.225092 deg/s,
      cmd update: -0.675277 deg/s,
      cmd heading: 21.994221 deg,
      new cmd heading: 21.740456 deg.

2021-12-04T13:42:20.002Z,1638625340.002 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:42:20.008Z,1638625340.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.360000 m, bearing: 54.054093 deg, deltaT: 4.408670 s, deltaX: 0.060000 m, approachRate: 0.013610 m/s, LOS rate: 4.010941 deg/s, posRepo size: 4
2021-12-04T13:42:20.010Z,1638625340.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 21.740456 deg,
      new cmd heading: 21.509579 deg.

2021-12-04T13:42:20.434Z,1638625340.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134219.76*53

2021-12-04T13:42:20.436Z,1638625340.436 [Micromodem](INFO): Nmea in: $CAREV,134220,AUV,2.1.4000*2C

2021-12-04T13:42:20.496Z,1638625340.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 25.843257 deg,
      new cmd heading: 31.709577 deg.

2021-12-04T13:42:20.808Z,1638625340.808 [Micromodem](INFO): Nmea in: $CAREV,134220,COPROC,0.20.0.39330*7D

2021-12-04T13:42:20.825Z,1638625340.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.709577 deg,
      new cmd heading: 35.649249 deg.

2021-12-04T13:42:21.268Z,1638625341.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 35.649249 deg,
      new cmd heading: 40.699497 deg.

2021-12-04T13:42:21.645Z,1638625341.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 40.699497 deg,
      new cmd heading: 45.495801 deg.

2021-12-04T13:42:22.035Z,1638625342.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 45.495801 deg,
      new cmd heading: 50.172777 deg.

2021-12-04T13:42:22.525Z,1638625342.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:22.528Z,1638625342.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 54.054093 deg,
      approachRate: 0.013610 m/s,
      LOS rate: 4.010941 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 50.172777 deg,
      new cmd heading: 56.086761 deg.

2021-12-04T13:42:22.841Z,1638625342.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 3.36 m. Cable present.
2021-12-04T13:42:22.841Z,1638625342.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T13:42:22.841Z,1638625342.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T13:42:22.842Z,1638625342.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-12-04T13:42:23.201Z,1638625343.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:23.366Z,1638625343.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-12-04T13:42:23.366Z,1638625343.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-12-04T13:42:23.371Z,1638625343.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-12-04T13:42:23.620Z,1638625343.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:23.658Z,1638625343.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T13:42:23.659Z,1638625343.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:42:24.011Z,1638625344.011 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T13:42:24.012Z,1638625344.012 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-12-04T13:42:24.013Z,1638625344.013 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:42:24.016Z,1638625344.016 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T13:42:24.016Z,1638625344.016 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T13:42:24.016Z,1638625344.016 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T13:42:24.016Z,1638625344.016 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T13:42:24.017Z,1638625344.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T13:42:24.017Z,1638625344.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:42:24.017Z,1638625344.017 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T13:42:24.017Z,1638625344.017 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T13:42:24.420Z,1638625344.420 [Micromodem](INFO): Nmea in: $SNTTA,0.019864,,,,134223.78*48

2021-12-04T13:42:24.421Z,1638625344.421 [Micromodem](INFO): Nmea in: $CAREV,134224,AUV,2.1.4000*28

2021-12-04T13:42:24.467Z,1638625344.467 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-12-04T13:42:24.467Z,1638625344.467 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T13:42:24.814Z,1638625344.814 [Micromodem](INFO): Nmea in: $CAREV,134224,COPROC,0.20.0.39330*79

2021-12-04T13:42:26.836Z,1638625346.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:27.639Z,1638625347.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:27.733Z,1638625347.733 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T13:42:27.733Z,1638625347.733 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T13:42:27.734Z,1638625347.734 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T13:42:27.734Z,1638625347.734 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T13:42:28.039Z,1638625348.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:28.080Z,1638625348.080 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-12-04T13:42:28.081Z,1638625348.081 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T13:42:28.083Z,1638625348.083 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T13:42:28.084Z,1638625348.084 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T13:42:28.479Z,1638625348.479 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T13:42:28.479Z,1638625348.479 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T13:42:28.479Z,1638625348.479 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T13:42:28.479Z,1638625348.479 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T13:42:28.860Z,1638625348.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134228.22*50

2021-12-04T13:42:28.861Z,1638625348.861 [Micromodem](INFO): Nmea in: $CAREV,134229,AUV,2.1.4000*25

2021-12-04T13:42:28.925Z,1638625348.925 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T13:42:28.925Z,1638625348.925 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T13:42:29.260Z,1638625349.260 [Micromodem](INFO): Nmea in: $CAREV,134229,COPROC,0.20.0.39330*74

2021-12-04T13:42:29.309Z,1638625349.309 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-12-04T13:42:29.309Z,1638625349.309 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T13:42:29.309Z,1638625349.309 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T13:42:29.309Z,1638625349.309 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T13:42:29.309Z,1638625349.309 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T13:42:29.681Z,1638625349.681 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-12-04T13:42:29.681Z,1638625349.681 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T13:42:29.681Z,1638625349.681 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-12-04T13:42:29.681Z,1638625349.681 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-12-04T13:42:29.681Z,1638625349.681 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T13:42:29.682Z,1638625349.682 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-12-04T13:42:29.682Z,1638625349.682 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-12-04T13:42:31.090Z,1638625351.090 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T13:42:31.090Z,1638625351.090 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T13:42:31.090Z,1638625351.090 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T13:42:31.129Z,1638625351.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:31.154Z,1638625351.154 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T13:42:31.407Z,1638625351.407 [RDI_Pathfinder](INFO): Powering down
2021-12-04T13:42:31.701Z,1638625351.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:32.117Z,1638625352.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:32.216Z,1638625352.216 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T13:42:32.216Z,1638625352.216 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T13:42:32.960Z,1638625352.960 [Micromodem](INFO): Nmea in: $SNTTA,0.017740,,,,134232.28*4A

2021-12-04T13:42:32.961Z,1638625352.961 [Micromodem](INFO): Nmea in: $CAREV,134233,AUV,2.1.4000*2E

2021-12-04T13:42:33.352Z,1638625353.352 [Micromodem](INFO): Nmea in: $CAREV,134233,COPROC,0.20.0.39330*7F

2021-12-04T13:42:35.397Z,1638625355.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:36.141Z,1638625356.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:36.548Z,1638625356.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:37.404Z,1638625357.404 [Micromodem](INFO): Nmea in: $SNTTA,0.033484,,,,134236.72*4C

2021-12-04T13:42:37.405Z,1638625357.405 [Micromodem](INFO): Nmea in: $CAREV,134237,AUV,2.1.4000*2A

2021-12-04T13:42:37.772Z,1638625357.772 [Micromodem](INFO): Nmea in: $CAREV,134237,COPROC,0.20.0.39330*7B

2021-12-04T13:42:39.793Z,1638625359.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:40.589Z,1638625360.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:41.023Z,1638625361.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:41.796Z,1638625361.796 [Micromodem](INFO): Nmea in: $SNTTA,0.006782,,,,134241.17*4C

2021-12-04T13:42:41.797Z,1638625361.797 [Micromodem](INFO): Nmea in: $CAREV,134242,AUV,2.1.4000*28

2021-12-04T13:42:42.220Z,1638625362.220 [Micromodem](INFO): Nmea in: $CAREV,134242,COPROC,0.20.0.39330*79

2021-12-04T13:42:44.233Z,1638625364.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:45.033Z,1638625365.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:45.444Z,1638625365.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:46.277Z,1638625366.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134245.61*5C

2021-12-04T13:42:46.278Z,1638625366.278 [Micromodem](INFO): Nmea in: $CAREV,134246,AUV,2.1.4000*2C

2021-12-04T13:42:46.660Z,1638625366.660 [Micromodem](INFO): Nmea in: $CAREV,134246,COPROC,0.20.0.39330*7D

2021-12-04T13:42:48.716Z,1638625368.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:49.477Z,1638625369.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:49.883Z,1638625369.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:50.712Z,1638625370.712 [Micromodem](INFO): Nmea in: $SNTTA,0.028056,,,,134250.06*4E

2021-12-04T13:42:50.713Z,1638625370.713 [Micromodem](INFO): Nmea in: $CAREV,134251,AUV,2.1.4000*2A

2021-12-04T13:42:51.100Z,1638625371.100 [Micromodem](INFO): Nmea in: $CAREV,134251,COPROC,0.20.0.39330*7B

2021-12-04T13:42:53.105Z,1638625373.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:53.933Z,1638625373.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:54.336Z,1638625374.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:55.164Z,1638625375.164 [Micromodem](INFO): Nmea in: $SNTTA,0.024492,,,,134254.51*48

2021-12-04T13:42:55.165Z,1638625375.165 [Micromodem](INFO): Nmea in: $CAREV,134255,AUV,2.1.4000*2E

2021-12-04T13:42:55.560Z,1638625375.560 [Micromodem](INFO): Nmea in: $CAREV,134255,COPROC,0.20.0.39330*7F

2021-12-04T13:42:57.593Z,1638625377.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:42:58.397Z,1638625378.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:42:58.783Z,1638625378.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:42:59.612Z,1638625379.612 [Micromodem](INFO): Nmea in: $SNTTA,0.034922,,,,134258.98*46

2021-12-04T13:42:59.613Z,1638625379.613 [Micromodem](INFO): Nmea in: $CAREV,134300,AUV,2.1.4000*2F

2021-12-04T13:43:00.001Z,1638625380.001 [Micromodem](INFO): Nmea in: $CAREV,134300,COPROC,0.20.0.39330*7E

2021-12-04T13:43:01.992Z,1638625381.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:02.789Z,1638625382.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:03.187Z,1638625383.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:04.060Z,1638625384.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134303.37*5C

2021-12-04T13:43:04.061Z,1638625384.061 [Micromodem](INFO): Nmea in: $CAREV,134304,AUV,2.1.4000*2B

2021-12-04T13:43:04.440Z,1638625384.440 [Micromodem](INFO): Nmea in: $CAREV,134304,COPROC,0.20.0.39330*7A

2021-12-04T13:43:06.467Z,1638625386.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:07.253Z,1638625387.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:07.655Z,1638625387.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:08.492Z,1638625388.492 [Micromodem](INFO): Nmea in: $SNTTA,0.006408,,,,134307.83*43

2021-12-04T13:43:08.494Z,1638625388.494 [Micromodem](INFO): Nmea in: $CAREV,134308,AUV,2.1.4000*27

2021-12-04T13:43:08.888Z,1638625388.888 [Micromodem](INFO): Nmea in: $CAREV,134308,COPROC,0.20.0.39330*76

2021-12-04T13:43:10.925Z,1638625390.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:11.697Z,1638625391.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:12.090Z,1638625392.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:15.394Z,1638625395.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:16.157Z,1638625396.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:16.601Z,1638625396.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:17.415Z,1638625397.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134316.74*5F

2021-12-04T13:43:17.416Z,1638625397.416 [Micromodem](INFO): Nmea in: $CAREV,134317,AUV,2.1.4000*29

2021-12-04T13:43:17.792Z,1638625397.792 [Micromodem](INFO): Nmea in: $CAREV,134317,COPROC,0.20.0.39330*78

2021-12-04T13:43:19.809Z,1638625399.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:20.633Z,1638625400.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:21.018Z,1638625401.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:21.834Z,1638625401.834 [Micromodem](INFO): Nmea in: $SNTTA,0.006932,,,,134321.21*4B

2021-12-04T13:43:21.836Z,1638625401.836 [Micromodem](INFO): Nmea in: $CAREV,134322,AUV,2.1.4000*2F

2021-12-04T13:43:22.200Z,1638625402.200 [Micromodem](INFO): Nmea in: $CAREV,134322,COPROC,0.20.0.39330*7E

2021-12-04T13:43:23.945Z,1638625403.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:24.645Z,1638625404.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:25.055Z,1638625405.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:25.892Z,1638625405.892 [Micromodem](INFO): Nmea in: $SNTTA,,0.097487,,,134325.23*46

2021-12-04T13:43:25.893Z,1638625405.893 [Micromodem](INFO): Nmea in: $CAREV,134326,AUV,2.1.4000*2B

2021-12-04T13:43:26.272Z,1638625406.272 [Micromodem](INFO): Nmea in: $CAREV,134326,COPROC,0.20.0.39330*7A

2021-12-04T13:43:28.302Z,1638625408.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:29.090Z,1638625409.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:29.499Z,1638625409.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:30.349Z,1638625410.349 [Micromodem](INFO): Nmea in: $SNTTA,0.020356,,,,134329.67*4D

2021-12-04T13:43:30.352Z,1638625410.352 [Micromodem](INFO): Nmea in: $CAREV,134330,AUV,2.1.4000*2C

2021-12-04T13:43:30.724Z,1638625410.724 [Micromodem](INFO): Nmea in: $CAREV,134330,COPROC,0.20.0.39330*7D

2021-12-04T13:43:32.769Z,1638625412.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:33.499Z,1638625413.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:34.012Z,1638625414.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:34.764Z,1638625414.764 [Micromodem](INFO): Nmea in: $SNTTA,0.058690,,,,134334.08*48

2021-12-04T13:43:34.765Z,1638625414.765 [Micromodem](INFO): Nmea in: $CAREV,134335,AUV,2.1.4000*29

2021-12-04T13:43:35.167Z,1638625415.167 [Micromodem](INFO): Nmea in: $CAREV,134335,COPROC,0.20.0.39330*78

2021-12-04T13:43:37.190Z,1638625417.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:37.985Z,1638625417.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:38.399Z,1638625418.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:39.220Z,1638625419.220 [Micromodem](INFO): Nmea in: $SNTTA,0.012182,,,,134338.57*44

2021-12-04T13:43:39.221Z,1638625419.221 [Micromodem](INFO): Nmea in: $CAREV,134339,AUV,2.1.4000*25

2021-12-04T13:43:39.600Z,1638625419.600 [Micromodem](INFO): Nmea in: $CAREV,134339,COPROC,0.20.0.39330*74

2021-12-04T13:43:41.639Z,1638625421.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:42.393Z,1638625422.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:42.832Z,1638625422.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:43.620Z,1638625423.620 [Micromodem](INFO): Nmea in: $SNTTA,0.019356,,,,134342.97*45

2021-12-04T13:43:43.621Z,1638625423.621 [Micromodem](INFO): Nmea in: $CAREV,134344,AUV,2.1.4000*2F

2021-12-04T13:43:44.120Z,1638625424.120 [Micromodem](INFO): Nmea in: $CAREV,134344,COPROC,0.20.0.39330*7E

2021-12-04T13:43:46.077Z,1638625426.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:46.865Z,1638625426.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:47.276Z,1638625427.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:48.104Z,1638625428.104 [Micromodem](INFO): Nmea in: $SNTTA,0.016243,,,,134347.45*45

2021-12-04T13:43:48.105Z,1638625428.105 [Micromodem](INFO): Nmea in: $CAREV,134348,AUV,2.1.4000*23

2021-12-04T13:43:48.500Z,1638625428.500 [Micromodem](INFO): Nmea in: $CAREV,134348,COPROC,0.20.0.39330*72

2021-12-04T13:43:50.593Z,1638625430.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:51.313Z,1638625431.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:51.727Z,1638625431.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:52.536Z,1638625432.536 [Micromodem](INFO): Nmea in: $SNTTA,0.059235,,,,134351.90*40

2021-12-04T13:43:52.539Z,1638625432.539 [Micromodem](INFO): Nmea in: $CAREV,134352,AUV,2.1.4000*28

2021-12-04T13:43:52.940Z,1638625432.940 [Micromodem](INFO): Nmea in: $CAREV,134352,COPROC,0.20.0.39330*79

2021-12-04T13:43:54.972Z,1638625434.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:43:55.759Z,1638625435.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:43:56.167Z,1638625436.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:43:57.040Z,1638625437.040 [Micromodem](INFO): Nmea in: $SNTTA,0.004375,,,,134356.34*44

2021-12-04T13:43:57.041Z,1638625437.041 [Micromodem](INFO): Nmea in: $CAREV,134357,AUV,2.1.4000*2D

2021-12-04T13:43:57.412Z,1638625437.412 [Micromodem](INFO): Nmea in: $CAREV,134357,COPROC,0.20.0.39330*7C

2021-12-04T13:43:59.427Z,1638625439.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:00.201Z,1638625440.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:00.646Z,1638625440.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:01.449Z,1638625441.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134400.78*53

2021-12-04T13:44:01.451Z,1638625441.451 [Micromodem](INFO): Nmea in: $CAREV,134401,AUV,2.1.4000*29

2021-12-04T13:44:01.828Z,1638625441.828 [Micromodem](INFO): Nmea in: $CAREV,134401,COPROC,0.20.0.39330*78

2021-12-04T13:44:03.822Z,1638625443.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:04.649Z,1638625444.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:05.055Z,1638625445.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:05.916Z,1638625445.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134405.23*58

2021-12-04T13:44:05.917Z,1638625445.917 [Micromodem](INFO): Nmea in: $CAREV,134406,AUV,2.1.4000*2E

2021-12-04T13:44:06.281Z,1638625446.281 [Micromodem](INFO): Nmea in: $CAREV,134406,COPROC,0.20.0.39330*7F

2021-12-04T13:44:08.299Z,1638625448.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:09.085Z,1638625449.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:09.503Z,1638625449.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:10.358Z,1638625450.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134409.67*54

2021-12-04T13:44:10.360Z,1638625450.360 [Micromodem](INFO): Nmea in: $CAREV,134410,AUV,2.1.4000*29

2021-12-04T13:44:10.720Z,1638625450.720 [Micromodem](INFO): Nmea in: $CAREV,134410,COPROC,0.20.0.39330*78

2021-12-04T13:44:12.729Z,1638625452.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:13.505Z,1638625453.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:13.912Z,1638625453.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:14.776Z,1638625454.776 [Micromodem](INFO): Nmea in: $SNTTA,0.016861,,,,134414.09*46

2021-12-04T13:44:14.777Z,1638625454.777 [Micromodem](INFO): Nmea in: $CAREV,134415,AUV,2.1.4000*2C

2021-12-04T13:44:15.160Z,1638625455.160 [Micromodem](INFO): Nmea in: $CAREV,134415,COPROC,0.20.0.39330*7D

2021-12-04T13:44:17.180Z,1638625457.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:17.976Z,1638625457.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:18.403Z,1638625458.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:19.220Z,1638625459.220 [Micromodem](INFO): Nmea in: $SNTTA,0.009841,,,,134418.56*4C

2021-12-04T13:44:19.221Z,1638625459.221 [Micromodem](INFO): Nmea in: $CAREV,134419,AUV,2.1.4000*20

2021-12-04T13:44:19.604Z,1638625459.604 [Micromodem](INFO): Nmea in: $CAREV,134419,COPROC,0.20.0.39330*71

2021-12-04T13:44:21.639Z,1638625461.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:22.413Z,1638625462.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:22.793Z,1638625462.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:23.628Z,1638625463.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134422.99*5C

2021-12-04T13:44:23.629Z,1638625463.629 [Micromodem](INFO): Nmea in: $CAREV,134424,AUV,2.1.4000*2E

2021-12-04T13:44:24.026Z,1638625464.026 [Micromodem](INFO): Nmea in: $CAREV,134424,COPROC,0.20.0.39330*7F

2021-12-04T13:44:26.086Z,1638625466.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:26.869Z,1638625466.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:27.271Z,1638625467.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:28.100Z,1638625468.100 [Micromodem](INFO): Nmea in: $SNTTA,0.001911,,,,134427.45*4E

2021-12-04T13:44:28.101Z,1638625468.101 [Micromodem](INFO): Nmea in: $CAREV,134428,AUV,2.1.4000*22

2021-12-04T13:44:28.492Z,1638625468.492 [Micromodem](INFO): Nmea in: $CAREV,134428,COPROC,0.20.0.39330*73

2021-12-04T13:44:30.572Z,1638625470.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:31.304Z,1638625471.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:31.719Z,1638625471.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:32.569Z,1638625472.569 [Micromodem](INFO): Nmea in: $SNTTA,0.011304,,,,134431.89*46

2021-12-04T13:44:32.580Z,1638625472.580 [Micromodem](INFO): Nmea in: $CAREV,134432,AUV,2.1.4000*29

2021-12-04T13:44:32.904Z,1638625472.904 [Micromodem](INFO): Nmea in: $CAREV,134432,COPROC,0.20.0.39330*78

2021-12-04T13:44:34.669Z,1638625474.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:35.370Z,1638625475.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:35.763Z,1638625475.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:36.600Z,1638625476.600 [Micromodem](INFO): Nmea in: $SNTTA,0.064483,,,,134435.95*45

2021-12-04T13:44:36.601Z,1638625476.601 [Micromodem](INFO): Nmea in: $CAREV,134437,AUV,2.1.4000*2C

2021-12-04T13:44:36.984Z,1638625476.984 [Micromodem](INFO): Nmea in: $CAREV,134437,COPROC,0.20.0.39330*7D

2021-12-04T13:44:38.685Z,1638625478.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:39.397Z,1638625479.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:39.791Z,1638625479.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:40.656Z,1638625480.656 [Micromodem](INFO): Nmea in: $SNTTA,0.011073,,,,134439.98*4D

2021-12-04T13:44:40.657Z,1638625480.657 [Micromodem](INFO): Nmea in: $CAREV,134441,AUV,2.1.4000*2D

2021-12-04T13:44:41.020Z,1638625481.020 [Micromodem](INFO): Nmea in: $CAREV,134441,COPROC,0.20.0.39330*7C

2021-12-04T13:44:43.008Z,1638625483.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:43.804Z,1638625483.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:44.206Z,1638625484.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:45.064Z,1638625485.064 [Micromodem](INFO): Nmea in: $SNTTA,0.070926,,,,134444.39*42

2021-12-04T13:44:45.065Z,1638625485.065 [Micromodem](INFO): Nmea in: $CAREV,134445,AUV,2.1.4000*29

2021-12-04T13:44:45.464Z,1638625485.464 [Micromodem](INFO): Nmea in: $CAREV,134445,COPROC,0.20.0.39330*78

2021-12-04T13:44:47.500Z,1638625487.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:48.273Z,1638625488.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:48.686Z,1638625488.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:49.527Z,1638625489.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134448.85*5D

2021-12-04T13:44:49.528Z,1638625489.528 [Micromodem](INFO): Nmea in: $CAREV,134449,AUV,2.1.4000*25

2021-12-04T13:44:49.912Z,1638625489.912 [Micromodem](INFO): Nmea in: $CAREV,134449,COPROC,0.20.0.39330*74

2021-12-04T13:44:51.944Z,1638625491.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:52.718Z,1638625492.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:53.096Z,1638625493.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:53.932Z,1638625493.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134453.30*59

2021-12-04T13:44:53.933Z,1638625493.933 [Micromodem](INFO): Nmea in: $CAREV,134454,AUV,2.1.4000*29

2021-12-04T13:44:54.324Z,1638625494.324 [Micromodem](INFO): Nmea in: $CAREV,134454,COPROC,0.20.0.39330*78

2021-12-04T13:44:56.408Z,1638625496.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:44:57.161Z,1638625497.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:44:57.587Z,1638625497.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:44:58.416Z,1638625498.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134457.74*5D

2021-12-04T13:44:58.419Z,1638625498.419 [Micromodem](INFO): Nmea in: $CAREV,134458,AUV,2.1.4000*25

2021-12-04T13:44:58.792Z,1638625498.792 [Micromodem](INFO): Nmea in: $CAREV,134458,COPROC,0.20.0.39330*74

2021-12-04T13:45:00.844Z,1638625500.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:01.609Z,1638625501.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:02.012Z,1638625502.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:02.828Z,1638625502.828 [Micromodem](INFO): Nmea in: $SNTTA,0.030853,0.415655,,,134502.19*5C

2021-12-04T13:45:02.829Z,1638625502.829 [Micromodem](INFO): Nmea in: $CAREV,134503,AUV,2.1.4000*2A

2021-12-04T13:45:03.208Z,1638625503.208 [Micromodem](INFO): Nmea in: $CAREV,134503,COPROC,0.20.0.39330*7B

2021-12-04T13:45:04.968Z,1638625504.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:05.656Z,1638625505.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:06.055Z,1638625506.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:06.880Z,1638625506.880 [Micromodem](INFO): Nmea in: $SNTTA,0.349367,0.349411,,,134506.24*5B

2021-12-04T13:45:06.881Z,1638625506.881 [Micromodem](INFO): Nmea in: $CAREV,134507,AUV,2.1.4000*2E

2021-12-04T13:45:07.276Z,1638625507.276 [Micromodem](INFO): Nmea in: $CAREV,134507,COPROC,0.20.0.39330*7F

2021-12-04T13:45:09.296Z,1638625509.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:10.105Z,1638625510.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:10.507Z,1638625510.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:11.318Z,1638625511.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134510.69*53

2021-12-04T13:45:11.321Z,1638625511.321 [Micromodem](INFO): Nmea in: $CAREV,134511,AUV,2.1.4000*29

2021-12-04T13:45:11.716Z,1638625511.716 [Micromodem](INFO): Nmea in: $CAREV,134511,COPROC,0.20.0.39330*78

2021-12-04T13:45:12.121Z,1638625512.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:13.728Z,1638625513.728 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:45:15.065Z,1638625515.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:15.757Z,1638625515.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:16.156Z,1638625516.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:16.984Z,1638625516.984 [Micromodem](INFO): Nmea in: $SNTTA,0.057520,,,,134516.34*46

2021-12-04T13:45:16.985Z,1638625516.985 [Micromodem](INFO): Nmea in: $CAREV,134517,AUV,2.1.4000*2F

2021-12-04T13:45:17.404Z,1638625517.404 [Micromodem](INFO): Nmea in: $CAREV,134517,COPROC,0.20.0.39330*7E

2021-12-04T13:45:19.436Z,1638625519.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:20.193Z,1638625520.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:20.632Z,1638625520.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:21.432Z,1638625521.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134520.78*50

2021-12-04T13:45:21.433Z,1638625521.433 [Micromodem](INFO): Nmea in: $CAREV,134521,AUV,2.1.4000*2A

2021-12-04T13:45:21.832Z,1638625521.832 [Micromodem](INFO): Nmea in: $CAREV,134521,COPROC,0.20.0.39330*7B

2021-12-04T13:45:23.857Z,1638625523.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:24.627Z,1638625524.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:25.123Z,1638625525.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:25.865Z,1638625525.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134525.21*59

2021-12-04T13:45:25.866Z,1638625525.866 [Micromodem](INFO): Nmea in: $CAREV,134526,AUV,2.1.4000*2D

2021-12-04T13:45:26.268Z,1638625526.268 [Micromodem](INFO): Nmea in: $CAREV,134526,COPROC,0.20.0.39330*7C

2021-12-04T13:45:29.101Z,1638625529.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:29.889Z,1638625529.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:30.295Z,1638625530.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:31.132Z,1638625531.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134530.47*5D

2021-12-04T13:45:31.133Z,1638625531.133 [Micromodem](INFO): Nmea in: $CAREV,134531,AUV,2.1.4000*2B

2021-12-04T13:45:31.512Z,1638625531.512 [Micromodem](INFO): Nmea in: $CAREV,134531,COPROC,0.20.0.39330*7A

2021-12-04T13:45:33.524Z,1638625533.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:34.310Z,1638625534.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:34.712Z,1638625534.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:35.564Z,1638625535.564 [Micromodem](INFO): Nmea in: $SNTTA,0.019272,,,,134534.89*4A

2021-12-04T13:45:35.565Z,1638625535.565 [Micromodem](INFO): Nmea in: $CAREV,134535,AUV,2.1.4000*2F

2021-12-04T13:45:35.972Z,1638625535.972 [Micromodem](INFO): Nmea in: $CAREV,134535,COPROC,0.20.0.39330*7E

2021-12-04T13:45:37.981Z,1638625537.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:38.780Z,1638625538.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:39.200Z,1638625539.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:40.016Z,1638625540.016 [Micromodem](INFO): Nmea in: $SNTTA,0.055419,,,,134539.36*40

2021-12-04T13:45:40.017Z,1638625540.017 [Micromodem](INFO): Nmea in: $CAREV,134540,AUV,2.1.4000*2D

2021-12-04T13:45:40.416Z,1638625540.416 [Micromodem](INFO): Nmea in: $CAREV,134540,COPROC,0.20.0.39330*7C

2021-12-04T13:45:42.456Z,1638625542.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:43.235Z,1638625543.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:43.595Z,1638625543.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:44.430Z,1638625544.430 [Micromodem](INFO): Nmea in: $SNTTA,0.001973,,,,134543.82*42

2021-12-04T13:45:44.432Z,1638625544.432 [Micromodem](INFO): Nmea in: $CAREV,134544,AUV,2.1.4000*29

2021-12-04T13:45:44.825Z,1638625544.825 [Micromodem](INFO): Nmea in: $CAREV,134544,COPROC,0.20.0.39330*78

2021-12-04T13:45:46.902Z,1638625546.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:47.666Z,1638625547.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:48.086Z,1638625548.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:48.909Z,1638625548.909 [Micromodem](INFO): Nmea in: $SNTTA,0.040282,,,,134548.25*44

2021-12-04T13:45:48.912Z,1638625548.912 [Micromodem](INFO): Nmea in: $CAREV,134549,AUV,2.1.4000*24

2021-12-04T13:45:49.292Z,1638625549.292 [Micromodem](INFO): Nmea in: $CAREV,134549,COPROC,0.20.0.39330*75

2021-12-04T13:45:51.366Z,1638625551.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:52.101Z,1638625552.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:52.516Z,1638625552.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:53.359Z,1638625553.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134552.69*55

2021-12-04T13:45:53.360Z,1638625553.360 [Micromodem](INFO): Nmea in: $CAREV,134553,AUV,2.1.4000*2F

2021-12-04T13:45:53.720Z,1638625553.720 [Micromodem](INFO): Nmea in: $CAREV,134553,COPROC,0.20.0.39330*7E

2021-12-04T13:45:55.520Z,1638625555.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:45:56.172Z,1638625556.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:45:56.567Z,1638625556.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:45:57.392Z,1638625557.392 [Micromodem](INFO): Nmea in: $SNTTA,0.063221,,,,134556.75*46

2021-12-04T13:45:57.393Z,1638625557.393 [Micromodem](INFO): Nmea in: $CAREV,134557,AUV,2.1.4000*2B

2021-12-04T13:45:57.776Z,1638625557.776 [Micromodem](INFO): Nmea in: $CAREV,134557,COPROC,0.20.0.39330*7A

2021-12-04T13:45:59.481Z,1638625559.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:00.189Z,1638625560.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:00.631Z,1638625560.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:01.428Z,1638625561.428 [Micromodem](INFO): Nmea in: $SNTTA,0.004349,,,,134600.77*4A

2021-12-04T13:46:01.429Z,1638625561.429 [Micromodem](INFO): Nmea in: $CAREV,134601,AUV,2.1.4000*2B

2021-12-04T13:46:01.820Z,1638625561.820 [Micromodem](INFO): Nmea in: $CAREV,134601,COPROC,0.20.0.39330*7A

2021-12-04T13:46:03.806Z,1638625563.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:04.608Z,1638625564.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:05.020Z,1638625565.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:05.868Z,1638625565.868 [Micromodem](INFO): Nmea in: $SNTTA,0.001941,,,,134605.19*40

2021-12-04T13:46:05.869Z,1638625565.869 [Micromodem](INFO): Nmea in: $CAREV,134606,AUV,2.1.4000*2C

2021-12-04T13:46:06.256Z,1638625566.256 [Micromodem](INFO): Nmea in: $CAREV,134606,COPROC,0.20.0.39330*7D

2021-12-04T13:46:08.297Z,1638625568.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:09.077Z,1638625569.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:09.492Z,1638625569.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:10.328Z,1638625570.328 [Micromodem](INFO): Nmea in: $SNTTA,0.023094,,,,134609.66*45

2021-12-04T13:46:10.333Z,1638625570.333 [Micromodem](INFO): Nmea in: $CAREV,134610,AUV,2.1.4000*2B

2021-12-04T13:46:10.704Z,1638625570.704 [Micromodem](INFO): Nmea in: $CAREV,134610,COPROC,0.20.0.39330*7A

2021-12-04T13:46:12.761Z,1638625572.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:13.521Z,1638625573.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:13.893Z,1638625573.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:14.728Z,1638625574.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134614.11*5B

2021-12-04T13:46:14.729Z,1638625574.729 [Micromodem](INFO): Nmea in: $CAREV,134615,AUV,2.1.4000*2E

2021-12-04T13:46:15.126Z,1638625575.126 [Micromodem](INFO): Nmea in: $CAREV,134615,COPROC,0.20.0.39330*7F

2021-12-04T13:46:17.177Z,1638625577.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:17.965Z,1638625577.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:18.399Z,1638625578.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:19.196Z,1638625579.196 [Micromodem](INFO): Nmea in: $SNTTA,0.008998,,,,134618.55*49

2021-12-04T13:46:19.197Z,1638625579.197 [Micromodem](INFO): Nmea in: $CAREV,134619,AUV,2.1.4000*22

2021-12-04T13:46:19.588Z,1638625579.588 [Micromodem](INFO): Nmea in: $CAREV,134619,COPROC,0.20.0.39330*73

2021-12-04T13:46:21.627Z,1638625581.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:22.409Z,1638625582.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:22.816Z,1638625582.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:23.644Z,1638625583.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134622.99*5E

2021-12-04T13:46:23.645Z,1638625583.645 [Micromodem](INFO): Nmea in: $CAREV,134624,AUV,2.1.4000*2C

2021-12-04T13:46:24.007Z,1638625584.007 [Micromodem](INFO): Nmea in: $CAREV,134624,COPROC,0.20.0.39330*7D

2021-12-04T13:46:25.747Z,1638625585.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:26.457Z,1638625586.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:26.855Z,1638625586.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:27.688Z,1638625587.688 [Micromodem](INFO): Nmea in: $SNTTA,0.084056,,,,134627.04*4E

2021-12-04T13:46:27.689Z,1638625587.689 [Micromodem](INFO): Nmea in: $CAREV,134628,AUV,2.1.4000*20

2021-12-04T13:46:28.084Z,1638625588.084 [Micromodem](INFO): Nmea in: $CAREV,134628,COPROC,0.20.0.39330*71

2021-12-04T13:46:30.119Z,1638625590.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:30.893Z,1638625590.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:31.313Z,1638625591.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:32.136Z,1638625592.136 [Micromodem](INFO): Nmea in: $SNTTA,0.026378,,,,134631.48*46

2021-12-04T13:46:32.137Z,1638625592.137 [Micromodem](INFO): Nmea in: $CAREV,134632,AUV,2.1.4000*2B

2021-12-04T13:46:32.524Z,1638625592.524 [Micromodem](INFO): Nmea in: $CAREV,134632,COPROC,0.20.0.39330*7A

2021-12-04T13:46:34.607Z,1638625594.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:35.333Z,1638625595.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:35.818Z,1638625595.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:36.600Z,1638625596.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134635.92*53

2021-12-04T13:46:36.601Z,1638625596.601 [Micromodem](INFO): Nmea in: $CAREV,134636,AUV,2.1.4000*2F

2021-12-04T13:46:36.964Z,1638625596.964 [Micromodem](INFO): Nmea in: $CAREV,134636,COPROC,0.20.0.39330*7E

2021-12-04T13:46:38.985Z,1638625598.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:39.790Z,1638625599.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:40.189Z,1638625600.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:41.025Z,1638625601.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134640.37*5E

2021-12-04T13:46:41.026Z,1638625601.026 [Micromodem](INFO): Nmea in: $CAREV,134641,AUV,2.1.4000*2F

2021-12-04T13:46:41.416Z,1638625601.416 [Micromodem](INFO): Nmea in: $CAREV,134641,COPROC,0.20.0.39330*7E

2021-12-04T13:46:43.466Z,1638625603.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:44.197Z,1638625604.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:44.643Z,1638625604.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:45.420Z,1638625605.420 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134644.78*51

2021-12-04T13:46:45.421Z,1638625605.421 [Micromodem](INFO): Nmea in: $CAREV,134645,AUV,2.1.4000*2B

2021-12-04T13:46:45.928Z,1638625605.928 [Micromodem](INFO): Nmea in: $CAREV,134645,COPROC,0.20.0.39330*7A

2021-12-04T13:46:47.869Z,1638625607.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:48.665Z,1638625608.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:49.075Z,1638625609.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:49.908Z,1638625609.908 [Micromodem](INFO): Nmea in: $SNTTA,0.033860,,,,134649.25*44

2021-12-04T13:46:49.909Z,1638625609.909 [Micromodem](INFO): Nmea in: $CAREV,134650,AUV,2.1.4000*2F

2021-12-04T13:46:50.292Z,1638625610.292 [Micromodem](INFO): Nmea in: $CAREV,134650,COPROC,0.20.0.39330*7E

2021-12-04T13:46:52.352Z,1638625612.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:53.113Z,1638625613.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:53.523Z,1638625613.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:54.332Z,1638625614.332 [Micromodem](INFO): Nmea in: $SNTTA,,0.050593,,,134653.70*4B

2021-12-04T13:46:54.336Z,1638625614.336 [Micromodem](INFO): Nmea in: $CAREV,134654,AUV,2.1.4000*2B

2021-12-04T13:46:54.740Z,1638625614.740 [Micromodem](INFO): Nmea in: $CAREV,134654,COPROC,0.20.0.39330*7A

2021-12-04T13:46:56.791Z,1638625616.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:46:57.553Z,1638625617.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:46:57.967Z,1638625617.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:46:58.792Z,1638625618.792 [Micromodem](INFO): Nmea in: $SNTTA,0.006837,,,,134658.14*42

2021-12-04T13:46:58.793Z,1638625618.793 [Micromodem](INFO): Nmea in: $CAREV,134659,AUV,2.1.4000*26

2021-12-04T13:46:59.188Z,1638625619.188 [Micromodem](INFO): Nmea in: $CAREV,134659,COPROC,0.20.0.39330*77

2021-12-04T13:47:01.251Z,1638625621.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:01.997Z,1638625621.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:02.404Z,1638625622.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:03.245Z,1638625623.245 [Micromodem](INFO): Nmea in: $SNTTA,0.024440,,,,134702.58*48

2021-12-04T13:47:03.246Z,1638625623.246 [Micromodem](INFO): Nmea in: $CAREV,134703,AUV,2.1.4000*28

2021-12-04T13:47:03.624Z,1638625623.624 [Micromodem](INFO): Nmea in: $CAREV,134703,COPROC,0.20.0.39330*79

2021-12-04T13:47:05.655Z,1638625625.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:06.445Z,1638625626.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:06.846Z,1638625626.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:07.684Z,1638625627.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134707.03*5B

2021-12-04T13:47:07.685Z,1638625627.685 [Micromodem](INFO): Nmea in: $CAREV,134708,AUV,2.1.4000*23

2021-12-04T13:47:07.737Z,1638625627.737 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-12-04T13:47:07.737Z,1638625627.737 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:47:07.738Z,1638625627.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-12-04T13:47:07.738Z,1638625627.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:47:07.738Z,1638625627.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-12-04T13:47:07.743Z,1638625627.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.360000 m 
2021-12-04T13:47:07.743Z,1638625627.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-12-04T13:47:07.743Z,1638625627.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-12-04T13:47:07.743Z,1638625627.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-12-04T13:47:08.072Z,1638625628.072 [Micromodem](INFO): Nmea in: $CAREV,134708,COPROC,0.20.0.39330*72

2021-12-04T13:47:08.098Z,1638625628.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20211204T134708: (41.552319, -70.708603)
2021-12-04T13:47:08.098Z,1638625628.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-12-04T13:47:08.098Z,1638625628.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-12-04T13:47:08.098Z,1638625628.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:47:08.098Z,1638625628.098 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-12-04T13:47:08.099Z,1638625628.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-12-04T13:47:08.099Z,1638625628.099 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-12-04T13:47:08.099Z,1638625628.099 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-12-04T13:47:08.099Z,1638625628.099 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-12-04T13:47:10.093Z,1638625630.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:10.885Z,1638625630.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:11.296Z,1638625631.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:12.128Z,1638625632.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134711.47*5C

2021-12-04T13:47:12.129Z,1638625632.129 [Micromodem](INFO): Nmea in: $CAREV,134712,AUV,2.1.4000*28

2021-12-04T13:47:12.517Z,1638625632.517 [Micromodem](INFO): Nmea in: $CAREV,134712,COPROC,0.20.0.39330*79

2021-12-04T13:47:14.523Z,1638625634.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:15.309Z,1638625635.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:15.715Z,1638625635.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:16.576Z,1638625636.576 [Micromodem](INFO): Nmea in: $SNTTA,0.038795,,,,134715.89*44

2021-12-04T13:47:16.579Z,1638625636.579 [Micromodem](INFO): Nmea in: $CAREV,134716,AUV,2.1.4000*2C

2021-12-04T13:47:16.960Z,1638625636.960 [Micromodem](INFO): Nmea in: $CAREV,134716,COPROC,0.20.0.39330*7D

2021-12-04T13:47:18.981Z,1638625638.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:19.777Z,1638625639.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:20.187Z,1638625640.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:21.016Z,1638625641.016 [Micromodem](INFO): Nmea in: $SNTTA,0.017053,,,,134720.36*46

2021-12-04T13:47:21.017Z,1638625641.017 [Micromodem](INFO): Nmea in: $CAREV,134721,AUV,2.1.4000*28

2021-12-04T13:47:21.416Z,1638625641.416 [Micromodem](INFO): Nmea in: $CAREV,134721,COPROC,0.20.0.39330*79

2021-12-04T13:47:23.448Z,1638625643.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:24.229Z,1638625644.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:24.606Z,1638625644.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:25.436Z,1638625645.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134724.82*53

2021-12-04T13:47:25.437Z,1638625645.437 [Micromodem](INFO): Nmea in: $CAREV,134725,AUV,2.1.4000*2C

2021-12-04T13:47:25.821Z,1638625645.821 [Micromodem](INFO): Nmea in: $CAREV,134725,COPROC,0.20.0.39330*7D

2021-12-04T13:47:27.877Z,1638625647.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:28.657Z,1638625648.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:29.068Z,1638625649.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:29.910Z,1638625649.910 [Micromodem](INFO): Nmea in: $SNTTA,0.004794,,,,134729.24*42

2021-12-04T13:47:29.912Z,1638625649.912 [Micromodem](INFO): Nmea in: $CAREV,134730,AUV,2.1.4000*28

2021-12-04T13:47:29.932Z,1638625649.932 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-12-04T13:42:29.7Z
2021-12-04T13:47:29.932Z,1638625649.932 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-12-04T13:47:29.932Z,1638625649.932 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-12-04T13:47:29.932Z,1638625649.932 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T13:47:29.932Z,1638625649.932 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-12-04T13:47:30.260Z,1638625650.260 [Micromodem](INFO): Nmea in: $CAREV,134730,COPROC,0.20.0.39330*79

2021-12-04T13:47:30.291Z,1638625650.291 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 3.360000 m .
2021-12-04T13:47:30.292Z,1638625650.292 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-12-04T13:47:30.292Z,1638625650.292 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-12-04T13:47:30.292Z,1638625650.292 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-12-04T13:47:30.292Z,1638625650.292 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T13:47:32.373Z,1638625652.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:33.119Z,1638625653.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:33.542Z,1638625653.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:33.580Z,1638625653.580 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-12-04T13:47:33.939Z,1638625653.939 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T13:47:34.360Z,1638625654.360 [Micromodem](INFO): Nmea in: $SNTTA,0.013508,,,,134733.70*49

2021-12-04T13:47:34.361Z,1638625654.361 [Micromodem](INFO): Nmea in: $CAREV,134734,AUV,2.1.4000*2C

2021-12-04T13:47:34.738Z,1638625654.738 [Micromodem](INFO): Nmea in: $CAREV,134734,COPROC,0.20.0.39330*7D

2021-12-04T13:47:36.799Z,1638625656.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:37.557Z,1638625657.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:37.959Z,1638625657.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:38.796Z,1638625658.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134738.14*51

2021-12-04T13:47:38.797Z,1638625658.797 [Micromodem](INFO): Nmea in: $CAREV,134739,AUV,2.1.4000*21

2021-12-04T13:47:39.185Z,1638625659.185 [Micromodem](INFO): Nmea in: $CAREV,134739,COPROC,0.20.0.39330*70

2021-12-04T13:47:41.229Z,1638625661.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:42.001Z,1638625662.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:42.427Z,1638625662.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:43.252Z,1638625663.252 [Micromodem](INFO): Nmea in: $SNTTA,0.024069,,,,134742.59*42

2021-12-04T13:47:43.253Z,1638625663.253 [Micromodem](INFO): Nmea in: $CAREV,134743,AUV,2.1.4000*2C

2021-12-04T13:47:43.632Z,1638625663.632 [Micromodem](INFO): Nmea in: $CAREV,134743,COPROC,0.20.0.39330*7D

2021-12-04T13:47:44.052Z,1638625664.052 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-12-04T13:47:45.670Z,1638625665.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:46.486Z,1638625666.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:46.847Z,1638625666.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:47.665Z,1638625667.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134747.07*5B

2021-12-04T13:47:47.668Z,1638625667.668 [Micromodem](INFO): Nmea in: $CAREV,134748,AUV,2.1.4000*27

2021-12-04T13:47:48.072Z,1638625668.072 [Micromodem](INFO): Nmea in: $CAREV,134748,COPROC,0.20.0.39330*76

2021-12-04T13:47:50.088Z,1638625670.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:50.886Z,1638625670.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:51.295Z,1638625671.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:52.124Z,1638625672.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134751.47*58

2021-12-04T13:47:52.125Z,1638625672.125 [Micromodem](INFO): Nmea in: $CAREV,134752,AUV,2.1.4000*2C

2021-12-04T13:47:52.524Z,1638625672.524 [Micromodem](INFO): Nmea in: $CAREV,134752,COPROC,0.20.0.39330*7D

2021-12-04T13:47:54.608Z,1638625674.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:55.339Z,1638625675.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:47:55.743Z,1638625675.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:47:56.584Z,1638625676.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134755.92*54

2021-12-04T13:47:56.591Z,1638625676.591 [Micromodem](INFO): Nmea in: $CAREV,134756,AUV,2.1.4000*28

2021-12-04T13:47:56.956Z,1638625676.956 [Micromodem](INFO): Nmea in: $CAREV,134756,COPROC,0.20.0.39330*79

2021-12-04T13:47:58.989Z,1638625678.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:47:59.773Z,1638625679.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:00.180Z,1638625680.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:01.020Z,1638625681.020 [Micromodem](INFO): Nmea in: $SNTTA,0.020022,,,,134800.36*49

2021-12-04T13:48:01.021Z,1638625681.021 [Micromodem](INFO): Nmea in: $CAREV,134801,AUV,2.1.4000*25

2021-12-04T13:48:01.424Z,1638625681.424 [Micromodem](INFO): Nmea in: $CAREV,134801,COPROC,0.20.0.39330*74

2021-12-04T13:48:03.431Z,1638625683.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:04.217Z,1638625684.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:04.650Z,1638625684.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:05.452Z,1638625685.452 [Micromodem](INFO): Nmea in: $SNTTA,0.018137,,,,134804.80*4E

2021-12-04T13:48:05.453Z,1638625685.453 [Micromodem](INFO): Nmea in: $CAREV,134805,AUV,2.1.4000*21

2021-12-04T13:48:05.847Z,1638625685.847 [Micromodem](INFO): Nmea in: $CAREV,134805,COPROC,0.20.0.39330*70

2021-12-04T13:48:07.864Z,1638625687.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:08.669Z,1638625688.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:09.075Z,1638625689.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:09.907Z,1638625689.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134809.25*5E

2021-12-04T13:48:09.908Z,1638625689.908 [Micromodem](INFO): Nmea in: $CAREV,134810,AUV,2.1.4000*25

2021-12-04T13:48:10.288Z,1638625690.288 [Micromodem](INFO): Nmea in: $CAREV,134810,COPROC,0.20.0.39330*74

2021-12-04T13:48:12.320Z,1638625692.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:13.117Z,1638625693.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:13.511Z,1638625693.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:14.361Z,1638625694.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134813.70*55

2021-12-04T13:48:14.363Z,1638625694.363 [Micromodem](INFO): Nmea in: $CAREV,134814,AUV,2.1.4000*21

2021-12-04T13:48:14.744Z,1638625694.744 [Micromodem](INFO): Nmea in: $CAREV,134814,COPROC,0.20.0.39330*70

2021-12-04T13:48:16.772Z,1638625696.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:17.553Z,1638625697.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:17.971Z,1638625697.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:18.792Z,1638625698.792 [Micromodem](INFO): Nmea in: $SNTTA,0.052113,,,,134818.14*46

2021-12-04T13:48:18.793Z,1638625698.793 [Micromodem](INFO): Nmea in: $CAREV,134819,AUV,2.1.4000*2C

2021-12-04T13:48:19.172Z,1638625699.172 [Micromodem](INFO): Nmea in: $CAREV,134819,COPROC,0.20.0.39330*7D

2021-12-04T13:48:21.212Z,1638625701.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:22.009Z,1638625702.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:22.411Z,1638625702.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:23.232Z,1638625703.232 [Micromodem](INFO): Nmea in: $SNTTA,0.033547,,,,134822.59*44

2021-12-04T13:48:23.233Z,1638625703.233 [Micromodem](INFO): Nmea in: $CAREV,134823,AUV,2.1.4000*25

2021-12-04T13:48:23.626Z,1638625703.626 [Micromodem](INFO): Nmea in: $CAREV,134823,COPROC,0.20.0.39330*74

2021-12-04T13:48:25.660Z,1638625705.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:26.437Z,1638625706.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:26.839Z,1638625706.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:27.684Z,1638625707.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134827.02*57

2021-12-04T13:48:27.686Z,1638625707.686 [Micromodem](INFO): Nmea in: $CAREV,134828,AUV,2.1.4000*2E

2021-12-04T13:48:27.747Z,1638625707.747 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T13:48:28.064Z,1638625708.064 [Micromodem](INFO): Nmea in: $CAREV,134828,COPROC,0.20.0.39330*7F

2021-12-04T13:48:30.092Z,1638625710.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:30.878Z,1638625710.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:31.303Z,1638625711.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:32.126Z,1638625712.126 [Micromodem](INFO): Nmea in: $SNTTA,0.029664,,,,134831.46*41

2021-12-04T13:48:32.128Z,1638625712.128 [Micromodem](INFO): Nmea in: $CAREV,134832,AUV,2.1.4000*25

2021-12-04T13:48:32.512Z,1638625712.512 [Micromodem](INFO): Nmea in: $CAREV,134832,COPROC,0.20.0.39330*74

2021-12-04T13:48:34.599Z,1638625714.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:35.329Z,1638625715.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:35.736Z,1638625715.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:36.592Z,1638625716.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134835.91*5E

2021-12-04T13:48:36.593Z,1638625716.593 [Micromodem](INFO): Nmea in: $CAREV,134836,AUV,2.1.4000*21

2021-12-04T13:48:36.948Z,1638625716.948 [Micromodem](INFO): Nmea in: $CAREV,134836,COPROC,0.20.0.39330*70

2021-12-04T13:48:38.976Z,1638625718.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:39.769Z,1638625719.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:40.187Z,1638625720.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:41.004Z,1638625721.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134840.35*52

2021-12-04T13:48:41.005Z,1638625721.005 [Micromodem](INFO): Nmea in: $CAREV,134841,AUV,2.1.4000*21

2021-12-04T13:48:41.424Z,1638625721.424 [Micromodem](INFO): Nmea in: $CAREV,134841,COPROC,0.20.0.39330*70

2021-12-04T13:48:43.454Z,1638625723.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:44.221Z,1638625724.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:44.642Z,1638625724.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:45.456Z,1638625725.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134844.81*59

2021-12-04T13:48:45.457Z,1638625725.457 [Micromodem](INFO): Nmea in: $CAREV,134845,AUV,2.1.4000*25

2021-12-04T13:48:45.848Z,1638625725.848 [Micromodem](INFO): Nmea in: $CAREV,134845,COPROC,0.20.0.39330*74

2021-12-04T13:48:47.881Z,1638625727.881 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 12.84 m. Transitioning DDM to standby.
2021-12-04T13:48:47.881Z,1638625727.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:48.657Z,1638625728.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:49.075Z,1638625729.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:49.920Z,1638625729.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134849.24*5B

2021-12-04T13:48:49.921Z,1638625729.921 [Micromodem](INFO): Nmea in: $CAREV,134850,AUV,2.1.4000*21

2021-12-04T13:48:49.940Z,1638625729.940 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-12-04T13:48:50.288Z,1638625730.288 [Micromodem](INFO): Nmea in: $CAREV,134850,COPROC,0.20.0.39330*70

2021-12-04T13:48:50.304Z,1638625730.304 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T13:48:50.304Z,1638625730.304 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-12-04T13:48:50.304Z,1638625730.304 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-12-04T13:48:50.304Z,1638625730.304 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap] Stopped
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T13:48:50.305Z,1638625730.305 [lineCaptureDepth:Lap](INFO): Running loop #7
2021-12-04T13:48:50.306Z,1638625730.306 [lineCaptureDepth:Lap] Running Loop=7
2021-12-04T13:48:50.306Z,1638625730.306 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T13:48:50.306Z,1638625730.306 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T13:48:50.710Z,1638625730.710 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T13:48:50.710Z,1638625730.710 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T13:48:50.710Z,1638625730.710 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T13:48:51.106Z,1638625731.106 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T13:48:51.106Z,1638625731.106 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T13:48:51.106Z,1638625731.106 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T13:48:51.106Z,1638625731.106 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T13:48:51.106Z,1638625731.106 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T13:48:51.107Z,1638625731.107 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T13:48:51.108Z,1638625731.108 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T13:48:51.109Z,1638625731.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:48:51.109Z,1638625731.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T13:48:51.109Z,1638625731.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T13:48:51.109Z,1638625731.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T13:48:51.109Z,1638625731.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T13:48:51.109Z,1638625731.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T13:48:51.111Z,1638625731.111 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T13:48:51.111Z,1638625731.111 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T13:48:51.494Z,1638625731.494 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T13:48:51.494Z,1638625731.494 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T13:48:51.892Z,1638625731.892 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T13:48:51.892Z,1638625731.892 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T13:48:52.276Z,1638625732.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:52.277Z,1638625732.277 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T13:48:52.277Z,1638625732.277 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T13:48:52.742Z,1638625732.742 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T13:48:52.746Z,1638625732.746 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T13:48:52.747Z,1638625732.747 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T13:48:52.748Z,1638625732.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T13:48:52.749Z,1638625732.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T13:48:53.072Z,1638625733.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:53.161Z,1638625733.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T13:48:53.161Z,1638625733.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:48:53.161Z,1638625733.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T13:48:53.162Z,1638625733.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:48:53.162Z,1638625733.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T13:48:53.162Z,1638625733.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T13:48:53.162Z,1638625733.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T13:48:53.167Z,1638625733.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T13:48:53.167Z,1638625733.167 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T13:48:53.167Z,1638625733.167 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:48:53.167Z,1638625733.167 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T13:48:53.167Z,1638625733.167 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:48:53.168Z,1638625733.168 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T13:48:53.168Z,1638625733.168 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T13:48:53.168Z,1638625733.168 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T13:48:53.168Z,1638625733.168 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T13:48:53.479Z,1638625733.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:54.336Z,1638625734.336 [Micromodem](INFO): Nmea in: $SNTTA,0.032597,,,,134853.66*42

2021-12-04T13:48:54.339Z,1638625734.339 [Micromodem](INFO): Nmea in: $CAREV,134854,AUV,2.1.4000*25

2021-12-04T13:48:54.732Z,1638625734.732 [Micromodem](INFO): Nmea in: $CAREV,134854,COPROC,0.20.0.39330*74

2021-12-04T13:48:55.597Z,1638625735.597 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T13:48:55.957Z,1638625735.957 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T13:48:56.406Z,1638625736.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T13:48:56.775Z,1638625736.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:48:56.776Z,1638625736.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T13:48:57.544Z,1638625737.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:48:57.961Z,1638625737.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:48:58.788Z,1638625738.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134858.13*5F

2021-12-04T13:48:58.789Z,1638625738.789 [Micromodem](INFO): Nmea in: $CAREV,134859,AUV,2.1.4000*28

2021-12-04T13:48:59.172Z,1638625739.172 [Micromodem](INFO): Nmea in: $CAREV,134859,COPROC,0.20.0.39330*79

2021-12-04T13:49:01.200Z,1638625741.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:01.993Z,1638625741.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:02.411Z,1638625742.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:03.232Z,1638625743.232 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134902.58*5E

2021-12-04T13:49:03.233Z,1638625743.233 [Micromodem](INFO): Nmea in: $CAREV,134903,AUV,2.1.4000*26

2021-12-04T13:49:03.620Z,1638625743.620 [Micromodem](INFO): Nmea in: $CAREV,134903,COPROC,0.20.0.39330*77

2021-12-04T13:49:05.643Z,1638625745.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:06.433Z,1638625746.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:06.840Z,1638625746.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:07.676Z,1638625747.676 [Micromodem](INFO): Nmea in: $SNTTA,0.037301,,,,134907.02*4C

2021-12-04T13:49:07.677Z,1638625747.677 [Micromodem](INFO): Nmea in: $CAREV,134908,AUV,2.1.4000*2D

2021-12-04T13:49:08.064Z,1638625748.064 [Micromodem](INFO): Nmea in: $CAREV,134908,COPROC,0.20.0.39330*7C

2021-12-04T13:49:10.104Z,1638625750.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:10.882Z,1638625750.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:11.333Z,1638625751.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:12.119Z,1638625752.119 [Micromodem](INFO): Nmea in: $SNTTA,0.023966,,,,134911.47*44

2021-12-04T13:49:12.120Z,1638625752.120 [Micromodem](INFO): Nmea in: $CAREV,134912,AUV,2.1.4000*26

2021-12-04T13:49:12.506Z,1638625752.506 [Micromodem](INFO): Nmea in: $CAREV,134912,COPROC,0.20.0.39330*77

2021-12-04T13:49:14.598Z,1638625754.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:15.313Z,1638625755.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:15.727Z,1638625755.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:16.578Z,1638625756.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134915.90*5C

2021-12-04T13:49:16.590Z,1638625756.590 [Micromodem](INFO): Nmea in: $CAREV,134916,AUV,2.1.4000*22

2021-12-04T13:49:16.952Z,1638625756.952 [Micromodem](INFO): Nmea in: $CAREV,134916,COPROC,0.20.0.39330*73

2021-12-04T13:49:16.965Z,1638625756.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 16.98 m. Transitioning DDM to standby.
2021-12-04T13:49:18.645Z,1638625758.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:19.017Z,1638625759.017 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T13:49:19.375Z,1638625759.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:19.481Z,1638625759.481 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T13:49:19.481Z,1638625759.481 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T13:49:19.481Z,1638625759.481 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T13:49:19.736Z,1638625759.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:19.765Z,1638625759.765 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T13:49:19.765Z,1638625759.765 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T13:49:19.765Z,1638625759.765 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T13:49:20.193Z,1638625760.193 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T13:49:20.193Z,1638625760.193 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T13:49:20.193Z,1638625760.193 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T13:49:20.193Z,1638625760.193 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T13:49:20.193Z,1638625760.193 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T13:49:20.596Z,1638625760.596 [Micromodem](INFO): Nmea in: $SNTTA,0.051121,,,,134919.96*4E

2021-12-04T13:49:20.597Z,1638625760.597 [Micromodem](INFO): Nmea in: $CAREV,134921,AUV,2.1.4000*26

2021-12-04T13:49:20.694Z,1638625760.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T13:49:20.694Z,1638625760.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:49:20.694Z,1638625760.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T13:49:20.695Z,1638625760.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:49:20.695Z,1638625760.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T13:49:20.695Z,1638625760.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T13:49:20.695Z,1638625760.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T13:49:20.695Z,1638625760.695 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T13:49:20.696Z,1638625760.696 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T13:49:20.697Z,1638625760.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-12-04T13:49:20.697Z,1638625760.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T13:49:20.697Z,1638625760.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-12-04T13:49:20.697Z,1638625760.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 17.339998 m 
2021-12-04T13:49:20.697Z,1638625760.697 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-12-04T13:49:20.698Z,1638625760.698 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-12-04T13:49:20.699Z,1638625760.699 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T13:49:20.699Z,1638625760.699 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T13:49:20.699Z,1638625760.699 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T13:49:20.699Z,1638625760.699 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T13:49:20.960Z,1638625760.960 [Micromodem](INFO): Nmea in: $CAREV,134921,COPROC,0.20.0.39330*77

2021-12-04T13:49:20.998Z,1638625760.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-12-04T13:49:20.998Z,1638625760.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T13:49:20.998Z,1638625760.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-12-04T13:49:20.998Z,1638625760.998 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T13:49:21.003Z,1638625761.003 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T13:49:21.415Z,1638625761.415 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T13:49:21.415Z,1638625761.415 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T13:49:21.416Z,1638625761.416 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-12-04T13:49:21.416Z,1638625761.416 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:49:21.416Z,1638625761.416 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-12-04T13:49:21.417Z,1638625761.417 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings at 17.339998 m (mode 0 count ).
2021-12-04T13:49:21.417Z,1638625761.417 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-12-04T13:49:21.417Z,1638625761.417 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-12-04T13:49:21.419Z,1638625761.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T13:49:21.419Z,1638625761.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T13:49:21.419Z,1638625761.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T13:49:21.419Z,1638625761.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T13:49:21.420Z,1638625761.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T13:49:21.420Z,1638625761.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T13:49:21.420Z,1638625761.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T13:49:21.420Z,1638625761.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T13:49:21.420Z,1638625761.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T13:49:21.421Z,1638625761.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-12-04T13:49:21.421Z,1638625761.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T13:49:21.421Z,1638625761.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-12-04T13:49:21.421Z,1638625761.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-12-04T13:49:21.421Z,1638625761.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T13:49:21.421Z,1638625761.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T13:49:21.422Z,1638625761.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1500.00 sec.
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T13:49:21.423Z,1638625761.423 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T13:49:21.424Z,1638625761.424 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T13:49:21.780Z,1638625761.780 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-12-04T13:49:21.780Z,1638625761.780 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:49:21.780Z,1638625761.780 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-12-04T13:49:21.780Z,1638625761.780 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-12-04T13:49:21.787Z,1638625761.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 34.711172 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-12-04T13:49:21.788Z,1638625761.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 17.34 m.
2021-12-04T13:49:21.788Z,1638625761.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 34.711172deg and heading rate command to 0 deg/s.
2021-12-04T13:49:22.740Z,1638625762.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:23.429Z,1638625763.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:23.834Z,1638625763.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:24.397Z,1638625764.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:24.411Z,1638625764.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 35.654923 deg, deltaT: 4.207372 s, deltaX: 0.719999 m, approachRate: 0.171128 m/s, LOS rate: 0.224309 deg/s, posRepo size: 2
2021-12-04T13:49:24.411Z,1638625764.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 18.06 m.
2021-12-04T13:49:24.413Z,1638625764.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 35.654923 deg,
      approachRate: 0.171128 m/s,
      LOS rate: 0.224309 deg/s,
      cmd update: 0.672927 deg/s,
      cmd heading: 34.711172 deg,
      new cmd heading: 34.711172 deg.

2021-12-04T13:49:24.692Z,1638625764.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134924.02*55

2021-12-04T13:49:24.694Z,1638625764.694 [Micromodem](INFO): Nmea in: $CAREV,134925,AUV,2.1.4000*22

2021-12-04T13:49:25.095Z,1638625765.095 [Micromodem](INFO): Nmea in: $CAREV,134925,COPROC,0.20.0.39330*73

2021-12-04T13:49:27.108Z,1638625767.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:27.904Z,1638625767.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:28.325Z,1638625768.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:28.777Z,1638625768.777 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:28.811Z,1638625768.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 33.270640 deg, deltaT: 4.380305 s, deltaX: -0.059998 m, approachRate: -0.013697 m/s, LOS rate: -0.544319 deg/s, posRepo size: 3
2021-12-04T13:49:28.812Z,1638625768.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 18.00 m.
2021-12-04T13:49:28.819Z,1638625768.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.000000 m,
      bearing: 33.270640 deg,
      approachRate: -0.013697 m/s,
      LOS rate: -0.544319 deg/s,
      cmd update: -1.632956 deg/s,
      cmd heading: 37.752894 deg,
      new cmd heading: 38.034081 deg.

2021-12-04T13:49:29.144Z,1638625769.144 [Micromodem](INFO): Nmea in: $SNTTA,0.037805,,,,134928.49*41

2021-12-04T13:49:29.145Z,1638625769.145 [Micromodem](INFO): Nmea in: $CAREV,134929,AUV,2.1.4000*2E

2021-12-04T13:49:29.556Z,1638625769.556 [Micromodem](INFO): Nmea in: $CAREV,134929,COPROC,0.20.0.39330*7F

2021-12-04T13:49:31.559Z,1638625771.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:32.368Z,1638625772.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:32.751Z,1638625772.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:33.179Z,1638625773.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:33.184Z,1638625773.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 36.001193 deg, deltaT: 4.401581 s, deltaX: -0.599998 m, approachRate: -0.136314 m/s, LOS rate: 0.620357 deg/s, posRepo size: 4
2021-12-04T13:49:33.184Z,1638625773.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the capture device at range: 17.40 m.
2021-12-04T13:49:33.185Z,1638625773.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 17.40 m.
2021-12-04T13:49:33.185Z,1638625773.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-12-04T13:49:33.187Z,1638625773.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 30.534401 deg,
      new cmd heading: 29.919720 deg.

2021-12-04T13:49:33.576Z,1638625773.576 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134932.96*5F

2021-12-04T13:49:33.577Z,1638625773.577 [Micromodem](INFO): Nmea in: $CAREV,134934,AUV,2.1.4000*22

2021-12-04T13:49:33.619Z,1638625773.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 31.234949 deg,
      new cmd heading: 32.044986 deg.

2021-12-04T13:49:33.976Z,1638625773.976 [Micromodem](INFO): Nmea in: $CAREV,134934,COPROC,0.20.0.39330*73

2021-12-04T13:49:33.995Z,1638625773.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 32.044986 deg,
      new cmd heading: 32.744289 deg.

2021-12-04T13:49:34.420Z,1638625774.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 32.744289 deg,
      new cmd heading: 33.533705 deg.

2021-12-04T13:49:34.828Z,1638625774.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 33.533705 deg,
      new cmd heading: 34.293989 deg.

2021-12-04T13:49:35.198Z,1638625775.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 34.293989 deg,
      new cmd heading: 34.984143 deg.

2021-12-04T13:49:35.613Z,1638625775.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 34.984143 deg,
      new cmd heading: 35.755257 deg.

2021-12-04T13:49:36.017Z,1638625776.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:36.020Z,1638625776.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 35.755257 deg,
      new cmd heading: 36.514314 deg.

2021-12-04T13:49:36.450Z,1638625776.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 36.514314 deg,
      new cmd heading: 37.313036 deg.

2021-12-04T13:49:36.801Z,1638625776.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:36.919Z,1638625776.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 37.313036 deg,
      new cmd heading: 38.185366 deg.

2021-12-04T13:49:37.191Z,1638625777.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:37.230Z,1638625777.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 36.001193 deg,
      approachRate: -0.136314 m/s,
      LOS rate: 0.620357 deg/s,
      cmd update: 1.861072 deg/s,
      cmd heading: 38.185366 deg,
      new cmd heading: 38.765438 deg.

2021-12-04T13:49:37.636Z,1638625777.636 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:37.642Z,1638625777.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.779997 m, bearing: 36.174516 deg, deltaT: 4.457648 s, deltaX: -1.620005 m, approachRate: -0.363421 m/s, LOS rate: 0.038882 deg/s, posRepo size: 4
2021-12-04T13:49:37.643Z,1638625777.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 15.78 m.
2021-12-04T13:49:37.644Z,1638625777.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 38.765438 deg,
      new cmd heading: 39.532272 deg.

2021-12-04T13:49:38.040Z,1638625778.040 [Micromodem](INFO): Nmea in: $SNTTA,0.020627,,,,134937.39*40

2021-12-04T13:49:38.041Z,1638625778.041 [Micromodem](INFO): Nmea in: $CAREV,134938,AUV,2.1.4000*2E

2021-12-04T13:49:38.088Z,1638625778.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 38.813501 deg,
      new cmd heading: 38.864977 deg.

2021-12-04T13:49:38.427Z,1638625778.427 [Micromodem](INFO): Nmea in: $CAREV,134938,COPROC,0.20.0.39330*7F

2021-12-04T13:49:38.452Z,1638625778.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 38.864977 deg,
      new cmd heading: 38.907958 deg.

2021-12-04T13:49:38.871Z,1638625778.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 15.78 m.
2021-12-04T13:49:38.873Z,1638625778.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 38.907958 deg,
      new cmd heading: 38.957013 deg.

2021-12-04T13:49:39.241Z,1638625779.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 15.78 m.
2021-12-04T13:49:39.243Z,1638625779.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 38.957013 deg,
      new cmd heading: 39.000216 deg.

2021-12-04T13:49:39.659Z,1638625779.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 39.000216 deg,
      new cmd heading: 39.048789 deg.

2021-12-04T13:49:40.045Z,1638625780.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 39.048789 deg,
      new cmd heading: 39.093856 deg.

2021-12-04T13:49:40.447Z,1638625780.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:40.450Z,1638625780.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 39.093856 deg,
      new cmd heading: 39.140998 deg.

2021-12-04T13:49:40.877Z,1638625780.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 15.78 m.
2021-12-04T13:49:40.879Z,1638625780.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 39.140998 deg,
      new cmd heading: 39.190971 deg.

2021-12-04T13:49:41.229Z,1638625781.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:41.366Z,1638625781.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 15.78 m.
2021-12-04T13:49:41.381Z,1638625781.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 39.190971 deg,
      new cmd heading: 39.248036 deg.

2021-12-04T13:49:41.647Z,1638625781.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:41.684Z,1638625781.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 36.174516 deg,
      approachRate: -0.363421 m/s,
      LOS rate: 0.038882 deg/s,
      cmd update: 0.116646 deg/s,
      cmd heading: 39.248036 deg,
      new cmd heading: 39.284901 deg.

2021-12-04T13:49:42.059Z,1638625782.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:42.064Z,1638625782.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 35.568644 deg, deltaT: 4.423015 s, deltaX: -2.039998 m, approachRate: -0.461223 m/s, LOS rate: -0.136982 deg/s, posRepo size: 4
2021-12-04T13:49:42.065Z,1638625782.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 13.74 m.
2021-12-04T13:49:42.083Z,1638625782.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 39.284901 deg,
      new cmd heading: 39.329379 deg.

2021-12-04T13:49:42.476Z,1638625782.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134941.81*5D

2021-12-04T13:49:42.477Z,1638625782.477 [Micromodem](INFO): Nmea in: $CAREV,134942,AUV,2.1.4000*23

2021-12-04T13:49:42.522Z,1638625782.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 39.128206 deg,
      new cmd heading: 38.940751 deg.

2021-12-04T13:49:42.875Z,1638625782.875 [Micromodem](INFO): Nmea in: $CAREV,134942,COPROC,0.20.0.39330*72

2021-12-04T13:49:42.908Z,1638625782.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 38.940751 deg,
      new cmd heading: 38.781933 deg.

2021-12-04T13:49:43.300Z,1638625783.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 38.781933 deg,
      new cmd heading: 38.627643 deg.

2021-12-04T13:49:43.696Z,1638625783.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 38.627643 deg,
      new cmd heading: 38.457606 deg.

2021-12-04T13:49:44.087Z,1638625784.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 38.457606 deg,
      new cmd heading: 38.297383 deg.

2021-12-04T13:49:44.517Z,1638625784.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 38.297383 deg,
      new cmd heading: 38.120567 deg.

2021-12-04T13:49:44.919Z,1638625784.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:44.922Z,1638625784.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 38.120567 deg,
      new cmd heading: 37.953964 deg.

2021-12-04T13:49:45.315Z,1638625785.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 37.953964 deg,
      new cmd heading: 37.792688 deg.

2021-12-04T13:49:45.681Z,1638625785.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:45.808Z,1638625785.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 37.792688 deg,
      new cmd heading: 37.591718 deg.

2021-12-04T13:49:46.107Z,1638625786.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:46.135Z,1638625786.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 35.568644 deg,
      approachRate: -0.461223 m/s,
      LOS rate: -0.136982 deg/s,
      cmd update: -0.410945 deg/s,
      cmd heading: 37.591718 deg,
      new cmd heading: 37.455429 deg.

2021-12-04T13:49:46.518Z,1638625786.518 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:46.550Z,1638625786.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 36.262376 deg, deltaT: 4.458520 s, deltaX: -2.219997 m, approachRate: -0.497923 m/s, LOS rate: 0.155597 deg/s, posRepo size: 4
2021-12-04T13:49:46.565Z,1638625786.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 37.455429 deg,
      new cmd heading: 37.295891 deg.

2021-12-04T13:49:46.940Z,1638625786.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134946.27*56

2021-12-04T13:49:46.941Z,1638625786.941 [Micromodem](INFO): Nmea in: $CAREV,134947,AUV,2.1.4000*26

2021-12-04T13:49:47.012Z,1638625787.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 37.636647 deg,
      new cmd heading: 37.862555 deg.

2021-12-04T13:49:47.341Z,1638625787.341 [Micromodem](INFO): Nmea in: $CAREV,134947,COPROC,0.20.0.39330*77

2021-12-04T13:49:47.402Z,1638625787.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 37.862555 deg,
      new cmd heading: 38.046667 deg.

2021-12-04T13:49:47.759Z,1638625787.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 38.046667 deg,
      new cmd heading: 38.213178 deg.

2021-12-04T13:49:48.155Z,1638625788.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 38.213178 deg,
      new cmd heading: 38.398059 deg.

2021-12-04T13:49:48.608Z,1638625788.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 38.398059 deg,
      new cmd heading: 38.609601 deg.

2021-12-04T13:49:48.977Z,1638625788.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 38.609601 deg,
      new cmd heading: 38.781764 deg.

2021-12-04T13:49:49.381Z,1638625789.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:49.384Z,1638625789.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 38.781764 deg,
      new cmd heading: 38.971861 deg.

2021-12-04T13:49:49.784Z,1638625789.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 38.971861 deg,
      new cmd heading: 39.158611 deg.

2021-12-04T13:49:50.141Z,1638625790.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:50.229Z,1638625790.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 39.158611 deg,
      new cmd heading: 39.362674 deg.

2021-12-04T13:49:50.584Z,1638625790.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:50.641Z,1638625790.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 36.262376 deg,
      approachRate: -0.497923 m/s,
      LOS rate: 0.155597 deg/s,
      cmd update: 0.466791 deg/s,
      cmd heading: 39.362674 deg,
      new cmd heading: 39.558824 deg.

2021-12-04T13:49:50.968Z,1638625790.968 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:50.973Z,1638625790.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 34.554812 deg, deltaT: 4.449696 s, deltaX: -2.460002 m, approachRate: -0.552847 m/s, LOS rate: -0.383749 deg/s, posRepo size: 4
2021-12-04T13:49:50.975Z,1638625790.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 39.558824 deg,
      new cmd heading: 39.713582 deg.

2021-12-04T13:49:51.424Z,1638625791.424 [Micromodem](INFO): Nmea in: $SNTTA,0.042009,,,,134950.73*41

2021-12-04T13:49:51.425Z,1638625791.425 [Micromodem](INFO): Nmea in: $CAREV,134951,AUV,2.1.4000*21

2021-12-04T13:49:51.432Z,1638625791.432 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:49:51.445Z,1638625791.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 39.177146 deg,
      new cmd heading: 38.633419 deg.

2021-12-04T13:49:51.776Z,1638625791.776 [Micromodem](INFO): Nmea in: $CAREV,134951,COPROC,0.20.0.39330*70

2021-12-04T13:49:51.811Z,1638625791.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 38.633419 deg,
      new cmd heading: 38.212071 deg.

2021-12-04T13:49:52.187Z,1638625792.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 38.212071 deg,
      new cmd heading: 37.779294 deg.

2021-12-04T13:49:52.642Z,1638625792.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 37.779294 deg,
      new cmd heading: 37.255173 deg.

2021-12-04T13:49:53.007Z,1638625793.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 37.255173 deg,
      new cmd heading: 36.835655 deg.

2021-12-04T13:49:53.432Z,1638625793.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 36.835655 deg,
      new cmd heading: 36.345830 deg.

2021-12-04T13:49:53.800Z,1638625793.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:53.804Z,1638625793.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 36.345830 deg,
      new cmd heading: 35.918914 deg.

2021-12-04T13:49:54.211Z,1638625794.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 35.918914 deg,
      new cmd heading: 35.449592 deg.

2021-12-04T13:49:54.617Z,1638625794.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:54.738Z,1638625794.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 35.449592 deg,
      new cmd heading: 34.842660 deg.

2021-12-04T13:49:54.999Z,1638625794.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:55.032Z,1638625795.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 34.554812 deg,
      approachRate: -0.552847 m/s,
      LOS rate: -0.383749 deg/s,
      cmd update: -1.151246 deg/s,
      cmd heading: 34.842660 deg,
      new cmd heading: 34.504300 deg.

2021-12-04T13:49:55.451Z,1638625795.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:55.456Z,1638625795.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 34.850419 deg, deltaT: 4.483704 s, deltaX: -2.160000 m, approachRate: -0.481745 m/s, LOS rate: 0.065929 deg/s, posRepo size: 4
2021-12-04T13:49:55.458Z,1638625795.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.504300 deg,
      new cmd heading: 34.015278 deg.

2021-12-04T13:49:55.824Z,1638625795.824 [Micromodem](INFO): Nmea in: $SNTTA,0.047595,,,,134955.20*47

2021-12-04T13:49:55.825Z,1638625795.825 [Micromodem](INFO): Nmea in: $CAREV,134956,AUV,2.1.4000*26

2021-12-04T13:49:55.860Z,1638625795.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.588315 deg,
      new cmd heading: 34.668164 deg.

2021-12-04T13:49:56.216Z,1638625796.216 [Micromodem](INFO): Nmea in: $CAREV,134956,COPROC,0.20.0.39330*77

2021-12-04T13:49:56.250Z,1638625796.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.668164 deg,
      new cmd heading: 34.745228 deg.

2021-12-04T13:49:56.663Z,1638625796.663 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T13:49:56.677Z,1638625796.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.745228 deg,
      new cmd heading: 34.829638 deg.

2021-12-04T13:49:57.036Z,1638625797.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.829638 deg,
      new cmd heading: 34.900549 deg.

2021-12-04T13:49:57.458Z,1638625797.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.900549 deg,
      new cmd heading: 34.984194 deg.

2021-12-04T13:49:57.862Z,1638625797.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 34.984194 deg,
      new cmd heading: 35.064014 deg.

2021-12-04T13:49:58.232Z,1638625798.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:49:58.235Z,1638625798.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 35.064014 deg,
      new cmd heading: 35.137859 deg.

2021-12-04T13:49:58.697Z,1638625798.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 35.137859 deg,
      new cmd heading: 35.229182 deg.

2021-12-04T13:49:59.025Z,1638625799.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:49:59.124Z,1638625799.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 35.229182 deg,
      new cmd heading: 35.312326 deg.

2021-12-04T13:49:59.431Z,1638625799.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:49:59.483Z,1638625799.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 34.850419 deg,
      approachRate: -0.481745 m/s,
      LOS rate: 0.065929 deg/s,
      cmd update: 0.197788 deg/s,
      cmd heading: 35.312326 deg,
      new cmd heading: 35.381481 deg.

2021-12-04T13:49:59.871Z,1638625799.871 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:49:59.876Z,1638625799.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.039999 m, bearing: 25.816799 deg, deltaT: 4.419283 s, deltaX: -1.860000 m, approachRate: -0.420883 m/s, LOS rate: -2.044137 deg/s, posRepo size: 4
2021-12-04T13:49:59.877Z,1638625799.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 35.381481 deg,
      new cmd heading: 35.462347 deg.

2021-12-04T13:50:00.268Z,1638625800.268 [Micromodem](INFO): Nmea in: $SNTTA,0.044110,,,,134959.61*44

2021-12-04T13:50:00.269Z,1638625800.269 [Micromodem](INFO): Nmea in: $CAREV,135000,AUV,2.1.4000*2D

2021-12-04T13:50:00.309Z,1638625800.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 32.874220 deg,
      new cmd heading: 30.213079 deg.

2021-12-04T13:50:00.664Z,1638625800.664 [Micromodem](INFO): Nmea in: $CAREV,135000,COPROC,0.20.0.39330*7C

2021-12-04T13:50:00.723Z,1638625800.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 30.213079 deg,
      new cmd heading: 27.678234 deg.

2021-12-04T13:50:01.079Z,1638625801.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 27.678234 deg,
      new cmd heading: 25.496267 deg.

2021-12-04T13:50:01.506Z,1638625801.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 25.496267 deg,
      new cmd heading: 22.875391 deg.

2021-12-04T13:50:01.891Z,1638625801.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 22.875391 deg,
      new cmd heading: 20.514395 deg.

2021-12-04T13:50:02.294Z,1638625802.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 20.514395 deg,
      new cmd heading: 18.045382 deg.

2021-12-04T13:50:02.712Z,1638625802.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:02.716Z,1638625802.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 18.045382 deg,
      new cmd heading: 15.460662 deg.

2021-12-04T13:50:03.129Z,1638625803.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 15.460662 deg,
      new cmd heading: 12.924371 deg.

2021-12-04T13:50:03.473Z,1638625803.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:03.591Z,1638625803.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 12.924371 deg,
      new cmd heading: 10.118210 deg.

2021-12-04T13:50:03.871Z,1638625803.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:03.925Z,1638625803.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 25.816799 deg,
      approachRate: -0.420883 m/s,
      LOS rate: -2.044137 deg/s,
      cmd update: -6.132411 deg/s,
      cmd heading: 10.118210 deg,
      new cmd heading: 8.042297 deg.

2021-12-04T13:50:04.291Z,1638625804.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:50:04.300Z,1638625804.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 359.884853 deg, deltaT: 4.420089 s, deltaX: -0.899999 m, approachRate: -0.203616 m/s, LOS rate: -5.866839 deg/s, posRepo size: 4
2021-12-04T13:50:04.302Z,1638625804.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 8.042297 deg,
      new cmd heading: 5.751339 deg.

2021-12-04T13:50:04.708Z,1638625804.708 [Micromodem](INFO): Nmea in: $SNTTA,0.048969,,,,135004.06*4F

2021-12-04T13:50:04.709Z,1638625804.709 [Micromodem](INFO): Nmea in: $CAREV,135005,AUV,2.1.4000*28

2021-12-04T13:50:04.777Z,1638625804.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 3.559313 deg,
      new cmd heading: 357.814877 deg.

2021-12-04T13:50:05.107Z,1638625805.107 [Micromodem](INFO): Nmea in: $CAREV,135005,COPROC,0.20.0.39330*79

2021-12-04T13:50:05.123Z,1638625805.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 357.814877 deg,
      new cmd heading: 353.661749 deg.

2021-12-04T13:50:05.536Z,1638625805.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 353.661749 deg,
      new cmd heading: 348.709708 deg.

2021-12-04T13:50:05.931Z,1638625805.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 348.709708 deg,
      new cmd heading: 343.973512 deg.

2021-12-04T13:50:06.382Z,1638625806.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 343.973512 deg,
      new cmd heading: 338.561884 deg.

2021-12-04T13:50:06.755Z,1638625806.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 338.561884 deg,
      new cmd heading: 334.088728 deg.

2021-12-04T13:50:07.128Z,1638625807.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:07.131Z,1638625807.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 334.088728 deg,
      new cmd heading: 329.567188 deg.

2021-12-04T13:50:07.552Z,1638625807.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 329.567188 deg,
      new cmd heading: 324.518572 deg.

2021-12-04T13:50:07.921Z,1638625807.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:08.023Z,1638625808.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 324.518572 deg,
      new cmd heading: 318.940492 deg.

2021-12-04T13:50:08.358Z,1638625808.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:08.395Z,1638625808.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 359.884853 deg,
      approachRate: -0.203616 m/s,
      LOS rate: -5.866839 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 318.940492 deg,
      new cmd heading: 314.407467 deg.

2021-12-04T13:50:08.771Z,1638625808.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:50:08.776Z,1638625808.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 13.883961 deg, deltaT: 4.479766 s, deltaX: 0.599999 m, approachRate: 0.133935 m/s, LOS rate: 3.124967 deg/s, posRepo size: 4
2021-12-04T13:50:08.777Z,1638625808.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 314.407467 deg,
      new cmd heading: 309.835335 deg.

2021-12-04T13:50:09.168Z,1638625809.168 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135008.51*55

2021-12-04T13:50:09.169Z,1638625809.169 [Micromodem](INFO): Nmea in: $CAREV,135009,AUV,2.1.4000*24

2021-12-04T13:50:09.191Z,1638625809.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 317.979407 deg,
      new cmd heading: 321.876928 deg.

2021-12-04T13:50:09.552Z,1638625809.552 [Micromodem](INFO): Nmea in: $CAREV,135009,COPROC,0.20.0.39330*75

2021-12-04T13:50:09.596Z,1638625809.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 321.876928 deg,
      new cmd heading: 325.676912 deg.

2021-12-04T13:50:09.971Z,1638625809.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 325.676912 deg,
      new cmd heading: 329.187455 deg.

2021-12-04T13:50:10.396Z,1638625810.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 329.187455 deg,
      new cmd heading: 333.165628 deg.

2021-12-04T13:50:10.815Z,1638625810.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 333.165628 deg,
      new cmd heading: 337.101754 deg.

2021-12-04T13:50:11.191Z,1638625811.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 337.101754 deg,
      new cmd heading: 340.620876 deg.

2021-12-04T13:50:11.566Z,1638625811.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:11.569Z,1638625811.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 340.620876 deg,
      new cmd heading: 344.170831 deg.

2021-12-04T13:50:11.987Z,1638625811.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 344.170831 deg,
      new cmd heading: 348.084777 deg.

2021-12-04T13:50:12.373Z,1638625812.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:12.491Z,1638625812.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 348.084777 deg,
      new cmd heading: 352.773586 deg.

2021-12-04T13:50:12.784Z,1638625812.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:12.840Z,1638625812.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 13.883961 deg,
      approachRate: 0.133935 m/s,
      LOS rate: 3.124967 deg/s,
      cmd update: 9.374899 deg/s,
      cmd heading: 352.773586 deg,
      new cmd heading: 356.081575 deg.

2021-12-04T13:50:13.198Z,1638625813.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:50:13.212Z,1638625813.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 22.765989 deg, deltaT: 4.431687 s, deltaX: 1.319999 m, approachRate: 0.297855 m/s, LOS rate: 2.004209 deg/s, posRepo size: 4
2021-12-04T13:50:13.212Z,1638625813.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.06 m.
2021-12-04T13:50:13.214Z,1638625813.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 356.081575 deg,
      new cmd heading: 359.526372 deg.

2021-12-04T13:50:13.608Z,1638625813.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135012.96*55

2021-12-04T13:50:13.609Z,1638625813.609 [Micromodem](INFO): Nmea in: $CAREV,135014,AUV,2.1.4000*28

2021-12-04T13:50:13.663Z,1638625813.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 358.290909 deg,
      new cmd heading: 1.006723 deg.

2021-12-04T13:50:13.988Z,1638625813.988 [Micromodem](INFO): Nmea in: $CAREV,135014,COPROC,0.20.0.39330*79

2021-12-04T13:50:14.003Z,1638625814.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 1.006723 deg,
      new cmd heading: 3.076287 deg.

2021-12-04T13:50:14.451Z,1638625814.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 3.076287 deg,
      new cmd heading: 5.767876 deg.

2021-12-04T13:50:14.832Z,1638625814.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 6.06 m.
2021-12-04T13:50:14.834Z,1638625814.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 5.767876 deg,
      new cmd heading: 8.071007 deg.

2021-12-04T13:50:15.239Z,1638625815.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.06 m.
2021-12-04T13:50:15.241Z,1638625815.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 8.071007 deg,
      new cmd heading: 10.513270 deg.

2021-12-04T13:50:15.635Z,1638625815.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 10.513270 deg,
      new cmd heading: 12.889364 deg.

2021-12-04T13:50:16.029Z,1638625816.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:16.037Z,1638625816.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 12.889364 deg,
      new cmd heading: 15.303723 deg.

2021-12-04T13:50:16.428Z,1638625816.428 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T13:50:16.443Z,1638625816.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 15.303723 deg,
      new cmd heading: 17.742781 deg.

2021-12-04T13:50:16.811Z,1638625816.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:16.925Z,1638625816.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 6.06 m.
2021-12-04T13:50:16.931Z,1638625816.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 17.742781 deg,
      new cmd heading: 20.655015 deg.

2021-12-04T13:50:17.214Z,1638625817.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:17.240Z,1638625817.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 6.06 m.
2021-12-04T13:50:17.242Z,1638625817.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 22.765989 deg,
      approachRate: 0.297855 m/s,
      LOS rate: 2.004209 deg/s,
      cmd update: 6.012627 deg/s,
      cmd heading: 20.655015 deg,
      new cmd heading: 22.549534 deg.

2021-12-04T13:50:17.675Z,1638625817.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:50:17.684Z,1638625817.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 327.330942 deg, deltaT: 4.473105 s, deltaX: 2.040002 m, approachRate: 0.456059 m/s, LOS rate: -12.392965 deg/s, posRepo size: 4
2021-12-04T13:50:17.685Z,1638625817.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:18.056Z,1638625818.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135017.40*5B

2021-12-04T13:50:18.057Z,1638625818.057 [Micromodem](INFO): Nmea in: $CAREV,135018,AUV,2.1.4000*24

2021-12-04T13:50:18.078Z,1638625818.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:18.429Z,1638625818.429 [Micromodem](INFO): Nmea in: $CAREV,135018,COPROC,0.20.0.39330*75

2021-12-04T13:50:18.496Z,1638625818.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:18.868Z,1638625818.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.10 m.
2021-12-04T13:50:18.868Z,1638625818.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:19.269Z,1638625819.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.10 m.
2021-12-04T13:50:19.271Z,1638625819.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:19.687Z,1638625819.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:20.103Z,1638625820.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:20.472Z,1638625820.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:20.474Z,1638625820.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:20.939Z,1638625820.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 8.10 m.
2021-12-04T13:50:20.939Z,1638625820.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:21.241Z,1638625821.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:21.313Z,1638625821.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 8.10 m.
2021-12-04T13:50:21.361Z,1638625821.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:21.664Z,1638625821.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:21.731Z,1638625821.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.392965 deg/s. Setting heading cmd to target bearing of 327.330942deg and heading rate command to 0 deg/s.
2021-12-04T13:50:22.077Z,1638625822.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:50:22.082Z,1638625822.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 357.542972 deg, deltaT: 4.401610 s, deltaX: 1.980000 m, approachRate: 0.449836 m/s, LOS rate: 6.863859 deg/s, posRepo size: 4
2021-12-04T13:50:22.083Z,1638625822.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.08 m.
2021-12-04T13:50:22.084Z,1638625822.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 327.330942 deg,
      new cmd heading: 327.330942 deg.

2021-12-04T13:50:22.482Z,1638625822.482 [Micromodem](INFO): Nmea in: $SNTTA,0.011435,0.482064,,,135021.83*5F

2021-12-04T13:50:22.484Z,1638625822.484 [Micromodem](INFO): Nmea in: $CAREV,135022,AUV,2.1.4000*2D

2021-12-04T13:50:22.598Z,1638625822.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.544598 deg,
      new cmd heading: 337.736898 deg.

2021-12-04T13:50:22.872Z,1638625822.872 [Micromodem](INFO): Nmea in: $CAREV,135022,COPROC,0.20.0.39330*7C

2021-12-04T13:50:22.924Z,1638625822.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.736898 deg,
      new cmd heading: 341.639046 deg.

2021-12-04T13:50:23.362Z,1638625823.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 341.639046 deg,
      new cmd heading: 346.901479 deg.

2021-12-04T13:50:23.717Z,1638625823.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 346.901479 deg,
      new cmd heading: 351.160231 deg.

2021-12-04T13:50:24.129Z,1638625824.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.160231 deg,
      new cmd heading: 356.107423 deg.

2021-12-04T13:50:24.567Z,1638625824.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.107423 deg,
      new cmd heading: 1.197031 deg.

2021-12-04T13:50:24.932Z,1638625824.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:24.957Z,1638625824.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.197031 deg,
      new cmd heading: 5.787295 deg.

2021-12-04T13:50:25.362Z,1638625825.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 5.787295 deg,
      new cmd heading: 10.900075 deg.

2021-12-04T13:50:25.698Z,1638625825.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:25.824Z,1638625825.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 10.900075 deg,
      new cmd heading: 16.438567 deg.

2021-12-04T13:50:26.096Z,1638625826.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:26.138Z,1638625826.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 357.542972 deg,
      approachRate: 0.449836 m/s,
      LOS rate: 6.863859 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.438567 deg,
      new cmd heading: 20.215927 deg.

2021-12-04T13:50:26.520Z,1638625826.520 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T13:50:26.598Z,1638625826.598 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-12-04T13:50:26.614Z,1638625826.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 9.363237 deg, deltaT: 4.525562 s, deltaX: 3.600000 m, approachRate: 0.795481 m/s, LOS rate: 2.611888 deg/s, posRepo size: 4
2021-12-04T13:50:26.619Z,1638625826.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.68 m. Rolling out.
2021-12-04T13:50:26.620Z,1638625826.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-12-04T13:50:26.966Z,1638625826.966 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-12-04T13:50:26.966Z,1638625826.966 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T13:50:26.970Z,1638625826.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-12-04T13:50:26.972Z,1638625826.972 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 13.680001 m (mode 4 count ).
2021-12-04T13:50:26.972Z,1638625826.972 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-12-04T13:50:26.972Z,1638625826.972 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T13:50:26.979Z,1638625826.979 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T13:50:27.386Z,1638625827.386 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-12-04T13:50:27.387Z,1638625827.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T13:50:27.387Z,1638625827.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-12-04T13:50:27.387Z,1638625827.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-12-04T13:50:29.381Z,1638625829.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:30.141Z,1638625830.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:30.587Z,1638625830.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:30.988Z,1638625830.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 358.300522 deg, deltaT: 4.376099 s, deltaX: 0.779997 m, approachRate: 0.178240 m/s, LOS rate: -2.527984 deg/s, posRepo size: 4
2021-12-04T13:50:31.416Z,1638625831.416 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135030.73*5E

2021-12-04T13:50:31.417Z,1638625831.417 [Micromodem](INFO): Nmea in: $CAREV,135031,AUV,2.1.4000*2F

2021-12-04T13:50:31.764Z,1638625831.764 [Micromodem](INFO): Nmea in: $CAREV,135031,COPROC,0.20.0.39330*7E

2021-12-04T13:50:33.794Z,1638625833.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:34.615Z,1638625834.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:35.015Z,1638625835.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:35.434Z,1638625835.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Rejecting new target pos. Approach rate out of bounds. range: 40.980000 m, bearing: 2.732620 deg, deltaT: 4.450213 s, deltaX: 26.520000 m, approachRate: 5.959265 m/s, posRepo size: 4
2021-12-04T13:50:35.828Z,1638625835.828 [Micromodem](INFO): Nmea in: $SNTTA,0.044823,,,,135035.20*4A

2021-12-04T13:50:35.829Z,1638625835.829 [Micromodem](INFO): Nmea in: $CAREV,135036,AUV,2.1.4000*28

2021-12-04T13:50:36.216Z,1638625836.216 [Micromodem](INFO): Nmea in: $CAREV,135036,COPROC,0.20.0.39330*79

2021-12-04T13:50:38.241Z,1638625838.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:39.033Z,1638625839.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:39.437Z,1638625839.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:39.859Z,1638625839.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 21.125857 deg, deltaT: 8.875410 s, deltaX: 3.360003 m, approachRate: 0.378574 m/s, LOS rate: 2.571750 deg/s, posRepo size: 4
2021-12-04T13:50:42.722Z,1638625842.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:43.477Z,1638625843.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:43.891Z,1638625843.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:44.304Z,1638625844.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 357.588981 deg, deltaT: 4.440818 s, deltaX: 0.659996 m, approachRate: 0.148620 m/s, LOS rate: -5.300122 deg/s, posRepo size: 4
2021-12-04T13:50:44.720Z,1638625844.720 [Micromodem](INFO): Nmea in: $SNTTA,0.062697,,,,135044.06*4D

2021-12-04T13:50:44.721Z,1638625844.721 [Micromodem](INFO): Nmea in: $CAREV,135045,AUV,2.1.4000*2C

2021-12-04T13:50:45.104Z,1638625845.104 [Micromodem](INFO): Nmea in: $CAREV,135045,COPROC,0.20.0.39330*7D

2021-12-04T13:50:47.140Z,1638625847.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:47.921Z,1638625847.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:48.364Z,1638625848.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:48.781Z,1638625848.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.520002 m, bearing: 25.039012 deg, deltaT: 4.480567 s, deltaX: -0.959995 m, approachRate: -0.214258 m/s, LOS rate: 6.126463 deg/s, posRepo size: 4
2021-12-04T13:50:49.164Z,1638625849.164 [Micromodem](INFO): Nmea in: $SNTTA,0.024548,,,,135048.51*40

2021-12-04T13:50:49.165Z,1638625849.165 [Micromodem](INFO): Nmea in: $CAREV,135049,AUV,2.1.4000*20

2021-12-04T13:50:49.548Z,1638625849.548 [Micromodem](INFO): Nmea in: $CAREV,135049,COPROC,0.20.0.39330*71

2021-12-04T13:50:51.584Z,1638625851.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:52.393Z,1638625852.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:52.771Z,1638625852.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:53.204Z,1638625853.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 88.888512 deg, deltaT: 4.423069 s, deltaX: 1.559996 m, approachRate: 0.352695 m/s, LOS rate: 14.435564 deg/s, posRepo size: 4
2021-12-04T13:50:56.028Z,1638625856.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:50:56.817Z,1638625856.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:50:57.215Z,1638625857.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:50:57.667Z,1638625857.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 348.267357 deg, deltaT: 4.462963 s, deltaX: 0.240002 m, approachRate: 0.053776 m/s, LOS rate: -22.545821 deg/s, posRepo size: 4
2021-12-04T13:50:58.056Z,1638625858.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135057.41*5E

2021-12-04T13:50:58.057Z,1638625858.057 [Micromodem](INFO): Nmea in: $CAREV,135058,AUV,2.1.4000*20

2021-12-04T13:50:58.432Z,1638625858.432 [Micromodem](INFO): Nmea in: $CAREV,135058,COPROC,0.20.0.39330*71

2021-12-04T13:51:00.479Z,1638625860.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:01.257Z,1638625861.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:01.659Z,1638625861.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:02.089Z,1638625862.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 72.361087 deg, deltaT: 4.422885 s, deltaX: -0.960003 m, approachRate: -0.217054 m/s, LOS rate: 19.013324 deg/s, posRepo size: 4
2021-12-04T13:51:02.509Z,1638625862.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135101.85*54

2021-12-04T13:51:02.510Z,1638625862.510 [Micromodem](INFO): Nmea in: $CAREV,135102,AUV,2.1.4000*2E

2021-12-04T13:51:02.896Z,1638625862.896 [Micromodem](INFO): Nmea in: $CAREV,135102,COPROC,0.20.0.39330*7F

2021-12-04T13:51:04.936Z,1638625864.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:05.705Z,1638625865.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:06.099Z,1638625866.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:06.610Z,1638625866.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 346.253954 deg, deltaT: 4.516197 s, deltaX: 1.200005 m, approachRate: 0.265711 m/s, LOS rate: -19.066289 deg/s, posRepo size: 4
2021-12-04T13:51:06.932Z,1638625866.932 [Micromodem](INFO): Nmea in: $SNTTA,0.051353,,,,135106.29*4A

2021-12-04T13:51:06.933Z,1638625866.933 [Micromodem](INFO): Nmea in: $CAREV,135107,AUV,2.1.4000*2B

2021-12-04T13:51:07.350Z,1638625867.350 [Micromodem](INFO): Nmea in: $CAREV,135107,COPROC,0.20.0.39330*7A

2021-12-04T13:51:09.383Z,1638625869.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:10.145Z,1638625870.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:10.589Z,1638625870.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:10.983Z,1638625870.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 356.810530 deg, deltaT: 4.361936 s, deltaX: -0.120001 m, approachRate: -0.027511 m/s, LOS rate: 2.420158 deg/s, posRepo size: 4
2021-12-04T13:51:11.420Z,1638625871.420 [Micromodem](INFO): Nmea in: $SNTTA,0.034785,,,,135110.73*4E

2021-12-04T13:51:11.421Z,1638625871.421 [Micromodem](INFO): Nmea in: $CAREV,135111,AUV,2.1.4000*2C

2021-12-04T13:51:11.760Z,1638625871.760 [Micromodem](INFO): Nmea in: $CAREV,135111,COPROC,0.20.0.39330*7D

2021-12-04T13:51:13.803Z,1638625873.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:14.615Z,1638625874.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:15.007Z,1638625875.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:15.471Z,1638625875.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 70.899590 deg, deltaT: 4.500217 s, deltaX: 0.059998 m, approachRate: 0.013332 m/s, LOS rate: 16.463438 deg/s, posRepo size: 4
2021-12-04T13:51:15.832Z,1638625875.832 [Micromodem](INFO): Nmea in: $SNTTA,0.046419,,,,135115.20*4E

2021-12-04T13:51:15.833Z,1638625875.833 [Micromodem](INFO): Nmea in: $CAREV,135116,AUV,2.1.4000*2B

2021-12-04T13:51:16.237Z,1638625876.237 [Micromodem](INFO): Nmea in: $CAREV,135116,COPROC,0.20.0.39330*7A

2021-12-04T13:51:18.244Z,1638625878.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:19.045Z,1638625879.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:19.455Z,1638625879.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:19.886Z,1638625879.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 68.531229 deg, deltaT: 4.418322 s, deltaX: -1.199999 m, approachRate: -0.271596 m/s, LOS rate: -0.536032 deg/s, posRepo size: 4
2021-12-04T13:51:20.289Z,1638625880.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135119.63*55

2021-12-04T13:51:20.292Z,1638625880.292 [Micromodem](INFO): Nmea in: $CAREV,135120,AUV,2.1.4000*2E

2021-12-04T13:51:20.664Z,1638625880.664 [Micromodem](INFO): Nmea in: $CAREV,135120,COPROC,0.20.0.39330*7F

2021-12-04T13:51:22.741Z,1638625882.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:23.485Z,1638625883.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:23.891Z,1638625883.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:24.373Z,1638625884.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 54.186114 deg, deltaT: 4.481324 s, deltaX: 0.779999 m, approachRate: 0.174055 m/s, LOS rate: -3.201089 deg/s, posRepo size: 4
2021-12-04T13:51:24.732Z,1638625884.732 [Micromodem](INFO): Nmea in: $SNTTA,0.023144,,,,135124.07*47

2021-12-04T13:51:24.733Z,1638625884.733 [Micromodem](INFO): Nmea in: $CAREV,135125,AUV,2.1.4000*2B

2021-12-04T13:51:25.116Z,1638625885.116 [Micromodem](INFO): Nmea in: $CAREV,135125,COPROC,0.20.0.39330*7A

2021-12-04T13:51:27.141Z,1638625887.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:27.929Z,1638625887.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:28.357Z,1638625888.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:28.781Z,1638625888.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 49.139571 deg, deltaT: 4.413705 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: -1.143380 deg/s, posRepo size: 4
2021-12-04T13:51:29.175Z,1638625889.175 [Micromodem](INFO): Nmea in: $SNTTA,0.030226,,,,135128.52*4E

2021-12-04T13:51:29.176Z,1638625889.176 [Micromodem](INFO): Nmea in: $CAREV,135129,AUV,2.1.4000*27

2021-12-04T13:51:29.556Z,1638625889.556 [Micromodem](INFO): Nmea in: $CAREV,135129,COPROC,0.20.0.39330*76

2021-12-04T13:51:31.606Z,1638625891.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:32.397Z,1638625892.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:32.788Z,1638625892.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:33.212Z,1638625893.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 359.865073 deg, deltaT: 4.431231 s, deltaX: -0.300001 m, approachRate: -0.067702 m/s, LOS rate: -11.119823 deg/s, posRepo size: 4
2021-12-04T13:51:33.620Z,1638625893.620 [Micromodem](INFO): Nmea in: $SNTTA,0.032087,,,,135132.99*49

2021-12-04T13:51:33.622Z,1638625893.622 [Micromodem](INFO): Nmea in: $CAREV,135134,AUV,2.1.4000*2B

2021-12-04T13:51:34.004Z,1638625894.004 [Micromodem](INFO): Nmea in: $CAREV,135134,COPROC,0.20.0.39330*7A

2021-12-04T13:51:36.025Z,1638625896.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:36.825Z,1638625896.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:37.234Z,1638625897.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:37.670Z,1638625897.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 4.535869 deg, deltaT: 4.457301 s, deltaX: -0.120001 m, approachRate: -0.026922 m/s, LOS rate: 1.047899 deg/s, posRepo size: 4
2021-12-04T13:51:38.063Z,1638625898.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135137.41*59

2021-12-04T13:51:38.064Z,1638625898.064 [Micromodem](INFO): Nmea in: $CAREV,135138,AUV,2.1.4000*27

2021-12-04T13:51:38.444Z,1638625898.444 [Micromodem](INFO): Nmea in: $CAREV,135138,COPROC,0.20.0.39330*76

2021-12-04T13:51:40.488Z,1638625900.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:41.257Z,1638625901.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:41.672Z,1638625901.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:42.105Z,1638625902.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 62.580078 deg, deltaT: 4.435139 s, deltaX: -1.199997 m, approachRate: -0.270566 m/s, LOS rate: 13.087349 deg/s, posRepo size: 4
2021-12-04T13:51:42.500Z,1638625902.500 [Micromodem](INFO): Nmea in: $SNTTA,0.050070,,,,135141.85*4C

2021-12-04T13:51:42.501Z,1638625902.501 [Micromodem](INFO): Nmea in: $CAREV,135142,AUV,2.1.4000*2A

2021-12-04T13:51:42.896Z,1638625902.896 [Micromodem](INFO): Nmea in: $CAREV,135142,COPROC,0.20.0.39330*7B

2021-12-04T13:51:44.931Z,1638625904.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:45.709Z,1638625905.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:46.115Z,1638625906.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:46.611Z,1638625906.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 61.187662 deg, deltaT: 4.502533 s, deltaX: -0.299999 m, approachRate: -0.066629 m/s, LOS rate: -0.309252 deg/s, posRepo size: 4
2021-12-04T13:51:46.944Z,1638625906.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135146.29*51

2021-12-04T13:51:46.945Z,1638625906.945 [Micromodem](INFO): Nmea in: $CAREV,135147,AUV,2.1.4000*2F

2021-12-04T13:51:47.353Z,1638625907.353 [Micromodem](INFO): Nmea in: $CAREV,135147,COPROC,0.20.0.39330*7E

2021-12-04T13:51:49.386Z,1638625909.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:50.161Z,1638625910.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:50.592Z,1638625910.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:50.971Z,1638625910.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 63.318620 deg, deltaT: 4.364012 s, deltaX: -0.420000 m, approachRate: -0.096242 m/s, LOS rate: 0.488302 deg/s, posRepo size: 4
2021-12-04T13:51:51.424Z,1638625911.424 [Micromodem](INFO): Nmea in: $SNTTA,0.038534,,,,135150.75*48

2021-12-04T13:51:51.425Z,1638625911.425 [Micromodem](INFO): Nmea in: $CAREV,135151,AUV,2.1.4000*28

2021-12-04T13:51:51.784Z,1638625911.784 [Micromodem](INFO): Nmea in: $CAREV,135151,COPROC,0.20.0.39330*79

2021-12-04T13:51:53.810Z,1638625913.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:54.621Z,1638625914.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:55.003Z,1638625915.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:55.457Z,1638625915.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.559999 m, bearing: 47.645801 deg, deltaT: 4.466002 s, deltaX: -0.180000 m, approachRate: -0.040305 m/s, LOS rate: -3.509362 deg/s, posRepo size: 4
2021-12-04T13:51:55.836Z,1638625915.836 [Micromodem](INFO): Nmea in: $SNTTA,0.034508,,,,135155.21*4F

2021-12-04T13:51:55.837Z,1638625915.837 [Micromodem](INFO): Nmea in: $CAREV,135156,AUV,2.1.4000*2F

2021-12-04T13:51:56.229Z,1638625916.229 [Micromodem](INFO): Nmea in: $CAREV,135156,COPROC,0.20.0.39330*7E

2021-12-04T13:51:58.238Z,1638625918.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:51:59.049Z,1638625919.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:51:59.460Z,1638625919.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:51:59.865Z,1638625919.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 58.780738 deg, deltaT: 4.428147 s, deltaX: 1.020000 m, approachRate: 0.230345 m/s, LOS rate: 2.514582 deg/s, posRepo size: 4
2021-12-04T13:52:00.272Z,1638625920.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135159.64*56

2021-12-04T13:52:00.273Z,1638625920.273 [Micromodem](INFO): Nmea in: $CAREV,135200,AUV,2.1.4000*2F

2021-12-04T13:52:00.672Z,1638625920.672 [Micromodem](INFO): Nmea in: $CAREV,135200,COPROC,0.20.0.39330*7E

2021-12-04T13:52:02.745Z,1638625922.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:03.493Z,1638625923.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:03.884Z,1638625923.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:04.321Z,1638625924.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 47.001878 deg, deltaT: 4.451805 s, deltaX: -0.540001 m, approachRate: -0.121299 m/s, LOS rate: -2.645861 deg/s, posRepo size: 4
2021-12-04T13:52:04.720Z,1638625924.720 [Micromodem](INFO): Nmea in: $SNTTA,0.059684,,,,135204.08*4F

2021-12-04T13:52:04.721Z,1638625924.721 [Micromodem](INFO): Nmea in: $CAREV,135205,AUV,2.1.4000*2A

2021-12-04T13:52:05.132Z,1638625925.132 [Micromodem](INFO): Nmea in: $CAREV,135205,COPROC,0.20.0.39330*7B

2021-12-04T13:52:07.151Z,1638625927.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:07.938Z,1638625927.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:08.400Z,1638625928.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:08.787Z,1638625928.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 71.102099 deg, deltaT: 4.469228 s, deltaX: -0.299999 m, approachRate: -0.067126 m/s, LOS rate: 5.392480 deg/s, posRepo size: 4
2021-12-04T13:52:09.160Z,1638625929.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135208.52*54

2021-12-04T13:52:09.162Z,1638625929.162 [Micromodem](INFO): Nmea in: $CAREV,135209,AUV,2.1.4000*26

2021-12-04T13:52:09.560Z,1638625929.560 [Micromodem](INFO): Nmea in: $CAREV,135209,COPROC,0.20.0.39330*77

2021-12-04T13:52:11.607Z,1638625931.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:12.395Z,1638625932.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:12.779Z,1638625932.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:13.210Z,1638625933.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 69.669500 deg, deltaT: 4.420968 s, deltaX: -1.260002 m, approachRate: -0.285006 m/s, LOS rate: -0.324046 deg/s, posRepo size: 4
2021-12-04T13:52:13.600Z,1638625933.600 [Micromodem](INFO): Nmea in: $SNTTA,0.062071,,,,135212.98*45

2021-12-04T13:52:13.601Z,1638625933.601 [Micromodem](INFO): Nmea in: $CAREV,135214,AUV,2.1.4000*2A

2021-12-04T13:52:13.996Z,1638625933.996 [Micromodem](INFO): Nmea in: $CAREV,135214,COPROC,0.20.0.39330*7B

2021-12-04T13:52:16.013Z,1638625936.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:16.809Z,1638625936.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:17.222Z,1638625937.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:17.664Z,1638625937.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 73.616885 deg, deltaT: 4.456762 s, deltaX: -0.299999 m, approachRate: -0.067313 m/s, LOS rate: 0.885707 deg/s, posRepo size: 4
2021-12-04T13:52:18.048Z,1638625938.048 [Micromodem](INFO): Nmea in: $SNTTA,0.048480,,,,135217.40*47

2021-12-04T13:52:18.049Z,1638625938.049 [Micromodem](INFO): Nmea in: $CAREV,135218,AUV,2.1.4000*26

2021-12-04T13:52:18.440Z,1638625938.440 [Micromodem](INFO): Nmea in: $CAREV,135218,COPROC,0.20.0.39330*77

2021-12-04T13:52:20.481Z,1638625940.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:21.257Z,1638625941.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:21.663Z,1638625941.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:22.084Z,1638625942.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 3.049710 deg, deltaT: 4.419514 s, deltaX: 0.840000 m, approachRate: 0.190066 m/s, LOS rate: -15.967181 deg/s, posRepo size: 4
2021-12-04T13:52:22.492Z,1638625942.492 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135221.84*54

2021-12-04T13:52:22.493Z,1638625942.493 [Micromodem](INFO): Nmea in: $CAREV,135222,AUV,2.1.4000*2F

2021-12-04T13:52:22.888Z,1638625942.888 [Micromodem](INFO): Nmea in: $CAREV,135222,COPROC,0.20.0.39330*7E

2021-12-04T13:52:24.600Z,1638625944.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:25.311Z,1638625945.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:25.699Z,1638625945.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:26.125Z,1638625946.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 70.950810 deg, deltaT: 4.041697 s, deltaX: -0.540001 m, approachRate: -0.133607 m/s, LOS rate: 16.800146 deg/s, posRepo size: 4
2021-12-04T13:52:26.560Z,1638625946.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135225.90*55

2021-12-04T13:52:26.571Z,1638625946.571 [Micromodem](INFO): Nmea in: $CAREV,135226,AUV,2.1.4000*2B

2021-12-04T13:52:26.920Z,1638625946.920 [Micromodem](INFO): Nmea in: $CAREV,135226,COPROC,0.20.0.39330*7A

2021-12-04T13:52:28.979Z,1638625948.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:29.746Z,1638625949.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:30.147Z,1638625950.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:30.619Z,1638625950.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.980000 m, bearing: 66.220289 deg, deltaT: 4.492921 s, deltaX: -1.499997 m, approachRate: -0.333858 m/s, LOS rate: -1.052883 deg/s, posRepo size: 4
2021-12-04T13:52:30.976Z,1638625950.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135230.33*58

2021-12-04T13:52:30.977Z,1638625950.977 [Micromodem](INFO): Nmea in: $CAREV,135231,AUV,2.1.4000*2D

2021-12-04T13:52:31.384Z,1638625951.384 [Micromodem](INFO): Nmea in: $CAREV,135231,COPROC,0.20.0.39330*7C

2021-12-04T13:52:33.424Z,1638625953.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:34.189Z,1638625954.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:34.620Z,1638625954.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:35.015Z,1638625955.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 62.076748 deg, deltaT: 4.396818 s, deltaX: -0.299999 m, approachRate: -0.068231 m/s, LOS rate: -0.942395 deg/s, posRepo size: 4
2021-12-04T13:52:35.424Z,1638625955.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135234.78*53

2021-12-04T13:52:35.425Z,1638625955.425 [Micromodem](INFO): Nmea in: $CAREV,135235,AUV,2.1.4000*29

2021-12-04T13:52:35.820Z,1638625955.820 [Micromodem](INFO): Nmea in: $CAREV,135235,COPROC,0.20.0.39330*78

2021-12-04T13:52:37.829Z,1638625957.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:38.629Z,1638625958.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:39.032Z,1638625959.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:39.486Z,1638625959.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 66.151714 deg, deltaT: 4.465931 s, deltaX: -0.300000 m, approachRate: -0.067175 m/s, LOS rate: 0.912456 deg/s, posRepo size: 4
2021-12-04T13:52:39.873Z,1638625959.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135239.22*51

2021-12-04T13:52:39.874Z,1638625959.874 [Micromodem](INFO): Nmea in: $CAREV,135240,AUV,2.1.4000*2B

2021-12-04T13:52:40.260Z,1638625960.260 [Micromodem](INFO): Nmea in: $CAREV,135240,COPROC,0.20.0.39330*7A

2021-12-04T13:52:42.292Z,1638625962.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:43.079Z,1638625963.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:43.481Z,1638625963.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:43.910Z,1638625963.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.960001 m, bearing: 67.778645 deg, deltaT: 4.428957 s, deltaX: -0.420000 m, approachRate: -0.094830 m/s, LOS rate: 0.367339 deg/s, posRepo size: 4
2021-12-04T13:52:44.323Z,1638625964.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135243.67*5D

2021-12-04T13:52:44.327Z,1638625964.327 [Micromodem](INFO): Nmea in: $CAREV,135244,AUV,2.1.4000*2F

2021-12-04T13:52:44.708Z,1638625964.708 [Micromodem](INFO): Nmea in: $CAREV,135244,COPROC,0.20.0.39330*7E

2021-12-04T13:52:46.763Z,1638625966.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:47.517Z,1638625967.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:47.927Z,1638625967.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:48.379Z,1638625968.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 6.673371 deg, deltaT: 4.469424 s, deltaX: -0.299999 m, approachRate: -0.067123 m/s, LOS rate: -13.671846 deg/s, posRepo size: 4
2021-12-04T13:52:48.756Z,1638625968.756 [Micromodem](INFO): Nmea in: $SNTTA,0.011762,,,,135248.10*4B

2021-12-04T13:52:48.757Z,1638625968.757 [Micromodem](INFO): Nmea in: $CAREV,135249,AUV,2.1.4000*22

2021-12-04T13:52:49.152Z,1638625969.152 [Micromodem](INFO): Nmea in: $CAREV,135249,COPROC,0.20.0.39330*73

2021-12-04T13:52:51.168Z,1638625971.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:51.961Z,1638625971.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:52.391Z,1638625972.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:52.817Z,1638625972.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 51.900166 deg, deltaT: 4.437336 s, deltaX: 1.140000 m, approachRate: 0.256911 m/s, LOS rate: 10.192330 deg/s, posRepo size: 4
2021-12-04T13:52:53.207Z,1638625973.207 [Micromodem](INFO): Nmea in: $SNTTA,0.037939,,,,135252.55*45

2021-12-04T13:52:53.208Z,1638625973.208 [Micromodem](INFO): Nmea in: $CAREV,135253,AUV,2.1.4000*29

2021-12-04T13:52:53.588Z,1638625973.588 [Micromodem](INFO): Nmea in: $CAREV,135253,COPROC,0.20.0.39330*78

2021-12-04T13:52:55.630Z,1638625975.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:52:56.411Z,1638625976.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:52:56.807Z,1638625976.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:52:57.259Z,1638625977.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 60.587077 deg, deltaT: 4.425880 s, deltaX: -0.360003 m, approachRate: -0.081341 m/s, LOS rate: 1.962753 deg/s, posRepo size: 4
2021-12-04T13:52:57.648Z,1638625977.648 [Micromodem](INFO): Nmea in: $SNTTA,0.031740,,,,135257.00*46

2021-12-04T13:52:57.649Z,1638625977.649 [Micromodem](INFO): Nmea in: $CAREV,135258,AUV,2.1.4000*22

2021-12-04T13:52:58.052Z,1638625978.052 [Micromodem](INFO): Nmea in: $CAREV,135258,COPROC,0.20.0.39330*73

2021-12-04T13:53:00.053Z,1638625980.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:00.845Z,1638625980.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:01.258Z,1638625981.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:01.706Z,1638625981.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 53.511114 deg, deltaT: 4.458807 s, deltaX: -1.799996 m, approachRate: -0.403695 m/s, LOS rate: -1.586963 deg/s, posRepo size: 4
2021-12-04T13:53:02.096Z,1638625982.096 [Micromodem](INFO): Nmea in: $SNTTA,0.019115,,,,135301.43*4F

2021-12-04T13:53:02.098Z,1638625982.098 [Micromodem](INFO): Nmea in: $CAREV,135302,AUV,2.1.4000*2C

2021-12-04T13:53:02.476Z,1638625982.476 [Micromodem](INFO): Nmea in: $CAREV,135302,COPROC,0.20.0.39330*7D

2021-12-04T13:53:04.586Z,1638625984.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:05.301Z,1638625985.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:05.699Z,1638625985.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:06.122Z,1638625986.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 46.737509 deg, deltaT: 4.417669 s, deltaX: 1.139995 m, approachRate: 0.258053 m/s, LOS rate: -1.533298 deg/s, posRepo size: 4
2021-12-04T13:53:06.585Z,1638625986.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135305.89*5E

2021-12-04T13:53:06.586Z,1638625986.586 [Micromodem](INFO): Nmea in: $CAREV,135306,AUV,2.1.4000*28

2021-12-04T13:53:06.920Z,1638625986.920 [Micromodem](INFO): Nmea in: $CAREV,135306,COPROC,0.20.0.39330*79

2021-12-04T13:53:08.966Z,1638625988.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:09.737Z,1638625989.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:10.143Z,1638625990.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:10.649Z,1638625990.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 52.613319 deg, deltaT: 4.529770 s, deltaX: -1.799997 m, approachRate: -0.397371 m/s, LOS rate: 1.297154 deg/s, posRepo size: 4
2021-12-04T13:53:10.984Z,1638625990.984 [Micromodem](INFO): Nmea in: $SNTTA,0.057812,,,,135310.32*4D

2021-12-04T13:53:10.986Z,1638625990.986 [Micromodem](INFO): Nmea in: $CAREV,135311,AUV,2.1.4000*2E

2021-12-04T13:53:11.376Z,1638625991.376 [Micromodem](INFO): Nmea in: $CAREV,135311,COPROC,0.20.0.39330*7F

2021-12-04T13:53:13.418Z,1638625993.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:14.177Z,1638625994.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:14.621Z,1638625994.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:15.035Z,1638625995.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 51.234601 deg, deltaT: 4.376876 s, deltaX: -0.179998 m, approachRate: -0.041125 m/s, LOS rate: -0.315000 deg/s, posRepo size: 4
2021-12-04T13:53:15.432Z,1638625995.432 [Micromodem](INFO): Nmea in: $SNTTA,0.046692,,,,135314.76*4F

2021-12-04T13:53:15.433Z,1638625995.433 [Micromodem](INFO): Nmea in: $CAREV,135315,AUV,2.1.4000*2A

2021-12-04T13:53:15.824Z,1638625995.824 [Micromodem](INFO): Nmea in: $CAREV,135315,COPROC,0.20.0.39330*7B

2021-12-04T13:53:17.849Z,1638625997.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:18.629Z,1638625998.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:19.032Z,1638625999.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:19.469Z,1638625999.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 51.000217 deg, deltaT: 4.442952 s, deltaX: -0.480003 m, approachRate: -0.108037 m/s, LOS rate: -0.052754 deg/s, posRepo size: 4
2021-12-04T13:53:19.872Z,1638625999.872 [Micromodem](INFO): Nmea in: $SNTTA,0.022719,,,,135319.22*43

2021-12-04T13:53:19.873Z,1638625999.873 [Micromodem](INFO): Nmea in: $CAREV,135320,AUV,2.1.4000*2C

2021-12-04T13:53:20.267Z,1638626000.267 [Micromodem](INFO): Nmea in: $CAREV,135320,COPROC,0.20.0.39330*7D

2021-12-04T13:53:22.280Z,1638626002.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:23.069Z,1638626003.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:23.471Z,1638626003.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:23.894Z,1638626003.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 47.857001 deg, deltaT: 4.424926 s, deltaX: 1.560000 m, approachRate: 0.352548 m/s, LOS rate: -0.710343 deg/s, posRepo size: 4
2021-12-04T13:53:24.319Z,1638626004.319 [Micromodem](INFO): Nmea in: $SNTTA,0.011410,,,,135323.66*40

2021-12-04T13:53:24.343Z,1638626004.343 [Micromodem](INFO): Nmea in: $CAREV,135324,AUV,2.1.4000*28

2021-12-04T13:53:24.697Z,1638626004.697 [Micromodem](INFO): Nmea in: $CAREV,135324,COPROC,0.20.0.39330*79

2021-12-04T13:53:26.753Z,1638626006.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:27.514Z,1638626007.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:27.927Z,1638626007.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:28.401Z,1638626008.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 38.306027 deg, deltaT: 4.494919 s, deltaX: -2.039999 m, approachRate: -0.453846 m/s, LOS rate: -2.124838 deg/s, posRepo size: 4
2021-12-04T13:53:28.757Z,1638626008.757 [Micromodem](INFO): Nmea in: $SNTTA,0.025655,,,,135328.10*4E

2021-12-04T13:53:28.759Z,1638626008.759 [Micromodem](INFO): Nmea in: $CAREV,135329,AUV,2.1.4000*25

2021-12-04T13:53:29.136Z,1638626009.136 [Micromodem](INFO): Nmea in: $CAREV,135329,COPROC,0.20.0.39330*74

2021-12-04T13:53:31.169Z,1638626011.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:31.957Z,1638626011.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:32.391Z,1638626012.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:32.809Z,1638626012.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 45.675756 deg, deltaT: 4.420537 s, deltaX: 1.560001 m, approachRate: 0.352899 m/s, LOS rate: 1.667157 deg/s, posRepo size: 4
2021-12-04T13:53:33.200Z,1638626013.200 [Micromodem](INFO): Nmea in: $SNTTA,0.029114,,,,135332.55*4A

2021-12-04T13:53:33.201Z,1638626013.201 [Micromodem](INFO): Nmea in: $CAREV,135333,AUV,2.1.4000*2E

2021-12-04T13:53:33.580Z,1638626013.580 [Micromodem](INFO): Nmea in: $CAREV,135333,COPROC,0.20.0.39330*7F

2021-12-04T13:53:35.610Z,1638626015.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:36.401Z,1638626016.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:36.811Z,1638626016.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:36.830Z,1638626016.830 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:53:37.228Z,1638626017.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 32.456386 deg, deltaT: 4.419077 s, deltaX: -1.980001 m, approachRate: -0.448058 m/s, LOS rate: -2.991432 deg/s, posRepo size: 4
2021-12-04T13:53:37.636Z,1638626017.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135336.99*5F

2021-12-04T13:53:37.637Z,1638626017.637 [Micromodem](INFO): Nmea in: $CAREV,135338,AUV,2.1.4000*25

2021-12-04T13:53:38.040Z,1638626018.040 [Micromodem](INFO): Nmea in: $CAREV,135338,COPROC,0.20.0.39330*74

2021-12-04T13:53:40.052Z,1638626020.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:40.857Z,1638626020.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:41.255Z,1638626021.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:41.698Z,1638626021.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 29.690194 deg, deltaT: 4.452994 s, deltaX: 0.059998 m, approachRate: 0.013474 m/s, LOS rate: -0.621198 deg/s, posRepo size: 4
2021-12-04T13:53:42.088Z,1638626022.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135341.44*5F

2021-12-04T13:53:42.089Z,1638626022.089 [Micromodem](INFO): Nmea in: $CAREV,135342,AUV,2.1.4000*28

2021-12-04T13:53:42.480Z,1638626022.480 [Micromodem](INFO): Nmea in: $CAREV,135342,COPROC,0.20.0.39330*79

2021-12-04T13:53:44.537Z,1638626024.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:45.305Z,1638626025.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:45.696Z,1638626025.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:46.123Z,1638626026.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 29.925149 deg, deltaT: 4.441970 s, deltaX: -0.119998 m, approachRate: -0.027015 m/s, LOS rate: 0.052894 deg/s, posRepo size: 4
2021-12-04T13:53:46.573Z,1638626026.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135345.90*52

2021-12-04T13:53:46.580Z,1638626026.580 [Micromodem](INFO): Nmea in: $CAREV,135346,AUV,2.1.4000*2C

2021-12-04T13:53:46.609Z,1638626026.609 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:53:46.932Z,1638626026.932 [Micromodem](INFO): Nmea in: $CAREV,135346,COPROC,0.20.0.39330*7D

2021-12-04T13:53:48.981Z,1638626028.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:49.742Z,1638626029.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:50.166Z,1638626030.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:50.612Z,1638626030.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 30.483496 deg, deltaT: 4.489168 s, deltaX: -0.060000 m, approachRate: -0.013366 m/s, LOS rate: 0.124377 deg/s, posRepo size: 4
2021-12-04T13:53:50.988Z,1638626030.989 [Micromodem](INFO): Nmea in: $SNTTA,0.005806,,,,135350.33*4A

2021-12-04T13:53:50.990Z,1638626030.990 [Micromodem](INFO): Nmea in: $CAREV,135351,AUV,2.1.4000*2A

2021-12-04T13:53:51.388Z,1638626031.388 [Micromodem](INFO): Nmea in: $CAREV,135351,COPROC,0.20.0.39330*7B

2021-12-04T13:53:53.451Z,1638626033.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:54.183Z,1638626034.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:54.627Z,1638626034.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:55.037Z,1638626035.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 36.968064 deg, deltaT: 4.422959 s, deltaX: 0.120001 m, approachRate: 0.027131 m/s, LOS rate: 1.466115 deg/s, posRepo size: 4
2021-12-04T13:53:55.436Z,1638626035.436 [Micromodem](INFO): Nmea in: $SNTTA,0.005900,,,,135354.77*49

2021-12-04T13:53:55.437Z,1638626035.437 [Micromodem](INFO): Nmea in: $CAREV,135355,AUV,2.1.4000*2E

2021-12-04T13:53:55.816Z,1638626035.816 [Micromodem](INFO): Nmea in: $CAREV,135355,COPROC,0.20.0.39330*7F

2021-12-04T13:53:56.667Z,1638626036.667 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T13:53:57.836Z,1638626037.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:53:58.629Z,1638626038.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:53:59.027Z,1638626039.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:53:59.470Z,1638626039.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 45.561019 deg, deltaT: 4.435013 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, LOS rate: 1.937526 deg/s, posRepo size: 4
2021-12-04T13:53:59.868Z,1638626039.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135359.22*56

2021-12-04T13:53:59.869Z,1638626039.869 [Micromodem](INFO): Nmea in: $CAREV,135400,AUV,2.1.4000*29

2021-12-04T13:54:00.248Z,1638626040.248 [Micromodem](INFO): Nmea in: $CAREV,135400,COPROC,0.20.0.39330*78

2021-12-04T13:54:02.272Z,1638626042.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:03.069Z,1638626043.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:03.475Z,1638626043.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:03.897Z,1638626043.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 54.299720 deg, deltaT: 4.427245 s, deltaX: 0.120001 m, approachRate: 0.027105 m/s, LOS rate: 1.973846 deg/s, posRepo size: 4
2021-12-04T13:54:04.316Z,1638626044.316 [Micromodem](INFO): Nmea in: $SNTTA,0.055429,,,,135403.66*4F

2021-12-04T13:54:04.317Z,1638626044.317 [Micromodem](INFO): Nmea in: $CAREV,135404,AUV,2.1.4000*2D

2021-12-04T13:54:04.696Z,1638626044.696 [Micromodem](INFO): Nmea in: $CAREV,135404,COPROC,0.20.0.39330*7C

2021-12-04T13:54:06.756Z,1638626046.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:07.521Z,1638626047.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:07.925Z,1638626047.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:08.375Z,1638626048.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 23.879767 deg, deltaT: 4.476698 s, deltaX: 1.980001 m, approachRate: 0.442291 m/s, LOS rate: -6.795177 deg/s, posRepo size: 4
2021-12-04T13:54:08.756Z,1638626048.756 [Micromodem](INFO): Nmea in: $SNTTA,0.037292,,,,135408.11*46

2021-12-04T13:54:08.757Z,1638626048.757 [Micromodem](INFO): Nmea in: $CAREV,135409,AUV,2.1.4000*20

2021-12-04T13:54:09.140Z,1638626049.140 [Micromodem](INFO): Nmea in: $CAREV,135409,COPROC,0.20.0.39330*71

2021-12-04T13:54:11.167Z,1638626051.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:11.961Z,1638626051.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:12.379Z,1638626052.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:12.814Z,1638626052.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 62.123528 deg, deltaT: 4.439395 s, deltaX: -1.920004 m, approachRate: -0.432492 m/s, LOS rate: 8.614633 deg/s, posRepo size: 4
2021-12-04T13:54:13.196Z,1638626053.196 [Micromodem](INFO): Nmea in: $SNTTA,0.031137,,,,135412.55*47

2021-12-04T13:54:13.197Z,1638626053.197 [Micromodem](INFO): Nmea in: $CAREV,135413,AUV,2.1.4000*2B

2021-12-04T13:54:13.580Z,1638626053.580 [Micromodem](INFO): Nmea in: $CAREV,135413,COPROC,0.20.0.39330*7A

2021-12-04T13:54:15.618Z,1638626055.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:16.401Z,1638626056.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:16.807Z,1638626056.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:16.829Z,1638626056.829 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-12-04T13:54:17.241Z,1638626057.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 61.369420 deg, deltaT: 4.427139 s, deltaX: 0.120001 m, approachRate: 0.027106 m/s, LOS rate: -0.170337 deg/s, posRepo size: 4
2021-12-04T13:54:17.652Z,1638626057.652 [Micromodem](INFO): Nmea in: $SNTTA,0.053275,,,,135416.99*42

2021-12-04T13:54:17.653Z,1638626057.653 [Micromodem](INFO): Nmea in: $CAREV,135418,AUV,2.1.4000*20

2021-12-04T13:54:18.028Z,1638626058.028 [Micromodem](INFO): Nmea in: $CAREV,135418,COPROC,0.20.0.39330*71

2021-12-04T13:54:20.053Z,1638626060.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:20.845Z,1638626060.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:21.244Z,1638626061.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:21.698Z,1638626061.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.019998 m, bearing: 56.573507 deg, deltaT: 4.452719 s, deltaX: 0.299999 m, approachRate: 0.067374 m/s, LOS rate: -1.077075 deg/s, posRepo size: 4
2021-12-04T13:54:22.092Z,1638626062.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135421.43*59

2021-12-04T13:54:22.093Z,1638626062.093 [Micromodem](INFO): Nmea in: $CAREV,135422,AUV,2.1.4000*29

2021-12-04T13:54:22.472Z,1638626062.472 [Micromodem](INFO): Nmea in: $CAREV,135422,COPROC,0.20.0.39330*78

2021-12-04T13:54:24.528Z,1638626064.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:25.293Z,1638626065.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:25.691Z,1638626065.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:26.141Z,1638626066.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 48.979956 deg, deltaT: 4.431066 s, deltaX: -0.059998 m, approachRate: -0.013540 m/s, LOS rate: -1.713708 deg/s, posRepo size: 4
2021-12-04T13:54:26.535Z,1638626066.535 [Micromodem](INFO): Nmea in: $SNTTA,0.056383,,,,135425.89*4E

2021-12-04T13:54:26.577Z,1638626066.577 [Micromodem](INFO): Nmea in: $CAREV,135426,AUV,2.1.4000*2D

2021-12-04T13:54:26.608Z,1638626066.608 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:54:26.928Z,1638626066.928 [Micromodem](INFO): Nmea in: $CAREV,135426,COPROC,0.20.0.39330*7C

2021-12-04T13:54:28.963Z,1638626068.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:29.737Z,1638626069.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:30.147Z,1638626070.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:30.626Z,1638626070.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 44.892429 deg, deltaT: 4.496918 s, deltaX: 0.179999 m, approachRate: 0.040027 m/s, LOS rate: -0.908962 deg/s, posRepo size: 4
2021-12-04T13:54:30.991Z,1638626070.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135430.33*5E

2021-12-04T13:54:30.992Z,1638626070.992 [Micromodem](INFO): Nmea in: $CAREV,135431,AUV,2.1.4000*2B

2021-12-04T13:54:31.372Z,1638626071.372 [Micromodem](INFO): Nmea in: $CAREV,135431,COPROC,0.20.0.39330*7A

2021-12-04T13:54:33.419Z,1638626073.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:34.176Z,1638626074.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:34.607Z,1638626074.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:35.027Z,1638626075.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 19.242516 deg, deltaT: 4.401603 s, deltaX: 1.560000 m, approachRate: 0.354416 m/s, LOS rate: -5.827403 deg/s, posRepo size: 4
2021-12-04T13:54:35.424Z,1638626075.424 [Micromodem](INFO): Nmea in: $SNTTA,0.009857,,,,135434.77*47

2021-12-04T13:54:35.425Z,1638626075.425 [Micromodem](INFO): Nmea in: $CAREV,135435,AUV,2.1.4000*2F

2021-12-04T13:54:35.808Z,1638626075.808 [Micromodem](INFO): Nmea in: $CAREV,135435,COPROC,0.20.0.39330*7E

2021-12-04T13:54:36.690Z,1638626076.690 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:54:37.835Z,1638626077.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:38.629Z,1638626078.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:39.031Z,1638626079.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:39.471Z,1638626079.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.879998 m, bearing: 48.648839 deg, deltaT: 4.447370 s, deltaX: 0.179998 m, approachRate: 0.040473 m/s, LOS rate: 6.612070 deg/s, posRepo size: 4
2021-12-04T13:54:39.868Z,1638626079.868 [Micromodem](INFO): Nmea in: $SNTTA,0.024560,,,,135439.22*4C

2021-12-04T13:54:39.869Z,1638626079.869 [Micromodem](INFO): Nmea in: $CAREV,135440,AUV,2.1.4000*2D

2021-12-04T13:54:40.244Z,1638626080.244 [Micromodem](INFO): Nmea in: $CAREV,135440,COPROC,0.20.0.39330*7C

2021-12-04T13:54:42.280Z,1638626082.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:43.070Z,1638626083.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:43.467Z,1638626083.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:43.908Z,1638626083.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 332.409789 deg, deltaT: 4.435621 s, deltaX: 0.299999 m, approachRate: 0.067634 m/s, LOS rate: -17.187910 deg/s, posRepo size: 4
2021-12-04T13:54:44.304Z,1638626084.304 [Micromodem](INFO): Nmea in: $SNTTA,0.041622,,,,135443.68*49

2021-12-04T13:54:44.305Z,1638626084.305 [Micromodem](INFO): Nmea in: $CAREV,135444,AUV,2.1.4000*29

2021-12-04T13:54:44.700Z,1638626084.700 [Micromodem](INFO): Nmea in: $CAREV,135444,COPROC,0.20.0.39330*78

2021-12-04T13:54:46.737Z,1638626086.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:47.509Z,1638626087.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:47.912Z,1638626087.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-12-04T13:54:48.735Z,1638626088.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135448.10*50

2021-12-04T13:54:48.737Z,1638626088.737 [Micromodem](INFO): Nmea in: $CAREV,135449,AUV,2.1.4000*24

2021-12-04T13:54:49.125Z,1638626089.125 [Micromodem](INFO): Nmea in: $CAREV,135449,COPROC,0.20.0.39330*75

2021-12-04T13:54:49.580Z,1638626089.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:50.788Z,1638626090.788 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T13:54:50.789Z,1638626090.789 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-12-04T13:54:50.789Z,1638626090.789 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-12-04T13:54:50.789Z,1638626090.789 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T13:54:50.789Z,1638626090.789 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-12-04T13:54:51.222Z,1638626091.222 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-12-04T13:54:51.377Z,1638626091.377 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0025.lzma
2021-12-04T13:54:51.378Z,1638626091.378 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 022CAB61190000005D00000400260000000000000000151D80030C5669BF0D1A401AEDD5C0541ED76CF22BCF3B4872437F34038AEBA8084367C9A000
2021-12-04T13:54:51.379Z,1638626091.379 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-12-04T13:54:51.639Z,1638626091.639 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-12-04T13:54:52.026Z,1638626092.026 [Micromodem](INFO): Nmea in: $CADRQ,135451,1,10,0,64,1*71

2021-12-04T13:54:52.027Z,1638626092.027 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,022CAB61190000005D00000400260000000000000000151D80030C5669BF0D1A401AEDD5C0541ED76CF22BCF3B4872437F34038AEBA8084367C9A000*4F

2021-12-04T13:54:52.133Z,1638626092.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:52.430Z,1638626092.430 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-12-04T13:54:52.830Z,1638626092.830 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-12-04T13:54:52.831Z,1638626092.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-12-04T13:54:54.045Z,1638626094.045 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-12-04T13:54:54.464Z,1638626094.464 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,135452.638161,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*51

2021-12-04T13:54:54.886Z,1638626094.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:56.062Z,1638626096.062 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-12-04T13:54:56.065Z,1638626096.065 [Micromodem](INFO): Sent 52 bytes from file Logs/20211204T085114/Courier0025.lzma.parts
2021-12-04T13:54:56.066Z,1638626096.066 [Micromodem](INFO): Packets left to send: 0
2021-12-04T13:54:56.468Z,1638626096.468 [Micromodem](INFO): Nmea in: $CACST,6,0,20211204135455.441756,06,32767,45,0112,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,27.9,11.35,21,-8.35,-01,0.23,49,14500,4000*51

2021-12-04T13:54:56.652Z,1638626096.652 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0028.lzma
2021-12-04T13:54:56.653Z,1638626096.653 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 022CAB611C0001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-12-04T13:54:56.654Z,1638626096.654 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79E704C48B9B981F8A41B60224F3FD6BD7025B7C98AE642C43
2021-12-04T13:54:56.654Z,1638626096.654 [Micromodem](INFO): Outgoing frame #3, 64 bytes: E85B4CCBFCD962314FDAFBCDB619A50CFD04FB266223C071E07355D4B0076CD891E2A44B121BF34C1E5EC86E6566F23DC07A58BD22D6EA44DDA5C8C98A342014
2021-12-04T13:54:56.655Z,1638626096.655 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-12-04T13:54:56.726Z,1638626096.726 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T13:54:56.923Z,1638626096.923 [Micromodem](INFO): Nmea in: $CAREV,135456,AUV,2.1.4000*2A

2021-12-04T13:54:57.313Z,1638626097.313 [Micromodem](INFO): Nmea in: $CAREV,135456,COPROC,0.20.0.39330*7B

2021-12-04T13:54:57.710Z,1638626097.710 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-12-04T13:54:57.761Z,1638626097.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:54:58.121Z,1638626098.121 [Micromodem](INFO): Nmea in: $CADRQ,135457,1,10,0,64,1*77

2021-12-04T13:54:58.121Z,1638626098.121 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,022CAB611C0001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*35

2021-12-04T13:54:58.551Z,1638626098.551 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-12-04T13:54:58.921Z,1638626098.921 [Micromodem](INFO): Nmea in: $CADRQ,135458,1,10,0,64,2*7B

2021-12-04T13:54:58.921Z,1638626098.921 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79E704C48B9B981F8A41B60224F3FD6BD7025B7C98AE642C43*36

2021-12-04T13:54:59.356Z,1638626099.356 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-12-04T13:54:59.729Z,1638626099.729 [Micromodem](INFO): Nmea in: $CADRQ,135459,1,10,0,64,3*7B

2021-12-04T13:54:59.729Z,1638626099.729 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E85B4CCBFCD962314FDAFBCDB619A50CFD04FB266223C071E07355D4B0076CD891E2A44B121BF34C1E5EC86E6566F23DC07A58BD22D6EA44DDA5C8C98A342014*39

2021-12-04T13:55:00.138Z,1638626100.138 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-12-04T13:55:00.572Z,1638626100.572 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-12-04T13:55:00.633Z,1638626100.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:03.549Z,1638626103.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:04.181Z,1638626104.181 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-12-04T13:55:04.618Z,1638626104.618 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,135500.366000,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*63

2021-12-04T13:55:06.196Z,1638626106.196 [Micromodem](INFO): Nmea in: $CAREV,135506,AUV,2.1.4000*2E

2021-12-04T13:55:06.209Z,1638626106.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:06.645Z,1638626106.645 [Micromodem](INFO): Nmea in: $CAREV,135506,COPROC,0.20.0.39330*7F

2021-12-04T13:55:07.429Z,1638626107.429 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-12-04T13:55:07.822Z,1638626107.822 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-12-04T13:55:08.217Z,1638626108.217 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-12-04T13:55:08.218Z,1638626108.218 [Micromodem](INFO): Sent 184 bytes from file Logs/20211204T085114/Courier0028.lzma.parts
2021-12-04T13:55:08.218Z,1638626108.218 [Micromodem](INFO): Packets left to send: 1
2021-12-04T13:55:08.640Z,1638626108.640 [Micromodem](INFO): Nmea in: $CACST,6,0,20211204135506.980516,06,32767,45,0107,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,30.3,12.18,24,-9.18,-01,0.12,48,14500,4000*5C

2021-12-04T13:55:08.765Z,1638626108.765 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0028.lzma
2021-12-04T13:55:08.766Z,1638626108.766 [Micromodem](INFO): Using rate 1 for 22 bytes.
2021-12-04T13:55:08.767Z,1638626108.767 [Micromodem](INFO): Outgoing frame #1, 22 bytes: 022CAB611C0000009F43B4B33AC542E752881A567EE0
2021-12-04T13:55:08.767Z,1638626108.767 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-12-04T13:55:08.880Z,1638626108.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:09.040Z,1638626109.040 [Micromodem](INFO): Nmea in: $CAREV,135507,AUV,2.1.4000*2F

2021-12-04T13:55:09.433Z,1638626109.433 [Micromodem](INFO): Nmea in: $CAREV,135507,COPROC,0.20.0.39330*7E

2021-12-04T13:55:09.833Z,1638626109.833 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-12-04T13:55:10.241Z,1638626110.241 [Micromodem](INFO): Nmea in: $CADRQ,135509,1,10,0,64,1*7D

2021-12-04T13:55:10.241Z,1638626110.241 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-12-04T13:55:10.242Z,1638626110.242 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,022CAB611C0000009F43B4B33AC542E752881A567EE0*30

2021-12-04T13:55:10.437Z,1638626110.437 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0028.lzma
2021-12-04T13:55:10.439Z,1638626110.439 [Micromodem](INFO): Using rate 0 for 22 bytes.
2021-12-04T13:55:10.439Z,1638626110.439 [Micromodem](INFO): Outgoing frame #1, 22 bytes: 022CAB611C0000009F43B4B33AC542E752881A567EE0
2021-12-04T13:55:10.657Z,1638626110.657 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,22*4B

2021-12-04T13:55:10.657Z,1638626110.657 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-12-04T13:55:11.057Z,1638626111.057 [Micromodem](INFO): Nmea in: $CATXP,22*72

2021-12-04T13:55:11.509Z,1638626111.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:12.265Z,1638626112.265 [Micromodem](INFO): Nmea in: $CATXF,22*64

2021-12-04T13:55:12.679Z,1638626112.679 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,135510.811887,3,0,200,4000,14500,1,1,10,1,1,1,3,22,14500*54

2021-12-04T13:55:14.289Z,1638626114.289 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-12-04T13:55:14.290Z,1638626114.290 [Micromodem](INFO): Sent 14 bytes from file Logs/20211204T085114/Courier0028.lzma.parts
2021-12-04T13:55:14.291Z,1638626114.291 [Micromodem](INFO): Packets left to send: 0
2021-12-04T13:55:14.389Z,1638626114.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:14.704Z,1638626114.704 [Micromodem](INFO): Nmea in: $CACST,6,0,20211204135513.576580,06,32767,45,0122,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,29.6,12.13,22,-9.13,-01,0.00,49,14500,4000*5C

2021-12-04T13:55:14.831Z,1638626114.831 [Micromodem](INFO): sendFilename = 
2021-12-04T13:55:14.831Z,1638626114.831 [Micromodem](INFO): No more packets to send
2021-12-04T13:55:14.890Z,1638626114.890 [lineCaptureDepth:MicromodemComms] Stopped
2021-12-04T13:55:14.890Z,1638626114.890 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-12-04T13:55:14.890Z,1638626114.890 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-12-04T13:55:14.891Z,1638626114.891 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T13:55:14.891Z,1638626114.891 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-12-04T13:55:15.120Z,1638626115.120 [Micromodem](INFO): Nmea in: $CAREV,135514,AUV,2.1.4000*2D

2021-12-04T13:55:15.121Z,1638626115.121 [Micromodem](INFO): Nmea in: $CAREV,135514,COPROC,0.20.0.39330*7C

2021-12-04T13:55:16.908Z,1638626116.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:19.762Z,1638626119.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:22.631Z,1638626122.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:24.157Z,1638626124.157 [Micromodem](INFO): Nmea in: $CAREV,135524,AUV,2.1.4000*2E

2021-12-04T13:55:24.159Z,1638626124.159 [Micromodem](INFO): Nmea in: $CAREV,135524,COPROC,0.20.0.39330*7F

2021-12-04T13:55:25.450Z,1638626125.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:28.208Z,1638626128.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:31.032Z,1638626131.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:33.864Z,1638626133.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:34.255Z,1638626134.255 [Micromodem](INFO): Nmea in: $CAREV,135534,AUV,2.1.4000*2F

2021-12-04T13:55:34.259Z,1638626134.259 [Micromodem](INFO): Nmea in: $CAREV,135534,COPROC,0.20.0.39330*7E

2021-12-04T13:55:36.733Z,1638626136.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:39.535Z,1638626139.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:42.386Z,1638626142.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:44.389Z,1638626144.389 [Micromodem](INFO): Nmea in: $CAREV,135544,AUV,2.1.4000*28

2021-12-04T13:55:44.390Z,1638626144.390 [Micromodem](INFO): Nmea in: $CAREV,135544,COPROC,0.20.0.39330*79

2021-12-04T13:55:45.193Z,1638626145.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:47.181Z,1638626147.181 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T13:55:48.013Z,1638626148.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:50.935Z,1638626150.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:53.679Z,1638626153.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:54.065Z,1638626154.065 [Micromodem](INFO): Nmea in: $CAREV,135554,AUV,2.1.4000*29

2021-12-04T13:55:54.066Z,1638626154.066 [Micromodem](INFO): Nmea in: $CAREV,135554,COPROC,0.20.0.39330*78

2021-12-04T13:55:56.532Z,1638626156.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:55:59.360Z,1638626159.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:02.214Z,1638626162.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:04.153Z,1638626164.153 [Micromodem](INFO): Nmea in: $CAREV,135604,AUV,2.1.4000*2F

2021-12-04T13:56:04.154Z,1638626164.154 [Micromodem](INFO): Nmea in: $CAREV,135604,COPROC,0.20.0.39330*7E

2021-12-04T13:56:04.976Z,1638626164.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:07.801Z,1638626167.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:10.672Z,1638626170.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:13.495Z,1638626173.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:14.272Z,1638626174.272 [Micromodem](INFO): Nmea in: $CAREV,135614,AUV,2.1.4000*2E

2021-12-04T13:56:14.273Z,1638626174.273 [Micromodem](INFO): Nmea in: $CAREV,135614,COPROC,0.20.0.39330*7F

2021-12-04T13:56:16.284Z,1638626176.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:19.130Z,1638626179.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:21.940Z,1638626181.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:24.385Z,1638626184.385 [Micromodem](INFO): Nmea in: $CAREV,135624,AUV,2.1.4000*2D

2021-12-04T13:56:24.386Z,1638626184.386 [Micromodem](INFO): Nmea in: $CAREV,135624,COPROC,0.20.0.39330*7C

2021-12-04T13:56:24.813Z,1638626184.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:27.602Z,1638626187.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:30.444Z,1638626190.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:33.271Z,1638626193.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:34.057Z,1638626194.057 [Micromodem](INFO): Nmea in: $CAREV,135634,AUV,2.1.4000*2C

2021-12-04T13:56:34.062Z,1638626194.062 [Micromodem](INFO): Nmea in: $CAREV,135634,COPROC,0.20.0.39330*7D

2021-12-04T13:56:36.088Z,1638626196.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:38.930Z,1638626198.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:41.775Z,1638626201.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:44.149Z,1638626204.149 [Micromodem](INFO): Nmea in: $CAREV,135644,AUV,2.1.4000*2B

2021-12-04T13:56:44.167Z,1638626204.167 [Micromodem](INFO): Nmea in: $CAREV,135644,COPROC,0.20.0.39330*7A

2021-12-04T13:56:44.641Z,1638626204.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:47.410Z,1638626207.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:50.232Z,1638626210.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:53.049Z,1638626213.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:54.253Z,1638626214.253 [Micromodem](INFO): Nmea in: $CAREV,135654,AUV,2.1.4000*2A

2021-12-04T13:56:54.255Z,1638626214.255 [Micromodem](INFO): Nmea in: $CAREV,135654,COPROC,0.20.0.39330*7B

2021-12-04T13:56:55.897Z,1638626215.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:56:58.765Z,1638626218.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:01.626Z,1638626221.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:04.425Z,1638626224.425 [Micromodem](INFO): Nmea in: $CAREV,135704,AUV,2.1.4000*2E

2021-12-04T13:57:04.426Z,1638626224.426 [Micromodem](INFO): Nmea in: $CAREV,135704,COPROC,0.20.0.39330*7F

2021-12-04T13:57:04.448Z,1638626224.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:07.269Z,1638626227.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:10.092Z,1638626230.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:12.963Z,1638626232.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:14.129Z,1638626234.129 [Micromodem](INFO): Nmea in: $CAREV,135714,AUV,2.1.4000*2F

2021-12-04T13:57:14.130Z,1638626234.130 [Micromodem](INFO): Nmea in: $CAREV,135714,COPROC,0.20.0.39330*7E

2021-12-04T13:57:15.750Z,1638626235.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:18.657Z,1638626238.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:21.427Z,1638626241.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:24.217Z,1638626244.217 [Micromodem](INFO): Nmea in: $CAREV,135724,AUV,2.1.4000*2C

2021-12-04T13:57:24.218Z,1638626244.218 [Micromodem](INFO): Nmea in: $CAREV,135724,COPROC,0.20.0.39330*7D

2021-12-04T13:57:24.230Z,1638626244.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:27.064Z,1638626247.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:29.889Z,1638626249.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:32.752Z,1638626252.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:34.338Z,1638626254.338 [Micromodem](INFO): Nmea in: $CAREV,135734,AUV,2.1.4000*2D

2021-12-04T13:57:34.342Z,1638626254.342 [Micromodem](INFO): Nmea in: $CAREV,135734,COPROC,0.20.0.39330*7C

2021-12-04T13:57:35.550Z,1638626255.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:38.414Z,1638626258.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:41.209Z,1638626261.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:44.045Z,1638626264.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:44.417Z,1638626264.417 [Micromodem](INFO): Nmea in: $CAREV,135744,AUV,2.1.4000*2A

2021-12-04T13:57:44.418Z,1638626264.418 [Micromodem](INFO): Nmea in: $CAREV,135744,COPROC,0.20.0.39330*7B

2021-12-04T13:57:46.883Z,1638626266.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:49.695Z,1638626269.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:52.588Z,1638626272.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:54.113Z,1638626274.113 [Micromodem](INFO): Nmea in: $CAREV,135754,AUV,2.1.4000*2B

2021-12-04T13:57:54.114Z,1638626274.114 [Micromodem](INFO): Nmea in: $CAREV,135754,COPROC,0.20.0.39330*7A

2021-12-04T13:57:55.380Z,1638626275.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:57:58.168Z,1638626278.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:01.015Z,1638626281.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:03.828Z,1638626283.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:04.235Z,1638626284.235 [Micromodem](INFO): Nmea in: $CAREV,135804,AUV,2.1.4000*21

2021-12-04T13:58:04.236Z,1638626284.236 [Micromodem](INFO): Nmea in: $CAREV,135804,COPROC,0.20.0.39330*70

2021-12-04T13:58:06.716Z,1638626286.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:09.494Z,1638626289.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:12.318Z,1638626292.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:14.338Z,1638626294.338 [Micromodem](INFO): Nmea in: $CAREV,135814,AUV,2.1.4000*20

2021-12-04T13:58:14.345Z,1638626294.345 [Micromodem](INFO): Nmea in: $CAREV,135814,COPROC,0.20.0.39330*71

2021-12-04T13:58:15.129Z,1638626295.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:17.964Z,1638626297.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:20.824Z,1638626300.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:23.635Z,1638626303.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:24.413Z,1638626304.413 [Micromodem](INFO): Nmea in: $CAREV,135824,AUV,2.1.4000*23

2021-12-04T13:58:24.414Z,1638626304.414 [Micromodem](INFO): Nmea in: $CAREV,135824,COPROC,0.20.0.39330*72

2021-12-04T13:58:26.462Z,1638626306.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:29.277Z,1638626309.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:32.129Z,1638626312.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:34.121Z,1638626314.121 [Micromodem](INFO): Nmea in: $CAREV,135834,AUV,2.1.4000*22

2021-12-04T13:58:34.122Z,1638626314.122 [Micromodem](INFO): Nmea in: $CAREV,135834,COPROC,0.20.0.39330*73

2021-12-04T13:58:34.958Z,1638626314.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:37.760Z,1638626317.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:40.665Z,1638626320.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:43.434Z,1638626323.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:44.209Z,1638626324.209 [Micromodem](INFO): Nmea in: $CAREV,135844,AUV,2.1.4000*25

2021-12-04T13:58:44.210Z,1638626324.210 [Micromodem](INFO): Nmea in: $CAREV,135844,COPROC,0.20.0.39330*74

2021-12-04T13:58:46.248Z,1638626326.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:49.073Z,1638626329.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:51.896Z,1638626331.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:54.345Z,1638626334.345 [Micromodem](INFO): Nmea in: $CAREV,135854,AUV,2.1.4000*24

2021-12-04T13:58:54.349Z,1638626334.349 [Micromodem](INFO): Nmea in: $CAREV,135854,COPROC,0.20.0.39330*75

2021-12-04T13:58:54.760Z,1638626334.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:58:57.571Z,1638626337.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:00.431Z,1638626340.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:03.208Z,1638626343.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:04.413Z,1638626344.413 [Micromodem](INFO): Nmea in: $CAREV,135904,AUV,2.1.4000*20

2021-12-04T13:59:04.414Z,1638626344.414 [Micromodem](INFO): Nmea in: $CAREV,135904,COPROC,0.20.0.39330*71

2021-12-04T13:59:06.056Z,1638626346.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:08.889Z,1638626348.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:11.715Z,1638626351.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:14.121Z,1638626354.121 [Micromodem](INFO): Nmea in: $CAREV,135914,AUV,2.1.4000*21

2021-12-04T13:59:14.123Z,1638626354.123 [Micromodem](INFO): Nmea in: $CAREV,135914,COPROC,0.20.0.39330*70

2021-12-04T13:59:14.588Z,1638626354.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:17.378Z,1638626357.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:20.180Z,1638626360.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:23.008Z,1638626363.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:24.205Z,1638626364.205 [Micromodem](INFO): Nmea in: $CAREV,135924,AUV,2.1.4000*22

2021-12-04T13:59:24.224Z,1638626364.224 [Micromodem](INFO): Nmea in: $CAREV,135924,COPROC,0.20.0.39330*73

2021-12-04T13:59:25.840Z,1638626365.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:28.708Z,1638626368.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:31.506Z,1638626371.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:34.315Z,1638626374.315 [Micromodem](INFO): Nmea in: $CAREV,135934,AUV,2.1.4000*23

2021-12-04T13:59:34.319Z,1638626374.319 [Micromodem](INFO): Nmea in: $CAREV,135934,COPROC,0.20.0.39330*72

2021-12-04T13:59:34.396Z,1638626374.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:37.161Z,1638626377.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:39.977Z,1638626379.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:42.547Z,1638626382.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:44.109Z,1638626384.109 [Micromodem](INFO): Nmea in: $CAREV,135944,AUV,2.1.4000*24

2021-12-04T13:59:44.110Z,1638626384.110 [Micromodem](INFO): Nmea in: $CAREV,135944,COPROC,0.20.0.39330*75

2021-12-04T13:59:45.365Z,1638626385.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:48.149Z,1638626388.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:50.969Z,1638626390.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:53.804Z,1638626393.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:54.201Z,1638626394.201 [Micromodem](INFO): Nmea in: $CAREV,135954,AUV,2.1.4000*25

2021-12-04T13:59:54.202Z,1638626394.202 [Micromodem](INFO): Nmea in: $CAREV,135954,COPROC,0.20.0.39330*74

2021-12-04T13:59:56.677Z,1638626396.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T13:59:59.478Z,1638626399.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:02.298Z,1638626402.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:04.373Z,1638626404.373 [Micromodem](INFO): Nmea in: $CAREV,140004,AUV,2.1.4000*2B

2021-12-04T14:00:04.377Z,1638626404.377 [Micromodem](INFO): Nmea in: $CAREV,140004,COPROC,0.20.0.39330*7A

2021-12-04T14:00:05.108Z,1638626405.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:07.975Z,1638626407.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:10.985Z,1638626410.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:13.610Z,1638626413.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:14.412Z,1638626414.412 [Micromodem](INFO): Nmea in: $CAREV,140014,AUV,2.1.4000*2A

2021-12-04T14:00:14.413Z,1638626414.413 [Micromodem](INFO): Nmea in: $CAREV,140014,COPROC,0.20.0.39330*7B

2021-12-04T14:00:16.439Z,1638626416.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:19.256Z,1638626419.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:22.080Z,1638626422.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:24.097Z,1638626424.097 [Micromodem](INFO): Nmea in: $CAREV,140024,AUV,2.1.4000*29

2021-12-04T14:00:24.098Z,1638626424.098 [Micromodem](INFO): Nmea in: $CAREV,140024,COPROC,0.20.0.39330*78

2021-12-04T14:00:24.939Z,1638626424.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:27.745Z,1638626427.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:30.627Z,1638626430.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:33.421Z,1638626433.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:34.189Z,1638626434.189 [Micromodem](INFO): Nmea in: $CAREV,140034,AUV,2.1.4000*28

2021-12-04T14:00:34.190Z,1638626434.190 [Micromodem](INFO): Nmea in: $CAREV,140034,COPROC,0.20.0.39330*79

2021-12-04T14:00:36.232Z,1638626436.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:39.096Z,1638626439.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:41.913Z,1638626441.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:44.301Z,1638626444.301 [Micromodem](INFO): Nmea in: $CAREV,140044,AUV,2.1.4000*2F

2021-12-04T14:00:44.302Z,1638626444.302 [Micromodem](INFO): Nmea in: $CAREV,140044,COPROC,0.20.0.39330*7E

2021-12-04T14:00:44.749Z,1638626444.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:47.554Z,1638626447.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:50.416Z,1638626450.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:53.192Z,1638626453.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:54.398Z,1638626454.398 [Micromodem](INFO): Nmea in: $CAREV,140054,AUV,2.1.4000*2E

2021-12-04T14:00:54.400Z,1638626454.400 [Micromodem](INFO): Nmea in: $CAREV,140054,COPROC,0.20.0.39330*7F

2021-12-04T14:00:56.043Z,1638626456.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:00:58.876Z,1638626458.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:01.696Z,1638626461.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:04.089Z,1638626464.089 [Micromodem](INFO): Nmea in: $CAREV,140104,AUV,2.1.4000*2A

2021-12-04T14:01:04.496Z,1638626464.496 [Micromodem](INFO): Nmea in: $CAREV,140104,COPROC,0.20.0.39330*7B

2021-12-04T14:01:04.582Z,1638626464.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:07.364Z,1638626467.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:10.160Z,1638626470.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:12.993Z,1638626472.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:14.189Z,1638626474.189 [Micromodem](INFO): Nmea in: $CAREV,140114,AUV,2.1.4000*2B

2021-12-04T14:01:14.190Z,1638626474.190 [Micromodem](INFO): Nmea in: $CAREV,140114,COPROC,0.20.0.39330*7A

2021-12-04T14:01:15.817Z,1638626475.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:18.681Z,1638626478.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:21.485Z,1638626481.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:24.293Z,1638626484.293 [Micromodem](INFO): Nmea in: $CAREV,140124,AUV,2.1.4000*28

2021-12-04T14:01:24.294Z,1638626484.294 [Micromodem](INFO): Nmea in: $CAREV,140124,COPROC,0.20.0.39330*79

2021-12-04T14:01:24.316Z,1638626484.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:27.125Z,1638626487.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:29.956Z,1638626489.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:32.813Z,1638626492.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:34.396Z,1638626494.396 [Micromodem](INFO): Nmea in: $CAREV,140134,AUV,2.1.4000*29

2021-12-04T14:01:34.397Z,1638626494.397 [Micromodem](INFO): Nmea in: $CAREV,140134,COPROC,0.20.0.39330*78

2021-12-04T14:01:35.623Z,1638626495.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:38.481Z,1638626498.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:41.260Z,1638626501.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:44.136Z,1638626504.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:44.490Z,1638626504.490 [Micromodem](INFO): Nmea in: $CAREV,140144,AUV,2.1.4000*2E

2021-12-04T14:01:44.493Z,1638626504.493 [Micromodem](INFO): Nmea in: $CAREV,140144,COPROC,0.20.0.39330*7F

2021-12-04T14:01:46.990Z,1638626506.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:49.756Z,1638626509.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:52.645Z,1638626512.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:54.181Z,1638626514.181 [Micromodem](INFO): Nmea in: $CAREV,140154,AUV,2.1.4000*2F

2021-12-04T14:01:54.182Z,1638626514.182 [Micromodem](INFO): Nmea in: $CAREV,140154,COPROC,0.20.0.39330*7E

2021-12-04T14:01:55.436Z,1638626515.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:01:58.245Z,1638626518.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:01.074Z,1638626521.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:03.893Z,1638626523.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:04.293Z,1638626524.293 [Micromodem](INFO): Nmea in: $CAREV,140204,AUV,2.1.4000*29

2021-12-04T14:02:04.297Z,1638626524.297 [Micromodem](INFO): Nmea in: $CAREV,140204,COPROC,0.20.0.39330*78

2021-12-04T14:02:06.753Z,1638626526.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:09.566Z,1638626529.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:12.409Z,1638626532.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:14.389Z,1638626534.389 [Micromodem](INFO): Nmea in: $CAREV,140214,AUV,2.1.4000*28

2021-12-04T14:02:14.390Z,1638626534.390 [Micromodem](INFO): Nmea in: $CAREV,140214,COPROC,0.20.0.39330*79

2021-12-04T14:02:15.211Z,1638626535.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:18.033Z,1638626538.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:20.871Z,1638626540.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:23.719Z,1638626543.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:24.485Z,1638626544.485 [Micromodem](INFO): Nmea in: $CAREV,140224,AUV,2.1.4000*2B

2021-12-04T14:02:24.486Z,1638626544.486 [Micromodem](INFO): Nmea in: $CAREV,140224,COPROC,0.20.0.39330*7A

2021-12-04T14:02:26.588Z,1638626546.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:29.375Z,1638626549.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:32.208Z,1638626552.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:34.177Z,1638626554.177 [Micromodem](INFO): Nmea in: $CAREV,140234,AUV,2.1.4000*2A

2021-12-04T14:02:34.178Z,1638626554.178 [Micromodem](INFO): Nmea in: $CAREV,140234,COPROC,0.20.0.39330*7B

2021-12-04T14:02:35.001Z,1638626555.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:37.846Z,1638626557.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:40.691Z,1638626560.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:43.500Z,1638626563.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:44.293Z,1638626564.293 [Micromodem](INFO): Nmea in: $CAREV,140244,AUV,2.1.4000*2D

2021-12-04T14:02:44.294Z,1638626564.294 [Micromodem](INFO): Nmea in: $CAREV,140244,COPROC,0.20.0.39330*7C

2021-12-04T14:02:46.358Z,1638626566.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:49.137Z,1638626569.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:51.961Z,1638626571.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:54.393Z,1638626574.393 [Micromodem](INFO): Nmea in: $CAREV,140254,AUV,2.1.4000*2C

2021-12-04T14:02:54.395Z,1638626574.395 [Micromodem](INFO): Nmea in: $CAREV,140254,COPROC,0.20.0.39330*7D

2021-12-04T14:02:54.823Z,1638626574.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:02:57.643Z,1638626577.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:00.471Z,1638626580.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:03.284Z,1638626583.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:04.485Z,1638626584.485 [Micromodem](INFO): Nmea in: $CAREV,140304,AUV,2.1.4000*28

2021-12-04T14:03:04.486Z,1638626584.486 [Micromodem](INFO): Nmea in: $CAREV,140304,COPROC,0.20.0.39330*79

2021-12-04T14:03:06.108Z,1638626586.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:08.976Z,1638626588.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:11.764Z,1638626591.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:14.177Z,1638626594.177 [Micromodem](INFO): Nmea in: $CAREV,140314,AUV,2.1.4000*29

2021-12-04T14:03:14.178Z,1638626594.178 [Micromodem](INFO): Nmea in: $CAREV,140314,COPROC,0.20.0.39330*78

2021-12-04T14:03:14.660Z,1638626594.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:17.438Z,1638626597.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:20.256Z,1638626600.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:23.068Z,1638626603.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:24.297Z,1638626604.297 [Micromodem](INFO): Nmea in: $CAREV,140324,AUV,2.1.4000*2A

2021-12-04T14:03:24.299Z,1638626604.299 [Micromodem](INFO): Nmea in: $CAREV,140324,COPROC,0.20.0.39330*7B

2021-12-04T14:03:25.924Z,1638626605.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:28.782Z,1638626608.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:31.571Z,1638626611.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:34.405Z,1638626614.405 [Micromodem](INFO): Nmea in: $CAREV,140334,AUV,2.1.4000*2B

2021-12-04T14:03:34.406Z,1638626614.406 [Micromodem](INFO): Nmea in: $CAREV,140334,COPROC,0.20.0.39330*7A

2021-12-04T14:03:34.428Z,1638626614.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:37.224Z,1638626617.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:40.055Z,1638626620.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:42.894Z,1638626622.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:44.473Z,1638626624.473 [Micromodem](INFO): Nmea in: $CAREV,140344,AUV,2.1.4000*2C

2021-12-04T14:03:44.474Z,1638626624.474 [Micromodem](INFO): Nmea in: $CAREV,140344,COPROC,0.20.0.39330*7D

2021-12-04T14:03:45.723Z,1638626625.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:48.588Z,1638626628.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:51.376Z,1638626631.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:54.173Z,1638626634.173 [Micromodem](INFO): Nmea in: $CAREV,140354,AUV,2.1.4000*2D

2021-12-04T14:03:54.175Z,1638626634.175 [Micromodem](INFO): Nmea in: $CAREV,140354,COPROC,0.20.0.39330*7C

2021-12-04T14:03:54.187Z,1638626634.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:57.046Z,1638626637.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:03:59.844Z,1638626639.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:02.708Z,1638626642.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:04.274Z,1638626644.274 [Micromodem](INFO): Nmea in: $CAREV,140404,AUV,2.1.4000*2F

2021-12-04T14:04:04.276Z,1638626644.276 [Micromodem](INFO): Nmea in: $CAREV,140404,COPROC,0.20.0.39330*7E

2021-12-04T14:04:05.527Z,1638626645.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:08.383Z,1638626648.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:11.152Z,1638626651.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:13.992Z,1638626653.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:14.389Z,1638626654.389 [Micromodem](INFO): Nmea in: $CAREV,140414,AUV,2.1.4000*2E

2021-12-04T14:04:14.391Z,1638626654.391 [Micromodem](INFO): Nmea in: $CAREV,140414,COPROC,0.20.0.39330*7F

2021-12-04T14:04:16.833Z,1638626656.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:19.670Z,1638626659.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:22.475Z,1638626662.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:24.473Z,1638626664.473 [Micromodem](INFO): Nmea in: $CAREV,140424,AUV,2.1.4000*2D

2021-12-04T14:04:24.474Z,1638626664.474 [Micromodem](INFO): Nmea in: $CAREV,140424,COPROC,0.20.0.39330*7C

2021-12-04T14:04:25.296Z,1638626665.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:28.125Z,1638626668.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:30.982Z,1638626670.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:33.776Z,1638626673.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:34.177Z,1638626674.177 [Micromodem](INFO): Nmea in: $CAREV,140434,AUV,2.1.4000*2C

2021-12-04T14:04:34.178Z,1638626674.178 [Micromodem](INFO): Nmea in: $CAREV,140434,COPROC,0.20.0.39330*7D

2021-12-04T14:04:36.672Z,1638626676.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:39.449Z,1638626679.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:42.264Z,1638626682.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:44.265Z,1638626684.265 [Micromodem](INFO): Nmea in: $CAREV,140444,AUV,2.1.4000*2B

2021-12-04T14:04:44.292Z,1638626684.292 [Micromodem](INFO): Nmea in: $CAREV,140444,COPROC,0.20.0.39330*7A

2021-12-04T14:04:45.089Z,1638626685.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:47.936Z,1638626687.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:50.771Z,1638626690.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:53.574Z,1638626693.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:54.386Z,1638626694.386 [Micromodem](INFO): Nmea in: $CAREV,140454,AUV,2.1.4000*2A

2021-12-04T14:04:54.387Z,1638626694.387 [Micromodem](INFO): Nmea in: $CAREV,140454,COPROC,0.20.0.39330*7B

2021-12-04T14:04:56.425Z,1638626696.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:04:59.237Z,1638626699.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:02.060Z,1638626702.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:04.481Z,1638626704.481 [Micromodem](INFO): Nmea in: $CAREV,140504,AUV,2.1.4000*2E

2021-12-04T14:05:04.483Z,1638626704.483 [Micromodem](INFO): Nmea in: $CAREV,140504,COPROC,0.20.0.39330*7F

2021-12-04T14:05:04.571Z,1638626704.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:07.356Z,1638626707.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:10.147Z,1638626710.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:12.965Z,1638626712.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:14.183Z,1638626714.183 [Micromodem](INFO): Nmea in: $CAREV,140514,AUV,2.1.4000*2F

2021-12-04T14:05:14.184Z,1638626714.184 [Micromodem](INFO): Nmea in: $CAREV,140514,COPROC,0.20.0.39330*7E

2021-12-04T14:05:15.811Z,1638626715.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:18.687Z,1638626718.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:21.461Z,1638626721.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:24.266Z,1638626724.266 [Micromodem](INFO): Nmea in: $CAREV,140524,AUV,2.1.4000*2C

2021-12-04T14:05:24.267Z,1638626724.267 [Micromodem](INFO): Nmea in: $CAREV,140524,COPROC,0.20.0.39330*7D

2021-12-04T14:05:24.338Z,1638626724.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:27.130Z,1638626727.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:29.932Z,1638626729.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:32.805Z,1638626732.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:34.385Z,1638626734.385 [Micromodem](INFO): Nmea in: $CAREV,140534,AUV,2.1.4000*2D

2021-12-04T14:05:34.386Z,1638626734.386 [Micromodem](INFO): Nmea in: $CAREV,140534,COPROC,0.20.0.39330*7C

2021-12-04T14:05:35.610Z,1638626735.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:38.432Z,1638626738.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:41.244Z,1638626741.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:44.073Z,1638626744.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:44.478Z,1638626744.478 [Micromodem](INFO): Nmea in: $CAREV,140544,AUV,2.1.4000*2A

2021-12-04T14:05:44.481Z,1638626744.481 [Micromodem](INFO): Nmea in: $CAREV,140544,COPROC,0.20.0.39330*7B

2021-12-04T14:05:46.915Z,1638626746.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:49.739Z,1638626749.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:52.637Z,1638626752.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:54.179Z,1638626754.179 [Micromodem](INFO): Nmea in: $CAREV,140554,AUV,2.1.4000*2B

2021-12-04T14:05:54.180Z,1638626754.180 [Micromodem](INFO): Nmea in: $CAREV,140554,COPROC,0.20.0.39330*7A

2021-12-04T14:05:55.403Z,1638626755.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:05:58.243Z,1638626758.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:01.076Z,1638626761.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:03.906Z,1638626763.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:04.295Z,1638626764.295 [Micromodem](INFO): Nmea in: $CAREV,140604,AUV,2.1.4000*2D

2021-12-04T14:06:04.296Z,1638626764.296 [Micromodem](INFO): Nmea in: $CAREV,140604,COPROC,0.20.0.39330*7C

2021-12-04T14:06:06.755Z,1638626766.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:09.587Z,1638626769.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:12.432Z,1638626772.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:14.393Z,1638626774.393 [Micromodem](INFO): Nmea in: $CAREV,140614,AUV,2.1.4000*2C

2021-12-04T14:06:14.394Z,1638626774.394 [Micromodem](INFO): Nmea in: $CAREV,140614,COPROC,0.20.0.39330*7D

2021-12-04T14:06:15.216Z,1638626775.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:18.036Z,1638626778.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:20.899Z,1638626780.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:23.720Z,1638626783.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:24.507Z,1638626784.507 [Micromodem](INFO): Nmea in: $CAREV,140624,AUV,2.1.4000*2F

2021-12-04T14:06:24.512Z,1638626784.512 [Micromodem](INFO): Nmea in: $CAREV,140624,COPROC,0.20.0.39330*7E

2021-12-04T14:06:26.585Z,1638626786.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:29.086Z,1638626789.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:31.776Z,1638626791.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:34.201Z,1638626794.201 [Micromodem](INFO): Nmea in: $CAREV,140634,AUV,2.1.4000*2E

2021-12-04T14:06:34.202Z,1638626794.202 [Micromodem](INFO): Nmea in: $CAREV,140634,COPROC,0.20.0.39330*7F

2021-12-04T14:06:34.670Z,1638626794.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:37.442Z,1638626797.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:40.256Z,1638626800.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:43.092Z,1638626803.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:44.310Z,1638626804.310 [Micromodem](INFO): Nmea in: $CAREV,140644,AUV,2.1.4000*29

2021-12-04T14:06:44.315Z,1638626804.315 [Micromodem](INFO): Nmea in: $CAREV,140644,COPROC,0.20.0.39330*78

2021-12-04T14:06:45.917Z,1638626805.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:48.772Z,1638626808.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:51.587Z,1638626811.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:54.397Z,1638626814.397 [Micromodem](INFO): Nmea in: $CAREV,140654,AUV,2.1.4000*28

2021-12-04T14:06:54.398Z,1638626814.398 [Micromodem](INFO): Nmea in: $CAREV,140654,COPROC,0.20.0.39330*79

2021-12-04T14:06:54.444Z,1638626814.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:06:57.250Z,1638626817.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:00.083Z,1638626820.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:02.903Z,1638626822.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:04.503Z,1638626824.503 [Micromodem](INFO): Nmea in: $CAREV,140704,AUV,2.1.4000*2C

2021-12-04T14:07:04.506Z,1638626824.506 [Micromodem](INFO): Nmea in: $CAREV,140704,COPROC,0.20.0.39330*7D

2021-12-04T14:07:05.723Z,1638626825.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:08.587Z,1638626828.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:11.403Z,1638626831.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:14.197Z,1638626834.197 [Micromodem](INFO): Nmea in: $CAREV,140714,AUV,2.1.4000*2D

2021-12-04T14:07:14.198Z,1638626834.198 [Micromodem](INFO): Nmea in: $CAREV,140714,COPROC,0.20.0.39330*7C

2021-12-04T14:07:14.211Z,1638626834.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:17.040Z,1638626837.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:19.849Z,1638626839.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:22.724Z,1638626842.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:24.283Z,1638626844.283 [Micromodem](INFO): Nmea in: $CAREV,140724,AUV,2.1.4000*2E

2021-12-04T14:07:24.286Z,1638626844.286 [Micromodem](INFO): Nmea in: $CAREV,140724,COPROC,0.20.0.39330*7F

2021-12-04T14:07:25.535Z,1638626845.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:28.369Z,1638626848.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:30.949Z,1638626850.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:33.612Z,1638626853.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:34.399Z,1638626854.399 [Micromodem](INFO): Nmea in: $CAREV,140734,AUV,2.1.4000*2F

2021-12-04T14:07:34.400Z,1638626854.400 [Micromodem](INFO): Nmea in: $CAREV,140734,COPROC,0.20.0.39330*7E

2021-12-04T14:07:36.430Z,1638626856.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:39.249Z,1638626859.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:40.854Z,1638626860.854 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: -35
2021-12-04T14:07:42.072Z,1638626862.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:44.488Z,1638626864.488 [Micromodem](INFO): Nmea in: $CAREV,140744,AUV,2.1.4000*28

2021-12-04T14:07:44.489Z,1638626864.489 [Micromodem](INFO): Nmea in: $CAREV,140744,COPROC,0.20.0.39330*79

2021-12-04T14:07:44.582Z,1638626864.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:47.356Z,1638626867.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:50.152Z,1638626870.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:52.999Z,1638626872.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:54.193Z,1638626874.193 [Micromodem](INFO): Nmea in: $CAREV,140754,AUV,2.1.4000*29

2021-12-04T14:07:54.195Z,1638626874.195 [Micromodem](INFO): Nmea in: $CAREV,140754,COPROC,0.20.0.39330*78

2021-12-04T14:07:55.813Z,1638626875.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:07:58.686Z,1638626878.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:01.494Z,1638626881.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:04.289Z,1638626884.289 [Micromodem](INFO): Nmea in: $CAREV,140804,AUV,2.1.4000*23

2021-12-04T14:08:04.290Z,1638626884.290 [Micromodem](INFO): Nmea in: $CAREV,140804,COPROC,0.20.0.39330*72

2021-12-04T14:08:04.305Z,1638626884.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:07.120Z,1638626887.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:09.958Z,1638626889.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:12.469Z,1638626892.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:14.445Z,1638626894.445 [Micromodem](INFO): Nmea in: $CAREV,140814,AUV,2.1.4000*22

2021-12-04T14:08:14.447Z,1638626894.447 [Micromodem](INFO): Nmea in: $CAREV,140814,COPROC,0.20.0.39330*73

2021-12-04T14:08:15.277Z,1638626895.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:18.100Z,1638626898.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:20.948Z,1638626900.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:23.758Z,1638626903.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:24.581Z,1638626904.581 [Micromodem](INFO): Nmea in: $CAREV,140824,AUV,2.1.4000*21

2021-12-04T14:08:24.582Z,1638626904.582 [Micromodem](INFO): Nmea in: $CAREV,140824,COPROC,0.20.0.39330*70

2021-12-04T14:08:26.649Z,1638626906.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:29.431Z,1638626909.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:32.265Z,1638626912.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:34.249Z,1638626914.249 [Micromodem](INFO): Nmea in: $CAREV,140834,AUV,2.1.4000*20

2021-12-04T14:08:34.251Z,1638626914.251 [Micromodem](INFO): Nmea in: $CAREV,140834,COPROC,0.20.0.39330*71

2021-12-04T14:08:35.073Z,1638626915.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:37.901Z,1638626917.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:40.770Z,1638626920.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:43.580Z,1638626923.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:44.381Z,1638626924.381 [Micromodem](INFO): Nmea in: $CAREV,140844,AUV,2.1.4000*27

2021-12-04T14:08:44.382Z,1638626924.382 [Micromodem](INFO): Nmea in: $CAREV,140844,COPROC,0.20.0.39330*76

2021-12-04T14:08:46.407Z,1638626926.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:49.214Z,1638626929.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:52.040Z,1638626932.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:54.449Z,1638626934.449 [Micromodem](INFO): Nmea in: $CAREV,140854,AUV,2.1.4000*26

2021-12-04T14:08:54.450Z,1638626934.450 [Micromodem](INFO): Nmea in: $CAREV,140854,COPROC,0.20.0.39330*77

2021-12-04T14:08:54.907Z,1638626934.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:08:57.692Z,1638626937.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:00.593Z,1638626940.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:03.380Z,1638626943.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:04.589Z,1638626944.589 [Micromodem](INFO): Nmea in: $CAREV,140904,AUV,2.1.4000*22

2021-12-04T14:09:04.590Z,1638626944.590 [Micromodem](INFO): Nmea in: $CAREV,140904,COPROC,0.20.0.39330*73

2021-12-04T14:09:06.176Z,1638626946.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:09.016Z,1638626949.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:11.837Z,1638626951.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:14.245Z,1638626954.245 [Micromodem](INFO): Nmea in: $CAREV,140914,AUV,2.1.4000*23

2021-12-04T14:09:14.246Z,1638626954.246 [Micromodem](INFO): Nmea in: $CAREV,140914,COPROC,0.20.0.39330*72

2021-12-04T14:09:14.704Z,1638626954.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:17.481Z,1638626957.481 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:09:17.512Z,1638626957.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:20.362Z,1638626960.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:23.140Z,1638626963.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:24.369Z,1638626964.369 [Micromodem](INFO): Nmea in: $CAREV,140924,AUV,2.1.4000*20

2021-12-04T14:09:24.371Z,1638626964.371 [Micromodem](INFO): Nmea in: $CAREV,140924,COPROC,0.20.0.39330*71

2021-12-04T14:09:25.972Z,1638626965.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:28.827Z,1638626968.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:31.640Z,1638626971.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:33.653Z,1638626973.653 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:09:34.437Z,1638626974.437 [Micromodem](INFO): Nmea in: $CAREV,140934,AUV,2.1.4000*21

2021-12-04T14:09:34.439Z,1638626974.439 [Micromodem](INFO): Nmea in: $CAREV,140934,COPROC,0.20.0.39330*70

2021-12-04T14:09:34.461Z,1638626974.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:37.366Z,1638626977.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:40.120Z,1638626980.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:42.985Z,1638626982.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:44.589Z,1638626984.589 [Micromodem](INFO): Nmea in: $CAREV,140944,AUV,2.1.4000*26

2021-12-04T14:09:44.590Z,1638626984.590 [Micromodem](INFO): Nmea in: $CAREV,140944,COPROC,0.20.0.39330*77

2021-12-04T14:09:45.768Z,1638626985.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:47.402Z,1638626987.402 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:09:48.665Z,1638626988.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:51.435Z,1638626991.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:52.643Z,1638626992.643 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:09:54.245Z,1638626994.245 [Micromodem](INFO): Nmea in: $CAREV,140954,AUV,2.1.4000*27

2021-12-04T14:09:54.246Z,1638626994.246 [Micromodem](INFO): Nmea in: $CAREV,140954,COPROC,0.20.0.39330*76

2021-12-04T14:09:54.258Z,1638626994.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:57.081Z,1638626997.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:09:57.485Z,1638626997.485 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:09:59.916Z,1638626999.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:02.762Z,1638627002.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:04.361Z,1638627004.361 [Micromodem](INFO): Nmea in: $CAREV,141004,AUV,2.1.4000*2A

2021-12-04T14:10:04.363Z,1638627004.363 [Micromodem](INFO): Nmea in: $CAREV,141004,COPROC,0.20.0.39330*7B

2021-12-04T14:10:05.575Z,1638627005.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:07.598Z,1638627007.598 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T14:10:07.598Z,1638627007.598 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T14:10:07.598Z,1638627007.598 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T14:10:07.732Z,1638627007.732 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T14:10:08.043Z,1638627008.043 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T14:10:08.392Z,1638627008.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:08.907Z,1638627008.907 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T14:10:08.907Z,1638627008.907 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T14:10:11.228Z,1638627011.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:14.048Z,1638627014.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:14.463Z,1638627014.463 [Micromodem](INFO): Nmea in: $CAREV,141014,AUV,2.1.4000*2B

2021-12-04T14:10:14.486Z,1638627014.486 [Micromodem](INFO): Nmea in: $CAREV,141014,COPROC,0.20.0.39330*7A

2021-12-04T14:10:16.903Z,1638627016.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:19.715Z,1638627019.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:22.578Z,1638627022.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:24.581Z,1638627024.581 [Micromodem](INFO): Nmea in: $CAREV,141024,AUV,2.1.4000*28

2021-12-04T14:10:24.582Z,1638627024.582 [Micromodem](INFO): Nmea in: $CAREV,141024,COPROC,0.20.0.39330*79

2021-12-04T14:10:25.400Z,1638627025.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:28.201Z,1638627028.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:31.028Z,1638627031.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:33.845Z,1638627033.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:34.267Z,1638627034.267 [Micromodem](INFO): Nmea in: $CAREV,141034,AUV,2.1.4000*29

2021-12-04T14:10:34.270Z,1638627034.270 [Micromodem](INFO): Nmea in: $CAREV,141034,COPROC,0.20.0.39330*78

2021-12-04T14:10:36.714Z,1638627036.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:39.527Z,1638627039.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:42.397Z,1638627042.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:44.341Z,1638627044.341 [Micromodem](INFO): Nmea in: $CAREV,141044,AUV,2.1.4000*2E

2021-12-04T14:10:44.343Z,1638627044.343 [Micromodem](INFO): Nmea in: $CAREV,141044,COPROC,0.20.0.39330*7F

2021-12-04T14:10:45.156Z,1638627045.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:47.995Z,1638627047.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:50.838Z,1638627050.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:53.656Z,1638627053.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:54.448Z,1638627054.448 [Micromodem](INFO): Nmea in: $CAREV,141054,AUV,2.1.4000*2F

2021-12-04T14:10:54.449Z,1638627054.449 [Micromodem](INFO): Nmea in: $CAREV,141054,COPROC,0.20.0.39330*7E

2021-12-04T14:10:56.487Z,1638627056.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:10:59.323Z,1638627059.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:02.124Z,1638627062.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:04.568Z,1638627064.568 [Micromodem](INFO): Nmea in: $CAREV,141104,AUV,2.1.4000*2B

2021-12-04T14:11:04.569Z,1638627064.569 [Micromodem](INFO): Nmea in: $CAREV,141104,COPROC,0.20.0.39330*7A

2021-12-04T14:11:04.960Z,1638627064.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:06.635Z,1638627066.635 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T14:11:07.780Z,1638627067.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:10.664Z,1638627070.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:13.443Z,1638627073.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:14.272Z,1638627074.272 [Micromodem](INFO): Nmea in: $CAREV,141114,AUV,2.1.4000*2A

2021-12-04T14:11:14.280Z,1638627074.280 [Micromodem](INFO): Nmea in: $CAREV,141114,COPROC,0.20.0.39330*7B

2021-12-04T14:11:16.303Z,1638627076.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:19.111Z,1638627079.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:21.640Z,1638627081.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:24.417Z,1638627084.417 [Micromodem](INFO): Nmea in: $CAREV,141124,AUV,2.1.4000*29

2021-12-04T14:11:24.418Z,1638627084.418 [Micromodem](INFO): Nmea in: $CAREV,141124,COPROC,0.20.0.39330*78

2021-12-04T14:11:24.463Z,1638627084.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:27.300Z,1638627087.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:30.084Z,1638627090.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:32.939Z,1638627092.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:34.547Z,1638627094.547 [Micromodem](INFO): Nmea in: $CAREV,141134,AUV,2.1.4000*28

2021-12-04T14:11:34.551Z,1638627094.551 [Micromodem](INFO): Nmea in: $CAREV,141134,COPROC,0.20.0.39330*79

2021-12-04T14:11:35.745Z,1638627095.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:38.657Z,1638627098.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:41.422Z,1638627101.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:44.228Z,1638627104.228 [Micromodem](INFO): Nmea in: $CAREV,141144,AUV,2.1.4000*2F

2021-12-04T14:11:44.229Z,1638627104.229 [Micromodem](INFO): Nmea in: $CAREV,141144,COPROC,0.20.0.39330*7E

2021-12-04T14:11:44.253Z,1638627104.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:47.052Z,1638627107.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:49.876Z,1638627109.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:52.739Z,1638627112.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:54.337Z,1638627114.337 [Micromodem](INFO): Nmea in: $CAREV,141154,AUV,2.1.4000*2E

2021-12-04T14:11:54.338Z,1638627114.338 [Micromodem](INFO): Nmea in: $CAREV,141154,COPROC,0.20.0.39330*7F

2021-12-04T14:11:55.548Z,1638627115.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:11:58.382Z,1638627118.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:01.189Z,1638627121.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:04.020Z,1638627124.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:04.417Z,1638627124.417 [Micromodem](INFO): Nmea in: $CAREV,141204,AUV,2.1.4000*28

2021-12-04T14:12:04.418Z,1638627124.418 [Micromodem](INFO): Nmea in: $CAREV,141204,COPROC,0.20.0.39330*79

2021-12-04T14:12:06.859Z,1638627126.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:09.676Z,1638627129.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:12.582Z,1638627132.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:14.527Z,1638627134.527 [Micromodem](INFO): Nmea in: $CAREV,141214,AUV,2.1.4000*29

2021-12-04T14:12:14.546Z,1638627134.546 [Micromodem](INFO): Nmea in: $CAREV,141214,COPROC,0.20.0.39330*78

2021-12-04T14:12:15.362Z,1638627135.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:18.161Z,1638627138.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:20.670Z,1638627140.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:23.422Z,1638627143.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:24.217Z,1638627144.217 [Micromodem](INFO): Nmea in: $CAREV,141224,AUV,2.1.4000*2A

2021-12-04T14:12:24.613Z,1638627144.613 [Micromodem](INFO): Nmea in: $CAREV,141224,COPROC,0.20.0.39330*7B

2021-12-04T14:12:26.244Z,1638627146.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:29.084Z,1638627149.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:31.901Z,1638627151.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:34.333Z,1638627154.333 [Micromodem](INFO): Nmea in: $CAREV,141234,AUV,2.1.4000*2B

2021-12-04T14:12:34.334Z,1638627154.334 [Micromodem](INFO): Nmea in: $CAREV,141234,COPROC,0.20.0.39330*7A

2021-12-04T14:12:34.769Z,1638627154.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:37.579Z,1638627157.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:40.386Z,1638627160.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:43.213Z,1638627163.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:44.405Z,1638627164.405 [Micromodem](INFO): Nmea in: $CAREV,141244,AUV,2.1.4000*2C

2021-12-04T14:12:44.406Z,1638627164.406 [Micromodem](INFO): Nmea in: $CAREV,141244,COPROC,0.20.0.39330*7D

2021-12-04T14:12:46.045Z,1638627166.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:48.886Z,1638627168.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:51.696Z,1638627171.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:54.531Z,1638627174.531 [Micromodem](INFO): Nmea in: $CAREV,141254,AUV,2.1.4000*2D

2021-12-04T14:12:54.555Z,1638627174.555 [Micromodem](INFO): Nmea in: $CAREV,141254,COPROC,0.20.0.39330*7C

2021-12-04T14:12:54.616Z,1638627174.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:12:57.379Z,1638627177.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:00.183Z,1638627180.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:02.606Z,1638627182.606 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:13:03.013Z,1638627183.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:04.617Z,1638627184.617 [Micromodem](INFO): Nmea in: $CAREV,141304,AUV,2.1.4000*29

2021-12-04T14:13:04.618Z,1638627184.618 [Micromodem](INFO): Nmea in: $CAREV,141304,COPROC,0.20.0.39330*78

2021-12-04T14:13:05.836Z,1638627185.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:08.701Z,1638627188.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:11.511Z,1638627191.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:12.700Z,1638627192.700 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:13:14.337Z,1638627194.337 [Micromodem](INFO): Nmea in: $CAREV,141314,AUV,2.1.4000*28

2021-12-04T14:13:14.338Z,1638627194.338 [Micromodem](INFO): Nmea in: $CAREV,141314,COPROC,0.20.0.39330*79

2021-12-04T14:13:14.388Z,1638627194.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:17.152Z,1638627197.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:19.972Z,1638627199.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:22.804Z,1638627202.804 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T14:13:22.838Z,1638627202.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:24.419Z,1638627204.419 [Micromodem](INFO): Nmea in: $CAREV,141324,AUV,2.1.4000*2B

2021-12-04T14:13:24.420Z,1638627204.420 [Micromodem](INFO): Nmea in: $CAREV,141324,COPROC,0.20.0.39330*7A

2021-12-04T14:13:25.653Z,1638627205.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:28.488Z,1638627208.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:31.322Z,1638627211.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:34.116Z,1638627214.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:34.522Z,1638627214.522 [Micromodem](INFO): Nmea in: $CAREV,141334,AUV,2.1.4000*2A

2021-12-04T14:13:34.526Z,1638627214.526 [Micromodem](INFO): Nmea in: $CAREV,141334,COPROC,0.20.0.39330*7B

2021-12-04T14:13:36.647Z,1638627216.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:39.370Z,1638627219.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:42.206Z,1638627222.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:44.608Z,1638627224.608 [Micromodem](INFO): Nmea in: $CAREV,141344,AUV,2.1.4000*2D

2021-12-04T14:13:44.609Z,1638627224.609 [Micromodem](INFO): Nmea in: $CAREV,141344,COPROC,0.20.0.39330*7C

2021-12-04T14:13:45.029Z,1638627225.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:47.849Z,1638627227.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:50.722Z,1638627230.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:53.529Z,1638627233.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:54.326Z,1638627234.326 [Micromodem](INFO): Nmea in: $CAREV,141354,AUV,2.1.4000*2C

2021-12-04T14:13:54.327Z,1638627234.327 [Micromodem](INFO): Nmea in: $CAREV,141354,COPROC,0.20.0.39330*7D

2021-12-04T14:13:56.360Z,1638627236.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:13:59.171Z,1638627239.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:01.989Z,1638627241.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:04.397Z,1638627244.397 [Micromodem](INFO): Nmea in: $CAREV,141404,AUV,2.1.4000*2E

2021-12-04T14:14:04.398Z,1638627244.398 [Micromodem](INFO): Nmea in: $CAREV,141404,COPROC,0.20.0.39330*7F

2021-12-04T14:14:04.859Z,1638627244.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:07.668Z,1638627247.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:10.525Z,1638627250.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:13.363Z,1638627253.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:14.520Z,1638627254.520 [Micromodem](INFO): Nmea in: $CAREV,141414,AUV,2.1.4000*2F

2021-12-04T14:14:14.528Z,1638627254.528 [Micromodem](INFO): Nmea in: $CAREV,141414,COPROC,0.20.0.39330*7E

2021-12-04T14:14:16.150Z,1638627256.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:18.653Z,1638627258.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:21.420Z,1638627261.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:22.633Z,1638627262.633 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T14:14:24.248Z,1638627264.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:24.613Z,1638627264.613 [Micromodem](INFO): Nmea in: $CAREV,141424,AUV,2.1.4000*2C

2021-12-04T14:14:24.614Z,1638627264.614 [Micromodem](INFO): Nmea in: $CAREV,141424,COPROC,0.20.0.39330*7D

2021-12-04T14:14:27.036Z,1638627267.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:29.884Z,1638627269.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:32.716Z,1638627272.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:34.325Z,1638627274.325 [Micromodem](INFO): Nmea in: $CAREV,141434,AUV,2.1.4000*2D

2021-12-04T14:14:34.326Z,1638627274.326 [Micromodem](INFO): Nmea in: $CAREV,141434,COPROC,0.20.0.39330*7C

2021-12-04T14:14:35.540Z,1638627275.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:38.356Z,1638627278.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:41.176Z,1638627281.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:44.004Z,1638627284.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:44.405Z,1638627284.405 [Micromodem](INFO): Nmea in: $CAREV,141444,AUV,2.1.4000*2A

2021-12-04T14:14:44.406Z,1638627284.406 [Micromodem](INFO): Nmea in: $CAREV,141444,COPROC,0.20.0.39330*7B

2021-12-04T14:14:46.851Z,1638627286.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:49.660Z,1638627289.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:52.565Z,1638627292.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:54.509Z,1638627294.509 [Micromodem](INFO): Nmea in: $CAREV,141454,AUV,2.1.4000*2B

2021-12-04T14:14:54.512Z,1638627294.512 [Micromodem](INFO): Nmea in: $CAREV,141454,COPROC,0.20.0.39330*7A

2021-12-04T14:14:55.351Z,1638627295.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:14:58.152Z,1638627298.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:00.652Z,1638627300.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:03.421Z,1638627303.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:04.609Z,1638627304.609 [Micromodem](INFO): Nmea in: $CAREV,141504,AUV,2.1.4000*2F

2021-12-04T14:15:04.610Z,1638627304.610 [Micromodem](INFO): Nmea in: $CAREV,141504,COPROC,0.20.0.39330*7E

2021-12-04T14:15:06.291Z,1638627306.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:09.061Z,1638627309.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:11.890Z,1638627311.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:14.334Z,1638627314.334 [Micromodem](INFO): Nmea in: $CAREV,141514,AUV,2.1.4000*2E

2021-12-04T14:15:14.335Z,1638627314.335 [Micromodem](INFO): Nmea in: $CAREV,141514,COPROC,0.20.0.39330*7F

2021-12-04T14:15:14.399Z,1638627314.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:17.143Z,1638627317.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:19.961Z,1638627319.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:22.826Z,1638627322.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:24.393Z,1638627324.393 [Micromodem](INFO): Nmea in: $CAREV,141524,AUV,2.1.4000*2D

2021-12-04T14:15:24.394Z,1638627324.394 [Micromodem](INFO): Nmea in: $CAREV,141524,COPROC,0.20.0.39330*7C

2021-12-04T14:15:25.639Z,1638627325.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:28.461Z,1638627328.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:31.309Z,1638627331.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:34.104Z,1638627334.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:34.504Z,1638627334.504 [Micromodem](INFO): Nmea in: $CAREV,141534,AUV,2.1.4000*2C

2021-12-04T14:15:34.509Z,1638627334.509 [Micromodem](INFO): Nmea in: $CAREV,141534,COPROC,0.20.0.39330*7D

2021-12-04T14:15:36.928Z,1638627336.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:39.769Z,1638627339.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:42.686Z,1638627342.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:44.605Z,1638627344.605 [Micromodem](INFO): Nmea in: $CAREV,141544,AUV,2.1.4000*2B

2021-12-04T14:15:44.606Z,1638627344.606 [Micromodem](INFO): Nmea in: $CAREV,141544,COPROC,0.20.0.39330*7A

2021-12-04T14:15:45.414Z,1638627345.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:48.272Z,1638627348.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:51.085Z,1638627351.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:53.900Z,1638627353.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:54.321Z,1638627354.321 [Micromodem](INFO): Nmea in: $CAREV,141554,AUV,2.1.4000*2A

2021-12-04T14:15:54.323Z,1638627354.323 [Micromodem](INFO): Nmea in: $CAREV,141554,COPROC,0.20.0.39330*7B

2021-12-04T14:15:56.745Z,1638627356.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:15:59.579Z,1638627359.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:02.413Z,1638627362.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:04.441Z,1638627364.441 [Micromodem](INFO): Nmea in: $CAREV,141604,AUV,2.1.4000*2C

2021-12-04T14:16:04.442Z,1638627364.442 [Micromodem](INFO): Nmea in: $CAREV,141604,COPROC,0.20.0.39330*7D

2021-12-04T14:16:05.216Z,1638627365.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:08.040Z,1638627368.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:10.875Z,1638627370.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:13.692Z,1638627373.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:14.505Z,1638627374.505 [Micromodem](INFO): Nmea in: $CAREV,141614,AUV,2.1.4000*2D

2021-12-04T14:16:14.509Z,1638627374.509 [Micromodem](INFO): Nmea in: $CAREV,141614,COPROC,0.20.0.39330*7C

2021-12-04T14:16:16.576Z,1638627376.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:19.359Z,1638627379.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:22.180Z,1638627382.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:24.601Z,1638627384.601 [Micromodem](INFO): Nmea in: $CAREV,141624,AUV,2.1.4000*2E

2021-12-04T14:16:24.602Z,1638627384.602 [Micromodem](INFO): Nmea in: $CAREV,141624,COPROC,0.20.0.39330*7F

2021-12-04T14:16:25.008Z,1638627385.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:27.832Z,1638627387.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:30.696Z,1638627390.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:33.504Z,1638627393.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:34.313Z,1638627394.313 [Micromodem](INFO): Nmea in: $CAREV,141634,AUV,2.1.4000*2F

2021-12-04T14:16:34.314Z,1638627394.314 [Micromodem](INFO): Nmea in: $CAREV,141634,COPROC,0.20.0.39330*7E

2021-12-04T14:16:36.355Z,1638627396.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:39.156Z,1638627399.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:41.981Z,1638627401.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:44.385Z,1638627404.385 [Micromodem](INFO): Nmea in: $CAREV,141644,AUV,2.1.4000*28

2021-12-04T14:16:44.386Z,1638627404.386 [Micromodem](INFO): Nmea in: $CAREV,141644,COPROC,0.20.0.39330*79

2021-12-04T14:16:44.819Z,1638627404.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:47.634Z,1638627407.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:50.500Z,1638627410.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:53.313Z,1638627413.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:54.502Z,1638627414.502 [Micromodem](INFO): Nmea in: $CAREV,141654,AUV,2.1.4000*29

2021-12-04T14:16:54.508Z,1638627414.508 [Micromodem](INFO): Nmea in: $CAREV,141654,COPROC,0.20.0.39330*78

2021-12-04T14:16:56.121Z,1638627416.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:16:58.937Z,1638627418.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:01.768Z,1638627421.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:04.609Z,1638627424.609 [Micromodem](INFO): Nmea in: $CAREV,141704,AUV,2.1.4000*2D

2021-12-04T14:17:04.610Z,1638627424.610 [Micromodem](INFO): Nmea in: $CAREV,141704,COPROC,0.20.0.39330*7C

2021-12-04T14:17:04.677Z,1638627424.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:07.449Z,1638627427.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:10.298Z,1638627430.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:13.084Z,1638627433.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:14.309Z,1638627434.309 [Micromodem](INFO): Nmea in: $CAREV,141714,AUV,2.1.4000*2C

2021-12-04T14:17:14.310Z,1638627434.310 [Micromodem](INFO): Nmea in: $CAREV,141714,COPROC,0.20.0.39330*7D

2021-12-04T14:17:15.926Z,1638627435.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:18.759Z,1638627438.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:21.574Z,1638627441.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:24.381Z,1638627444.381 [Micromodem](INFO): Nmea in: $CAREV,141724,AUV,2.1.4000*2F

2021-12-04T14:17:24.382Z,1638627444.382 [Micromodem](INFO): Nmea in: $CAREV,141724,COPROC,0.20.0.39330*7E

2021-12-04T14:17:24.404Z,1638627444.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:27.220Z,1638627447.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:30.048Z,1638627450.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:32.902Z,1638627452.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:34.481Z,1638627454.481 [Micromodem](INFO): Nmea in: $CAREV,141734,AUV,2.1.4000*2E

2021-12-04T14:17:34.483Z,1638627454.483 [Micromodem](INFO): Nmea in: $CAREV,141734,COPROC,0.20.0.39330*7F

2021-12-04T14:17:35.705Z,1638627455.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:38.613Z,1638627458.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:41.376Z,1638627461.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:44.197Z,1638627464.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:44.594Z,1638627464.594 [Micromodem](INFO): Nmea in: $CAREV,141744,AUV,2.1.4000*29

2021-12-04T14:17:44.595Z,1638627464.595 [Micromodem](INFO): Nmea in: $CAREV,141744,COPROC,0.20.0.39330*78

2021-12-04T14:17:47.016Z,1638627467.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:49.862Z,1638627469.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:52.716Z,1638627472.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:54.295Z,1638627474.295 [Micromodem](INFO): Nmea in: $CAREV,141754,AUV,2.1.4000*28

2021-12-04T14:17:54.296Z,1638627474.296 [Micromodem](INFO): Nmea in: $CAREV,141754,COPROC,0.20.0.39330*79

2021-12-04T14:17:55.507Z,1638627475.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:17:58.375Z,1638627478.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:01.161Z,1638627481.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:03.981Z,1638627483.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:04.377Z,1638627484.377 [Micromodem](INFO): Nmea in: $CAREV,141804,AUV,2.1.4000*22

2021-12-04T14:18:04.378Z,1638627484.378 [Micromodem](INFO): Nmea in: $CAREV,141804,COPROC,0.20.0.39330*73

2021-12-04T14:18:06.812Z,1638627486.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:09.655Z,1638627489.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:12.503Z,1638627492.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:14.477Z,1638627494.477 [Micromodem](INFO): Nmea in: $CAREV,141814,AUV,2.1.4000*23

2021-12-04T14:18:14.478Z,1638627494.478 [Micromodem](INFO): Nmea in: $CAREV,141814,COPROC,0.20.0.39330*72

2021-12-04T14:18:15.322Z,1638627495.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:18.133Z,1638627498.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:20.956Z,1638627500.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:23.776Z,1638627503.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:24.605Z,1638627504.605 [Micromodem](INFO): Nmea in: $CAREV,141824,AUV,2.1.4000*20

2021-12-04T14:18:24.606Z,1638627504.606 [Micromodem](INFO): Nmea in: $CAREV,141824,COPROC,0.20.0.39330*71

2021-12-04T14:18:26.652Z,1638627506.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:29.462Z,1638627509.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:32.312Z,1638627512.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:34.294Z,1638627514.294 [Micromodem](INFO): Nmea in: $CAREV,141834,AUV,2.1.4000*21

2021-12-04T14:18:34.295Z,1638627514.295 [Micromodem](INFO): Nmea in: $CAREV,141834,COPROC,0.20.0.39330*70

2021-12-04T14:18:35.101Z,1638627515.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:37.943Z,1638627517.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:40.775Z,1638627520.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:43.612Z,1638627523.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:44.369Z,1638627524.369 [Micromodem](INFO): Nmea in: $CAREV,141844,AUV,2.1.4000*26

2021-12-04T14:18:44.370Z,1638627524.370 [Micromodem](INFO): Nmea in: $CAREV,141844,COPROC,0.20.0.39330*77

2021-12-04T14:18:46.422Z,1638627526.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:49.277Z,1638627529.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:52.057Z,1638627532.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:54.479Z,1638627534.479 [Micromodem](INFO): Nmea in: $CAREV,141854,AUV,2.1.4000*27

2021-12-04T14:18:54.480Z,1638627534.480 [Micromodem](INFO): Nmea in: $CAREV,141854,COPROC,0.20.0.39330*76

2021-12-04T14:18:54.568Z,1638627534.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:18:57.345Z,1638627537.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:00.160Z,1638627540.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:02.976Z,1638627542.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:04.593Z,1638627544.593 [Micromodem](INFO): Nmea in: $CAREV,141904,AUV,2.1.4000*23

2021-12-04T14:19:04.594Z,1638627544.594 [Micromodem](INFO): Nmea in: $CAREV,141904,COPROC,0.20.0.39330*72

2021-12-04T14:19:05.796Z,1638627545.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:08.722Z,1638627548.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:11.476Z,1638627551.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:14.297Z,1638627554.297 [Micromodem](INFO): Nmea in: $CAREV,141914,AUV,2.1.4000*22

2021-12-04T14:19:14.298Z,1638627554.298 [Micromodem](INFO): Nmea in: $CAREV,141914,COPROC,0.20.0.39330*73

2021-12-04T14:19:14.345Z,1638627554.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:17.109Z,1638627557.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:19.936Z,1638627559.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:22.791Z,1638627562.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:24.384Z,1638627564.384 [Micromodem](INFO): Nmea in: $CAREV,141924,AUV,2.1.4000*21

2021-12-04T14:19:24.385Z,1638627564.385 [Micromodem](INFO): Nmea in: $CAREV,141924,COPROC,0.20.0.39330*70

2021-12-04T14:19:25.621Z,1638627565.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:28.445Z,1638627568.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:31.286Z,1638627571.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:34.094Z,1638627574.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:34.465Z,1638627574.465 [Micromodem](INFO): Nmea in: $CAREV,141934,AUV,2.1.4000*20

2021-12-04T14:19:34.466Z,1638627574.466 [Micromodem](INFO): Nmea in: $CAREV,141934,COPROC,0.20.0.39330*71

2021-12-04T14:19:36.930Z,1638627576.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:39.741Z,1638627579.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:42.634Z,1638627582.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:44.600Z,1638627584.600 [Micromodem](INFO): Nmea in: $CAREV,141944,AUV,2.1.4000*27

2021-12-04T14:19:44.601Z,1638627584.601 [Micromodem](INFO): Nmea in: $CAREV,141944,COPROC,0.20.0.39330*76

2021-12-04T14:19:45.407Z,1638627585.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:48.216Z,1638627588.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:51.045Z,1638627591.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:53.872Z,1638627593.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:54.688Z,1638627594.688 [Micromodem](INFO): Nmea in: $CAREV,141954,AUV,2.1.4000*26

2021-12-04T14:19:54.689Z,1638627594.689 [Micromodem](INFO): Nmea in: $CAREV,141954,COPROC,0.20.0.39330*77

2021-12-04T14:19:56.726Z,1638627596.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:19:59.547Z,1638627599.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:02.371Z,1638627602.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:04.362Z,1638627604.362 [Micromodem](INFO): Nmea in: $CAREV,142004,AUV,2.1.4000*29

2021-12-04T14:20:04.363Z,1638627604.363 [Micromodem](INFO): Nmea in: $CAREV,142004,COPROC,0.20.0.39330*78

2021-12-04T14:20:05.181Z,1638627605.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:08.017Z,1638627608.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:10.862Z,1638627610.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:13.668Z,1638627613.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:14.473Z,1638627614.473 [Micromodem](INFO): Nmea in: $CAREV,142014,AUV,2.1.4000*28

2021-12-04T14:20:14.474Z,1638627614.474 [Micromodem](INFO): Nmea in: $CAREV,142014,COPROC,0.20.0.39330*79

2021-12-04T14:20:16.568Z,1638627616.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:19.352Z,1638627619.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:22.165Z,1638627622.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:24.596Z,1638627624.596 [Micromodem](INFO): Nmea in: $CAREV,142024,AUV,2.1.4000*2B

2021-12-04T14:20:24.597Z,1638627624.597 [Micromodem](INFO): Nmea in: $CAREV,142024,COPROC,0.20.0.39330*7A

2021-12-04T14:20:24.666Z,1638627624.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:27.423Z,1638627627.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:30.237Z,1638627630.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:33.065Z,1638627633.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:34.665Z,1638627634.665 [Micromodem](INFO): Nmea in: $CAREV,142034,AUV,2.1.4000*2A

2021-12-04T14:20:34.666Z,1638627634.666 [Micromodem](INFO): Nmea in: $CAREV,142034,COPROC,0.20.0.39330*7B

2021-12-04T14:20:35.902Z,1638627635.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:38.737Z,1638627638.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:41.571Z,1638627641.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:44.361Z,1638627644.361 [Micromodem](INFO): Nmea in: $CAREV,142044,AUV,2.1.4000*2D

2021-12-04T14:20:44.363Z,1638627644.363 [Micromodem](INFO): Nmea in: $CAREV,142044,COPROC,0.20.0.39330*7C

2021-12-04T14:20:44.411Z,1638627644.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:47.208Z,1638627647.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:50.028Z,1638627650.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:52.452Z,1638627652.452 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T14:20:52.871Z,1638627652.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:54.461Z,1638627654.461 [Micromodem](INFO): Nmea in: $CAREV,142054,AUV,2.1.4000*2C

2021-12-04T14:20:54.462Z,1638627654.462 [Micromodem](INFO): Nmea in: $CAREV,142054,COPROC,0.20.0.39330*7D

2021-12-04T14:20:55.676Z,1638627655.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:20:58.576Z,1638627658.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:01.363Z,1638627661.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:04.180Z,1638627664.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:04.603Z,1638627664.603 [Micromodem](INFO): Nmea in: $CAREV,142104,AUV,2.1.4000*28

2021-12-04T14:21:04.606Z,1638627664.606 [Micromodem](INFO): Nmea in: $CAREV,142104,COPROC,0.20.0.39330*79

2021-12-04T14:21:06.996Z,1638627666.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:09.825Z,1638627669.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:12.695Z,1638627672.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:14.669Z,1638627674.669 [Micromodem](INFO): Nmea in: $CAREV,142114,AUV,2.1.4000*29

2021-12-04T14:21:14.670Z,1638627674.670 [Micromodem](INFO): Nmea in: $CAREV,142114,COPROC,0.20.0.39330*78

2021-12-04T14:21:15.494Z,1638627675.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:18.358Z,1638627678.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:21.136Z,1638627681.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:23.977Z,1638627683.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:24.372Z,1638627684.372 [Micromodem](INFO): Nmea in: $CAREV,142124,AUV,2.1.4000*2A

2021-12-04T14:21:24.373Z,1638627684.373 [Micromodem](INFO): Nmea in: $CAREV,142124,COPROC,0.20.0.39330*7B

2021-12-04T14:21:26.821Z,1638627686.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:29.639Z,1638627689.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:32.471Z,1638627692.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:34.453Z,1638627694.453 [Micromodem](INFO): Nmea in: $CAREV,142134,AUV,2.1.4000*2B

2021-12-04T14:21:34.454Z,1638627694.454 [Micromodem](INFO): Nmea in: $CAREV,142134,COPROC,0.20.0.39330*7A

2021-12-04T14:21:35.315Z,1638627695.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:38.105Z,1638627698.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:40.959Z,1638627700.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:43.767Z,1638627703.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:44.612Z,1638627704.612 [Micromodem](INFO): Nmea in: $CAREV,142144,AUV,2.1.4000*2C

2021-12-04T14:21:44.613Z,1638627704.613 [Micromodem](INFO): Nmea in: $CAREV,142144,COPROC,0.20.0.39330*7D

2021-12-04T14:21:46.640Z,1638627706.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:49.426Z,1638627709.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:52.283Z,1638627712.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:54.657Z,1638627714.657 [Micromodem](INFO): Nmea in: $CAREV,142154,AUV,2.1.4000*2D

2021-12-04T14:21:54.658Z,1638627714.658 [Micromodem](INFO): Nmea in: $CAREV,142154,COPROC,0.20.0.39330*7C

2021-12-04T14:21:55.077Z,1638627715.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:21:57.900Z,1638627717.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:00.748Z,1638627720.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:03.558Z,1638627723.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:04.366Z,1638627724.366 [Micromodem](INFO): Nmea in: $CAREV,142204,AUV,2.1.4000*2B

2021-12-04T14:22:04.367Z,1638627724.367 [Micromodem](INFO): Nmea in: $CAREV,142204,COPROC,0.20.0.39330*7A

2021-12-04T14:22:06.408Z,1638627726.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:09.305Z,1638627729.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:12.044Z,1638627732.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:14.453Z,1638627734.453 [Micromodem](INFO): Nmea in: $CAREV,142214,AUV,2.1.4000*2A

2021-12-04T14:22:14.471Z,1638627734.471 [Micromodem](INFO): Nmea in: $CAREV,142214,COPROC,0.20.0.39330*7B

2021-12-04T14:22:14.576Z,1638627734.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:17.329Z,1638627737.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:20.135Z,1638627740.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:22.660Z,1638627742.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:24.585Z,1638627744.585 [Micromodem](INFO): Nmea in: $CAREV,142224,AUV,2.1.4000*29

2021-12-04T14:22:24.586Z,1638627744.586 [Micromodem](INFO): Nmea in: $CAREV,142224,COPROC,0.20.0.39330*78

2021-12-04T14:22:25.391Z,1638627745.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:28.209Z,1638627748.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:31.032Z,1638627751.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:33.856Z,1638627753.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:34.672Z,1638627754.672 [Micromodem](INFO): Nmea in: $CAREV,142234,AUV,2.1.4000*28

2021-12-04T14:22:34.673Z,1638627754.673 [Micromodem](INFO): Nmea in: $CAREV,142234,COPROC,0.20.0.39330*79

2021-12-04T14:22:36.718Z,1638627756.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:39.531Z,1638627759.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:42.351Z,1638627762.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:44.365Z,1638627764.365 [Micromodem](INFO): Nmea in: $CAREV,142244,AUV,2.1.4000*2F

2021-12-04T14:22:44.367Z,1638627764.367 [Micromodem](INFO): Nmea in: $CAREV,142244,COPROC,0.20.0.39330*7E

2021-12-04T14:22:45.168Z,1638627765.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:48.032Z,1638627768.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:50.847Z,1638627770.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:53.696Z,1638627773.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:54.453Z,1638627774.453 [Micromodem](INFO): Nmea in: $CAREV,142254,AUV,2.1.4000*2E

2021-12-04T14:22:54.476Z,1638627774.476 [Micromodem](INFO): Nmea in: $CAREV,142254,COPROC,0.20.0.39330*7F

2021-12-04T14:22:56.557Z,1638627776.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:22:59.365Z,1638627779.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:02.136Z,1638627782.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:04.581Z,1638627784.581 [Micromodem](INFO): Nmea in: $CAREV,142304,AUV,2.1.4000*2A

2021-12-04T14:23:04.582Z,1638627784.582 [Micromodem](INFO): Nmea in: $CAREV,142304,COPROC,0.20.0.39330*7B

2021-12-04T14:23:04.652Z,1638627784.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:07.410Z,1638627787.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:10.220Z,1638627790.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:13.070Z,1638627793.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:14.649Z,1638627794.649 [Micromodem](INFO): Nmea in: $CAREV,142314,AUV,2.1.4000*2B

2021-12-04T14:23:14.651Z,1638627794.651 [Micromodem](INFO): Nmea in: $CAREV,142314,COPROC,0.20.0.39330*7A

2021-12-04T14:23:15.884Z,1638627795.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:18.719Z,1638627798.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:21.555Z,1638627801.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:24.346Z,1638627804.346 [Micromodem](INFO): Nmea in: $CAREV,142324,AUV,2.1.4000*28

2021-12-04T14:23:24.363Z,1638627804.363 [Micromodem](INFO): Nmea in: $CAREV,142324,COPROC,0.20.0.39330*79

2021-12-04T14:23:24.385Z,1638627804.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:27.189Z,1638627807.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:30.021Z,1638627810.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:32.881Z,1638627812.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:34.449Z,1638627814.449 [Micromodem](INFO): Nmea in: $CAREV,142334,AUV,2.1.4000*29

2021-12-04T14:23:34.450Z,1638627814.450 [Micromodem](INFO): Nmea in: $CAREV,142334,COPROC,0.20.0.39330*78

2021-12-04T14:23:35.674Z,1638627815.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:38.560Z,1638627818.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:41.371Z,1638627821.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:44.156Z,1638627824.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:44.579Z,1638627824.579 [Micromodem](INFO): Nmea in: $CAREV,142344,AUV,2.1.4000*2E

2021-12-04T14:23:44.582Z,1638627824.582 [Micromodem](INFO): Nmea in: $CAREV,142344,COPROC,0.20.0.39330*7F

2021-12-04T14:23:46.980Z,1638627826.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:49.829Z,1638627829.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:52.668Z,1638627832.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:54.646Z,1638627834.646 [Micromodem](INFO): Nmea in: $CAREV,142354,AUV,2.1.4000*2F

2021-12-04T14:23:54.648Z,1638627834.648 [Micromodem](INFO): Nmea in: $CAREV,142354,COPROC,0.20.0.39330*7E

2021-12-04T14:23:55.488Z,1638627835.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:23:58.325Z,1638627838.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:01.137Z,1638627841.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:03.954Z,1638627843.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:04.355Z,1638627844.355 [Micromodem](INFO): Nmea in: $CAREV,142404,AUV,2.1.4000*2D

2021-12-04T14:24:04.357Z,1638627844.357 [Micromodem](INFO): Nmea in: $CAREV,142404,COPROC,0.20.0.39330*7C

2021-12-04T14:24:06.808Z,1638627846.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:09.614Z,1638627849.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:12.458Z,1638627852.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:14.441Z,1638627854.441 [Micromodem](INFO): Nmea in: $CAREV,142414,AUV,2.1.4000*2C

2021-12-04T14:24:14.442Z,1638627854.442 [Micromodem](INFO): Nmea in: $CAREV,142414,COPROC,0.20.0.39330*7D

2021-12-04T14:24:15.339Z,1638627855.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:18.110Z,1638627858.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:20.943Z,1638627860.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:23.749Z,1638627863.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:24.580Z,1638627864.580 [Micromodem](INFO): Nmea in: $CAREV,142424,AUV,2.1.4000*2F

2021-12-04T14:24:24.581Z,1638627864.581 [Micromodem](INFO): Nmea in: $CAREV,142424,COPROC,0.20.0.39330*7E

2021-12-04T14:24:26.632Z,1638627866.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:29.425Z,1638627869.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:32.241Z,1638627872.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:34.633Z,1638627874.633 [Micromodem](INFO): Nmea in: $CAREV,142434,AUV,2.1.4000*2E

2021-12-04T14:24:34.635Z,1638627874.635 [Micromodem](INFO): Nmea in: $CAREV,142434,COPROC,0.20.0.39330*7F

2021-12-04T14:24:35.061Z,1638627875.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:37.888Z,1638627877.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:40.744Z,1638627880.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:43.569Z,1638627883.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:44.361Z,1638627884.361 [Micromodem](INFO): Nmea in: $CAREV,142444,AUV,2.1.4000*29

2021-12-04T14:24:44.362Z,1638627884.362 [Micromodem](INFO): Nmea in: $CAREV,142444,COPROC,0.20.0.39330*78

2021-12-04T14:24:46.386Z,1638627886.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:49.209Z,1638627889.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:52.028Z,1638627892.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:54.445Z,1638627894.445 [Micromodem](INFO): Nmea in: $CAREV,142454,AUV,2.1.4000*28

2021-12-04T14:24:54.446Z,1638627894.446 [Micromodem](INFO): Nmea in: $CAREV,142454,COPROC,0.20.0.39330*79

2021-12-04T14:24:54.550Z,1638627894.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:24:57.308Z,1638627897.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:00.112Z,1638627900.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:02.932Z,1638627902.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:04.576Z,1638627904.576 [Micromodem](INFO): Nmea in: $CAREV,142504,AUV,2.1.4000*2C

2021-12-04T14:25:04.577Z,1638627904.577 [Micromodem](INFO): Nmea in: $CAREV,142504,COPROC,0.20.0.39330*7D

2021-12-04T14:25:05.760Z,1638627905.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:08.638Z,1638627908.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:11.436Z,1638627911.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:14.286Z,1638627914.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:14.637Z,1638627914.637 [Micromodem](INFO): Nmea in: $CAREV,142514,AUV,2.1.4000*2D

2021-12-04T14:25:14.657Z,1638627914.657 [Micromodem](INFO): Nmea in: $CAREV,142514,COPROC,0.20.0.39330*7C

2021-12-04T14:25:17.073Z,1638627917.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:19.912Z,1638627919.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:22.755Z,1638627922.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:24.355Z,1638627924.355 [Micromodem](INFO): Nmea in: $CAREV,142524,AUV,2.1.4000*2E

2021-12-04T14:25:24.742Z,1638627924.742 [Micromodem](INFO): Nmea in: $CAREV,142524,COPROC,0.20.0.39330*7F

2021-12-04T14:25:25.574Z,1638627925.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:28.398Z,1638627928.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:31.246Z,1638627931.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:34.056Z,1638627934.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:34.447Z,1638627934.447 [Micromodem](INFO): Nmea in: $CAREV,142534,AUV,2.1.4000*2F

2021-12-04T14:25:34.451Z,1638627934.451 [Micromodem](INFO): Nmea in: $CAREV,142534,COPROC,0.20.0.39330*7E

2021-12-04T14:25:36.898Z,1638627936.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:39.732Z,1638627939.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:42.621Z,1638627942.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:44.589Z,1638627944.589 [Micromodem](INFO): Nmea in: $CAREV,142544,AUV,2.1.4000*28

2021-12-04T14:25:44.590Z,1638627944.590 [Micromodem](INFO): Nmea in: $CAREV,142544,COPROC,0.20.0.39330*79

2021-12-04T14:25:45.390Z,1638627945.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:48.212Z,1638627948.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:51.016Z,1638627951.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:53.844Z,1638627953.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:54.641Z,1638627954.641 [Micromodem](INFO): Nmea in: $CAREV,142554,AUV,2.1.4000*29

2021-12-04T14:25:54.643Z,1638627954.643 [Micromodem](INFO): Nmea in: $CAREV,142554,COPROC,0.20.0.39330*78

2021-12-04T14:25:56.692Z,1638627956.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:25:59.512Z,1638627959.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:02.362Z,1638627962.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:04.745Z,1638627964.745 [Micromodem](INFO): Nmea in: $CAREV,142604,AUV,2.1.4000*2F

2021-12-04T14:26:04.747Z,1638627964.747 [Micromodem](INFO): Nmea in: $CAREV,142604,COPROC,0.20.0.39330*7E

2021-12-04T14:26:05.176Z,1638627965.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:07.994Z,1638627967.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:10.843Z,1638627970.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:13.654Z,1638627973.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:14.444Z,1638627974.444 [Micromodem](INFO): Nmea in: $CAREV,142614,AUV,2.1.4000*2E

2021-12-04T14:26:14.445Z,1638627974.445 [Micromodem](INFO): Nmea in: $CAREV,142614,COPROC,0.20.0.39330*7F

2021-12-04T14:26:16.531Z,1638627976.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:19.350Z,1638627979.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:22.142Z,1638627982.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:24.585Z,1638627984.585 [Micromodem](INFO): Nmea in: $CAREV,142624,AUV,2.1.4000*2D

2021-12-04T14:26:24.586Z,1638627984.586 [Micromodem](INFO): Nmea in: $CAREV,142624,COPROC,0.20.0.39330*7C

2021-12-04T14:26:24.654Z,1638627984.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:27.395Z,1638627987.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:30.219Z,1638627990.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:33.032Z,1638627993.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:34.637Z,1638627994.637 [Micromodem](INFO): Nmea in: $CAREV,142634,AUV,2.1.4000*2C

2021-12-04T14:26:34.639Z,1638627994.639 [Micromodem](INFO): Nmea in: $CAREV,142634,COPROC,0.20.0.39330*7D

2021-12-04T14:26:35.994Z,1638627995.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:38.715Z,1638627998.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:41.523Z,1638628001.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:44.389Z,1638628004.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:44.737Z,1638628004.737 [Micromodem](INFO): Nmea in: $CAREV,142644,AUV,2.1.4000*2B

2021-12-04T14:26:44.738Z,1638628004.738 [Micromodem](INFO): Nmea in: $CAREV,142644,COPROC,0.20.0.39330*7A

2021-12-04T14:26:47.172Z,1638628007.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:50.006Z,1638628010.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:52.851Z,1638628012.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:54.433Z,1638628014.433 [Micromodem](INFO): Nmea in: $CAREV,142654,AUV,2.1.4000*2A

2021-12-04T14:26:54.434Z,1638628014.434 [Micromodem](INFO): Nmea in: $CAREV,142654,COPROC,0.20.0.39330*7B

2021-12-04T14:26:55.660Z,1638628015.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:26:58.549Z,1638628018.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:01.348Z,1638628021.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:04.156Z,1638628024.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:04.565Z,1638628024.565 [Micromodem](INFO): Nmea in: $CAREV,142704,AUV,2.1.4000*2E

2021-12-04T14:27:04.566Z,1638628024.566 [Micromodem](INFO): Nmea in: $CAREV,142704,COPROC,0.20.0.39330*7F

2021-12-04T14:27:06.972Z,1638628026.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:09.805Z,1638628029.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:12.661Z,1638628032.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:13.440Z,1638628033.440 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T14:27:14.633Z,1638628034.633 [Micromodem](INFO): Nmea in: $CAREV,142714,AUV,2.1.4000*2F

2021-12-04T14:27:14.635Z,1638628034.635 [Micromodem](INFO): Nmea in: $CAREV,142714,COPROC,0.20.0.39330*7E

2021-12-04T14:27:15.464Z,1638628035.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:18.334Z,1638628038.334 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:27:18.344Z,1638628038.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:20.990Z,1638628040.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:23.587Z,1638628043.587 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:27:23.598Z,1638628043.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:24.384Z,1638628044.384 [Micromodem](INFO): Nmea in: $CAREV,142724,AUV,2.1.4000*2C

2021-12-04T14:27:24.385Z,1638628044.385 [Micromodem](INFO): Nmea in: $CAREV,142724,COPROC,0.20.0.39330*7D

2021-12-04T14:27:26.442Z,1638628046.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:29.295Z,1638628049.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:32.091Z,1638628052.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:33.328Z,1638628053.328 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:27:34.495Z,1638628054.495 [Micromodem](INFO): Nmea in: $CAREV,142734,AUV,2.1.4000*2D

2021-12-04T14:27:34.499Z,1638628054.499 [Micromodem](INFO): Nmea in: $CAREV,142734,COPROC,0.20.0.39330*7C

2021-12-04T14:27:34.919Z,1638628054.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:37.720Z,1638628057.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:38.616Z,1638628058.616 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:27:40.636Z,1638628060.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:43.384Z,1638628063.384 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:27:43.395Z,1638628063.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:44.585Z,1638628064.585 [Micromodem](INFO): Nmea in: $CAREV,142744,AUV,2.1.4000*2A

2021-12-04T14:27:44.587Z,1638628064.587 [Micromodem](INFO): Nmea in: $CAREV,142744,COPROC,0.20.0.39330*7B

2021-12-04T14:27:46.228Z,1638628066.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:48.642Z,1638628068.642 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:27:49.044Z,1638628069.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:51.869Z,1638628071.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:53.484Z,1638628073.484 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T14:27:54.689Z,1638628074.689 [Micromodem](INFO): Nmea in: $CAREV,142754,AUV,2.1.4000*2B

2021-12-04T14:27:54.690Z,1638628074.690 [Micromodem](INFO): Nmea in: $CAREV,142754,COPROC,0.20.0.39330*7A

2021-12-04T14:27:54.722Z,1638628074.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:27:57.535Z,1638628077.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:00.367Z,1638628080.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:03.184Z,1638628083.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:04.384Z,1638628084.384 [Micromodem](INFO): Nmea in: $CAREV,142804,AUV,2.1.4000*21

2021-12-04T14:28:04.789Z,1638628084.789 [Micromodem](INFO): Nmea in: $CAREV,142804,COPROC,0.20.0.39330*70

2021-12-04T14:28:06.008Z,1638628086.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:08.860Z,1638628088.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:11.660Z,1638628091.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:14.513Z,1638628094.513 [Micromodem](INFO): Nmea in: $CAREV,142814,AUV,2.1.4000*20

2021-12-04T14:28:14.520Z,1638628094.520 [Micromodem](INFO): Nmea in: $CAREV,142814,COPROC,0.20.0.39330*71

2021-12-04T14:28:14.580Z,1638628094.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:17.334Z,1638628097.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:20.177Z,1638628100.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:22.976Z,1638628102.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:24.589Z,1638628104.589 [Micromodem](INFO): Nmea in: $CAREV,142824,AUV,2.1.4000*23

2021-12-04T14:28:24.590Z,1638628104.590 [Micromodem](INFO): Nmea in: $CAREV,142824,COPROC,0.20.0.39330*72

2021-12-04T14:28:25.824Z,1638628105.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:28.328Z,1638628108.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:31.056Z,1638628111.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:33.892Z,1638628113.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:34.681Z,1638628114.681 [Micromodem](INFO): Nmea in: $CAREV,142834,AUV,2.1.4000*22

2021-12-04T14:28:34.683Z,1638628114.683 [Micromodem](INFO): Nmea in: $CAREV,142834,COPROC,0.20.0.39330*73

2021-12-04T14:28:36.741Z,1638628116.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:39.551Z,1638628119.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:42.399Z,1638628122.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:44.381Z,1638628124.381 [Micromodem](INFO): Nmea in: $CAREV,142844,AUV,2.1.4000*25

2021-12-04T14:28:44.781Z,1638628124.781 [Micromodem](INFO): Nmea in: $CAREV,142844,COPROC,0.20.0.39330*74

2021-12-04T14:28:45.196Z,1638628125.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:48.029Z,1638628128.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:50.957Z,1638628130.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:53.684Z,1638628133.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:54.660Z,1638628134.660 [Micromodem](INFO): Nmea in: $CAREV,142854,AUV,2.1.4000*24

2021-12-04T14:28:54.661Z,1638628134.661 [Micromodem](INFO): Nmea in: $CAREV,142854,COPROC,0.20.0.39330*75

2021-12-04T14:28:56.559Z,1638628136.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:28:59.346Z,1638628139.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:02.164Z,1638628142.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:04.581Z,1638628144.581 [Micromodem](INFO): Nmea in: $CAREV,142904,AUV,2.1.4000*20

2021-12-04T14:29:04.582Z,1638628144.582 [Micromodem](INFO): Nmea in: $CAREV,142904,COPROC,0.20.0.39330*71

2021-12-04T14:29:05.005Z,1638628145.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:07.949Z,1638628147.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:10.700Z,1638628150.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:13.483Z,1638628153.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:14.696Z,1638628154.696 [Micromodem](INFO): Nmea in: $CAREV,142914,AUV,2.1.4000*21

2021-12-04T14:29:14.697Z,1638628154.697 [Micromodem](INFO): Nmea in: $CAREV,142914,COPROC,0.20.0.39330*70

2021-12-04T14:29:16.370Z,1638628156.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:19.137Z,1638628159.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:21.996Z,1638628161.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:24.390Z,1638628164.390 [Micromodem](INFO): Nmea in: $CAREV,142924,AUV,2.1.4000*22

2021-12-04T14:29:24.777Z,1638628164.777 [Micromodem](INFO): Nmea in: $CAREV,142924,COPROC,0.20.0.39330*73

2021-12-04T14:29:24.820Z,1638628164.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:27.634Z,1638628167.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:30.467Z,1638628170.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:33.316Z,1638628173.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:34.488Z,1638628174.488 [Micromodem](INFO): Nmea in: $CAREV,142934,AUV,2.1.4000*23

2021-12-04T14:29:34.491Z,1638628174.491 [Micromodem](INFO): Nmea in: $CAREV,142934,COPROC,0.20.0.39330*72

2021-12-04T14:29:36.120Z,1638628176.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:38.933Z,1638628178.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:40.964Z,1638628180.964 [lineCaptureDepth:NeedComms] Running Loop=1
2021-12-04T14:29:40.964Z,1638628180.964 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-12-04T14:29:40.964Z,1638628180.964 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-12-04T14:29:40.964Z,1638628180.964 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-04T14:29:40.965Z,1638628180.965 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-12-04T14:29:40.965Z,1638628180.965 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-12-04T14:29:40.966Z,1638628180.966 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-12-04T14:29:40.966Z,1638628180.966 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-04T14:29:40.966Z,1638628180.966 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-04T14:29:40.967Z,1638628180.967 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-12-04T14:29:40.969Z,1638628180.969 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1638610142.000000 second since 1970/01/01T00:00:00Z 
2021-12-04T14:29:40.969Z,1638628180.969 [lineCaptureDepth:NeedComms:A] Stopped
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T14:29:41.379Z,1638628181.379 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T14:29:41.756Z,1638628181.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:44.597Z,1638628184.597 [Micromodem](INFO): Nmea in: $CAREV,142944,AUV,2.1.4000*24

2021-12-04T14:29:44.598Z,1638628184.598 [Micromodem](INFO): Nmea in: $CAREV,142944,COPROC,0.20.0.39330*75

2021-12-04T14:29:44.662Z,1638628184.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:47.425Z,1638628187.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:50.288Z,1638628190.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:53.076Z,1638628193.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:54.673Z,1638628194.673 [Micromodem](INFO): Nmea in: $CAREV,142954,AUV,2.1.4000*25

2021-12-04T14:29:54.675Z,1638628194.675 [Micromodem](INFO): Nmea in: $CAREV,142954,COPROC,0.20.0.39330*74

2021-12-04T14:29:55.896Z,1638628195.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:29:58.759Z,1638628198.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:01.566Z,1638628201.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:04.404Z,1638628204.404 [Micromodem](INFO): Nmea in: $CAREV,143004,AUV,2.1.4000*28

2021-12-04T14:30:04.447Z,1638628204.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:04.780Z,1638628204.780 [Micromodem](INFO): Nmea in: $CAREV,143004,COPROC,0.20.0.39330*79

2021-12-04T14:30:07.216Z,1638628207.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:10.049Z,1638628210.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:12.896Z,1638628212.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:14.469Z,1638628214.469 [Micromodem](INFO): Nmea in: $CAREV,143014,AUV,2.1.4000*29

2021-12-04T14:30:14.470Z,1638628214.470 [Micromodem](INFO): Nmea in: $CAREV,143014,COPROC,0.20.0.39330*78

2021-12-04T14:30:15.738Z,1638628215.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:17.721Z,1638628217.721 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T14:30:18.180Z,1638628218.180 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T14:30:18.189Z,1638628218.189 [lineCaptureDepth:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-12-04T14:30:18.317Z,1638628218.317 [Radio_Surface](INFO): Powering up
2021-12-04T14:30:18.628Z,1638628218.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:21.430Z,1638628221.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:23.884Z,1638628223.884 [DataOverHttps](INFO): Radio surface powered ON.
2021-12-04T14:30:24.227Z,1638628224.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:24.616Z,1638628224.616 [Micromodem](INFO): Nmea in: $CAREV,143024,AUV,2.1.4000*2A

2021-12-04T14:30:24.618Z,1638628224.618 [Micromodem](INFO): Nmea in: $CAREV,143024,COPROC,0.20.0.39330*7B

2021-12-04T14:30:27.064Z,1638628227.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:28.677Z,1638628228.677 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:30:29.960Z,1638628229.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:32.740Z,1638628232.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:34.705Z,1638628234.705 [Micromodem](INFO): Nmea in: $CAREV,143034,AUV,2.1.4000*2B

2021-12-04T14:30:34.706Z,1638628234.706 [Micromodem](INFO): Nmea in: $CAREV,143034,COPROC,0.20.0.39330*7A

2021-12-04T14:30:35.533Z,1638628235.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:38.353Z,1638628238.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:38.815Z,1638628238.815 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:30:41.208Z,1638628241.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:44.028Z,1638628244.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:44.422Z,1638628244.422 [Micromodem](INFO): Nmea in: $CAREV,143044,AUV,2.1.4000*2C

2021-12-04T14:30:44.423Z,1638628244.423 [Micromodem](INFO): Nmea in: $CAREV,143044,COPROC,0.20.0.39330*7D

2021-12-04T14:30:46.877Z,1638628246.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:49.687Z,1638628249.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:52.558Z,1638628252.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:53.713Z,1638628253.713 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:30:54.016Z,1638628254.016 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T14:30:54.538Z,1638628254.538 [Micromodem](INFO): Nmea in: $CAREV,143054,AUV,2.1.4000*2D

2021-12-04T14:30:54.544Z,1638628254.544 [Micromodem](INFO): Nmea in: $CAREV,143054,COPROC,0.20.0.39330*7C

2021-12-04T14:30:55.325Z,1638628255.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:30:58.157Z,1638628258.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:00.667Z,1638628260.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:03.487Z,1638628263.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:04.601Z,1638628264.601 [Micromodem](INFO): Nmea in: $CAREV,143104,AUV,2.1.4000*29

2021-12-04T14:31:04.603Z,1638628264.603 [Micromodem](INFO): Nmea in: $CAREV,143104,COPROC,0.20.0.39330*78

2021-12-04T14:31:06.236Z,1638628266.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:09.059Z,1638628269.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:09.463Z,1638628269.463 [NAL9602](INFO): SBD MO Status=2, MOMSN=30138, MT Status=2, MTMSN=0
2021-12-04T14:31:09.463Z,1638628269.463 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-12-04T14:31:09.473Z,1638628269.473 [lineCaptureDepth](INFO): Timed out from 2021-12-04T09:31:09.3Z
2021-12-04T14:31:09.474Z,1638628269.474 [MissionManager](INFO): lineCaptureDepth is completed.
2021-12-04T14:31:09.474Z,1638628269.474 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-12-04T14:31:09.474Z,1638628269.474 [lineCaptureDepth] Stopped
2021-12-04T14:31:09.474Z,1638628269.474 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-12-04T14:31:09.474Z,1638628269.474 [lineCaptureDepth:Science] Stopped
2021-12-04T14:31:09.474Z,1638628269.474 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-12-04T14:31:09.474Z,1638628269.474 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-12-04T14:31:09.474Z,1638628269.474 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:NeedComms] Stopped
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-12-04T14:31:09.475Z,1638628269.475 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:NeedComms:C] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T14:31:09.476Z,1638628269.476 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-12-04T14:31:09.477Z,1638628269.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:TrackAC.] Stopped
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:Lap] Stopped
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T14:31:09.478Z,1638628269.478 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T14:31:09.479Z,1638628269.479 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T14:31:09.723Z,1638628269.723 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-12-04T14:31:10.014Z,1638628270.014 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-12-04T14:31:10.015Z,1638628270.015 [DefaultWithUndock] Running Loop=1
2021-12-04T14:31:10.015Z,1638628270.015 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-12-04T14:31:10.015Z,1638628270.015 [DefaultWithUndock:A.Wait] Running Loop=1
2021-12-04T14:31:10.015Z,1638628270.015 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-12-04T14:31:14.670Z,1638628274.670 [Micromodem](INFO): Nmea in: $CAREV,143114,AUV,2.1.4000*28

2021-12-04T14:31:14.671Z,1638628274.671 [Micromodem](INFO): Nmea in: $CAREV,143114,COPROC,0.20.0.39330*79

2021-12-04T14:31:24.789Z,1638628284.789 [Micromodem](INFO): Nmea in: $CAREV,143124,AUV,2.1.4000*2B

2021-12-04T14:31:24.790Z,1638628284.790 [Micromodem](INFO): Nmea in: $CAREV,143124,COPROC,0.20.0.39330*7A

2021-12-04T14:31:29.155Z,1638628289.155 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T14:31:29.622Z,1638628289.622 [NAL9602](INFO): SBD MO Status=0, MOMSN=30138, MT Status=0, MTMSN=0
2021-12-04T14:31:29.622Z,1638628289.622 [NAL9602](INFO): No messages in MT queue
2021-12-04T14:31:34.492Z,1638628294.492 [Micromodem](INFO): Nmea in: $CAREV,143134,AUV,2.1.4000*2A

2021-12-04T14:31:34.501Z,1638628294.501 [Micromodem](INFO): Nmea in: $CAREV,143134,COPROC,0.20.0.39330*7B

2021-12-04T14:31:40.140Z,1638628300.140 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-12-04T14:31:40.140Z,1638628300.140 [DefaultWithUndock:A.Wait] Stopped
2021-12-04T14:31:40.140Z,1638628300.140 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T14:31:40.140Z,1638628300.140 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-12-04T14:31:40.141Z,1638628300.141 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-12-04T14:31:40.141Z,1638628300.141 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-12-04T14:31:40.141Z,1638628300.141 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-12-04T14:31:40.141Z,1638628300.141 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-12-04T14:31:40.141Z,1638628300.141 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-12-04T14:31:40.141Z,1638628300.141 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T14:31:42.653Z,1638628302.653 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:43.024Z,1638628303.024 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-12-04T14:31:43.404Z,1638628303.404 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T14:31:44.605Z,1638628304.605 [Micromodem](INFO): Nmea in: $CAREV,143144,AUV,2.1.4000*2D

2021-12-04T14:31:44.606Z,1638628304.606 [Micromodem](INFO): Nmea in: $CAREV,143144,COPROC,0.20.0.39330*7C

2021-12-04T14:31:45.444Z,1638628305.444 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:48.251Z,1638628308.251 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:50.780Z,1638628310.780 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:53.504Z,1638628313.504 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:54.698Z,1638628314.698 [Micromodem](INFO): Nmea in: $CAREV,143154,AUV,2.1.4000*2C

2021-12-04T14:31:54.699Z,1638628314.699 [Micromodem](INFO): Nmea in: $CAREV,143154,COPROC,0.20.0.39330*7D

2021-12-04T14:31:56.324Z,1638628316.324 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:31:59.152Z,1638628319.152 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:32:00.366Z,1638628320.366 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T14:32:01.988Z,1638628321.988 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:32:03.652Z,1638628323.652 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 12.18 m. Transitioning DDM to standby.
2021-12-04T14:32:04.303Z,1638628324.303 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T14:32:04.439Z,1638628324.439 [Micromodem](INFO): Nmea in: $CAREV,143204,AUV,2.1.4000*2A

2021-12-04T14:32:04.440Z,1638628324.440 [Micromodem](INFO): Nmea in: $CAREV,143204,COPROC,0.20.0.39330*7B

2021-12-04T14:32:04.879Z,1638628324.879 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T14:32:05.667Z,1638628325.667 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-12-04T14:32:06.027Z,1638628326.027 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T14:32:06.027Z,1638628326.027 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-12-04T14:32:06.027Z,1638628326.027 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-12-04T14:32:06.027Z,1638628326.027 [DefaultWithUndock:LeaveDock] Stopped
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-12-04T14:32:06.028Z,1638628326.028 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-04T14:32:06.029Z,1638628326.029 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-12-04T14:32:06.029Z,1638628326.029 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-12-04T14:32:06.029Z,1638628326.029 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-12-04T14:32:06.029Z,1638628326.029 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-04T14:32:06.030Z,1638628326.030 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-12-04T14:32:06.403Z,1638628326.403 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-12-04T14:32:08.842Z,1638628328.842 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T14:32:13.659Z,1638628333.659 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:32:14.465Z,1638628334.465 [Micromodem](INFO): Nmea in: $CAREV,143214,AUV,2.1.4000*2B

2021-12-04T14:32:14.467Z,1638628334.467 [Micromodem](INFO): Nmea in: $CAREV,143214,COPROC,0.20.0.39330*7A

2021-12-04T14:32:21.732Z,1638628341.732 [NAL9602](INFO): SBD MO Status=0, MOMSN=30139, MT Status=0, MTMSN=0
2021-12-04T14:32:21.732Z,1638628341.732 [NAL9602](INFO): No messages in MT queue
2021-12-04T14:32:24.565Z,1638628344.565 [Micromodem](INFO): Nmea in: $CAREV,143224,AUV,2.1.4000*28

2021-12-04T14:32:24.566Z,1638628344.566 [Micromodem](INFO): Nmea in: $CAREV,143224,COPROC,0.20.0.39330*79

2021-12-04T14:32:34.659Z,1638628354.659 [Micromodem](INFO): Nmea in: $CAREV,143234,AUV,2.1.4000*29

2021-12-04T14:32:34.660Z,1638628354.660 [Micromodem](INFO): Nmea in: $CAREV,143234,COPROC,0.20.0.39330*78

2021-12-04T14:32:38.716Z,1638628358.716 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T14:32:39.443Z,1638628359.443 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T14:32:44.793Z,1638628364.793 [Micromodem](INFO): Nmea in: $CAREV,143244,AUV,2.1.4000*2E

2021-12-04T14:32:44.794Z,1638628364.794 [Micromodem](INFO): Nmea in: $CAREV,143244,COPROC,0.20.0.39330*7F

2021-12-04T14:32:48.832Z,1638628368.832 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T14:32:54.461Z,1638628374.461 [Micromodem](INFO): Nmea in: $CAREV,143254,AUV,2.1.4000*2F

2021-12-04T14:32:54.462Z,1638628374.462 [Micromodem](INFO): Nmea in: $CAREV,143254,COPROC,0.20.0.39330*7E

2021-12-04T14:33:04.561Z,1638628384.561 [Micromodem](INFO): Nmea in: $CAREV,143304,AUV,2.1.4000*2B

2021-12-04T14:33:04.563Z,1638628384.563 [Micromodem](INFO): Nmea in: $CAREV,143304,COPROC,0.20.0.39330*7A

2021-12-04T14:33:14.600Z,1638628394.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T14:33:14.662Z,1638628394.662 [Micromodem](INFO): Nmea in: $CAREV,143314,AUV,2.1.4000*2A

2021-12-04T14:33:14.663Z,1638628394.663 [Micromodem](INFO): Nmea in: $CAREV,143314,COPROC,0.20.0.39330*7B

2021-12-04T14:33:24.789Z,1638628404.789 [Micromodem](INFO): Nmea in: $CAREV,143324,AUV,2.1.4000*29

2021-12-04T14:33:24.790Z,1638628404.790 [Micromodem](INFO): Nmea in: $CAREV,143324,COPROC,0.20.0.39330*78

2021-12-04T14:33:34.470Z,1638628414.470 [Micromodem](INFO): Nmea in: $CAREV,143334,AUV,2.1.4000*28

2021-12-04T14:33:34.472Z,1638628414.473 [Micromodem](INFO): Nmea in: $CAREV,143334,COPROC,0.20.0.39330*79

2021-12-04T14:33:43.723Z,1638628423.723 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003530
2021-12-04T14:33:44.557Z,1638628424.557 [Micromodem](INFO): Nmea in: $CAREV,143344,AUV,2.1.4000*2F

2021-12-04T14:33:44.558Z,1638628424.558 [Micromodem](INFO): Nmea in: $CAREV,143344,COPROC,0.20.0.39330*7E

2021-12-04T14:33:54.652Z,1638628434.652 [Micromodem](INFO): Nmea in: $CAREV,143354,AUV,2.1.4000*2E

2021-12-04T14:33:54.654Z,1638628434.654 [Micromodem](INFO): Nmea in: $CAREV,143354,COPROC,0.20.0.39330*7F

2021-12-04T14:34:04.793Z,1638628444.793 [Micromodem](INFO): Nmea in: $CAREV,143404,AUV,2.1.4000*2C

2021-12-04T14:34:04.794Z,1638628444.794 [Micromodem](INFO): Nmea in: $CAREV,143404,COPROC,0.20.0.39330*7D

2021-12-04T14:34:14.463Z,1638628454.463 [Micromodem](INFO): Nmea in: $CAREV,143414,AUV,2.1.4000*2D

2021-12-04T14:34:14.465Z,1638628454.465 [Micromodem](INFO): Nmea in: $CAREV,143414,COPROC,0.20.0.39330*7C

2021-12-04T14:34:24.549Z,1638628464.549 [Micromodem](INFO): Nmea in: $CAREV,143424,AUV,2.1.4000*2E

2021-12-04T14:34:24.565Z,1638628464.565 [Micromodem](INFO): Nmea in: $CAREV,143424,COPROC,0.20.0.39330*7F

2021-12-04T14:34:34.653Z,1638628474.653 [Micromodem](INFO): Nmea in: $CAREV,143434,AUV,2.1.4000*2F

2021-12-04T14:34:34.654Z,1638628474.654 [Micromodem](INFO): Nmea in: $CAREV,143434,COPROC,0.20.0.39330*7E

2021-12-04T14:34:43.541Z,1638628483.541 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T14:34:43.544Z,1638628483.544 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T14:34:44.753Z,1638628484.753 [Micromodem](INFO): Nmea in: $CAREV,143444,AUV,2.1.4000*28

2021-12-04T14:34:44.754Z,1638628484.754 [Micromodem](INFO): Nmea in: $CAREV,143444,COPROC,0.20.0.39330*79

2021-12-04T14:34:54.462Z,1638628494.462 [Micromodem](INFO): Nmea in: $CAREV,143454,AUV,2.1.4000*29

2021-12-04T14:34:54.855Z,1638628494.855 [Micromodem](INFO): Nmea in: $CAREV,143454,COPROC,0.20.0.39330*78

2021-12-04T14:34:58.916Z,1638628498.916 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T14:35:04.565Z,1638628504.565 [Micromodem](INFO): Nmea in: $CAREV,143504,AUV,2.1.4000*2D

2021-12-04T14:35:04.566Z,1638628504.566 [Micromodem](INFO): Nmea in: $CAREV,143504,COPROC,0.20.0.39330*7C

2021-12-04T14:35:14.649Z,1638628514.649 [Micromodem](INFO): Nmea in: $CAREV,143514,AUV,2.1.4000*2C

2021-12-04T14:35:14.650Z,1638628514.650 [Micromodem](INFO): Nmea in: $CAREV,143514,COPROC,0.20.0.39330*7D

2021-12-04T14:35:23.962Z,1638628523.962 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T14:35:24.749Z,1638628524.749 [Micromodem](INFO): Nmea in: $CAREV,143524,AUV,2.1.4000*2F

2021-12-04T14:35:24.751Z,1638628524.751 [Micromodem](INFO): Nmea in: $CAREV,143524,COPROC,0.20.0.39330*7E

2021-12-04T14:35:34.485Z,1638628534.485 [Micromodem](INFO): Nmea in: $CAREV,143534,AUV,2.1.4000*2E

2021-12-04T14:35:34.489Z,1638628534.489 [Micromodem](INFO): Nmea in: $CAREV,143534,COPROC,0.20.0.39330*7F

2021-12-04T14:35:44.576Z,1638628544.576 [Micromodem](INFO): Nmea in: $CAREV,143544,AUV,2.1.4000*29

2021-12-04T14:35:44.577Z,1638628544.577 [Micromodem](INFO): Nmea in: $CAREV,143544,COPROC,0.20.0.39330*78

2021-12-04T14:35:54.645Z,1638628554.645 [Micromodem](INFO): Nmea in: $CAREV,143554,AUV,2.1.4000*28

2021-12-04T14:35:54.646Z,1638628554.646 [Micromodem](INFO): Nmea in: $CAREV,143554,COPROC,0.20.0.39330*79

2021-12-04T14:36:04.739Z,1638628564.739 [Micromodem](INFO): Nmea in: $CAREV,143604,AUV,2.1.4000*2E

2021-12-04T14:36:04.740Z,1638628564.740 [Micromodem](INFO): Nmea in: $CAREV,143604,COPROC,0.20.0.39330*7F

2021-12-04T14:36:14.851Z,1638628574.851 [Micromodem](INFO): Nmea in: $CAREV,143614,AUV,2.1.4000*2F

2021-12-04T14:36:14.852Z,1638628574.852 [Micromodem](INFO): Nmea in: $CAREV,143614,COPROC,0.20.0.39330*7E

2021-12-04T14:36:24.545Z,1638628584.545 [Micromodem](INFO): Nmea in: $CAREV,143624,AUV,2.1.4000*2C

2021-12-04T14:36:24.547Z,1638628584.547 [Micromodem](INFO): Nmea in: $CAREV,143624,COPROC,0.20.0.39330*7D

2021-12-04T14:36:34.641Z,1638628594.641 [Micromodem](INFO): Nmea in: $CAREV,143634,AUV,2.1.4000*2D

2021-12-04T14:36:34.642Z,1638628594.642 [Micromodem](INFO): Nmea in: $CAREV,143634,COPROC,0.20.0.39330*7C

2021-12-04T14:36:44.737Z,1638628604.737 [Micromodem](INFO): Nmea in: $CAREV,143644,AUV,2.1.4000*2A

2021-12-04T14:36:44.739Z,1638628604.739 [Micromodem](INFO): Nmea in: $CAREV,143644,COPROC,0.20.0.39330*7B

2021-12-04T14:36:54.843Z,1638628614.843 [Micromodem](INFO): Nmea in: $CAREV,143654,AUV,2.1.4000*2B

2021-12-04T14:36:54.845Z,1638628614.845 [Micromodem](INFO): Nmea in: $CAREV,143654,COPROC,0.20.0.39330*7A

2021-12-04T14:37:04.544Z,1638628624.544 [Micromodem](INFO): Nmea in: $CAREV,143704,AUV,2.1.4000*2F

2021-12-04T14:37:04.545Z,1638628624.545 [Micromodem](INFO): Nmea in: $CAREV,143704,COPROC,0.20.0.39330*7E

2021-12-04T14:37:06.644Z,1638628626.644 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](INFO): Timed out from 2021-12-04T14:32:06.4Z
2021-12-04T14:37:06.644Z,1638628626.644 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T14:37:06.644Z,1638628626.644 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T14:37:10.582Z,1638628630.582 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20211204T085114/Courier0031.lzma
2021-12-04T14:37:11.584Z,1638628631.584 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0031.lzma.bak
2021-12-04T14:37:11.584Z,1638628631.584 [DataOverHttps](INFO): SBD MOMSN=623252
2021-12-04T14:37:14.640Z,1638628634.640 [Micromodem](INFO): Nmea in: $CAREV,143714,AUV,2.1.4000*2E

2021-12-04T14:37:15.041Z,1638628635.041 [Micromodem](INFO): Nmea in: $CAREV,143714,COPROC,0.20.0.39330*7F

2021-12-04T14:37:20.630Z,1638628640.630 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20211204T085114/Courier0034.lzma
2021-12-04T14:37:21.628Z,1638628641.628 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0034.lzma.bak
2021-12-04T14:37:21.629Z,1638628641.629 [DataOverHttps](INFO): SBD MOMSN=623254
2021-12-04T14:37:24.737Z,1638628644.737 [Micromodem](INFO): Nmea in: $CAREV,143724,AUV,2.1.4000*2D

2021-12-04T14:37:25.141Z,1638628645.141 [Micromodem](INFO): Nmea in: $CAREV,143724,COPROC,0.20.0.39330*7C

2021-12-04T14:37:30.663Z,1638628650.663 [DataOverHttps](INFO): Sending 825 bytes from file Logs/20211204T085114/Express0026.lzma
2021-12-04T14:37:31.664Z,1638628651.664 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0026.lzma.bak
2021-12-04T14:37:31.664Z,1638628651.664 [DataOverHttps](INFO): SBD MOMSN=623256
2021-12-04T14:37:34.833Z,1638628654.833 [Micromodem](INFO): Nmea in: $CAREV,143734,AUV,2.1.4000*2C

2021-12-04T14:37:35.241Z,1638628655.241 [Micromodem](INFO): Nmea in: $CAREV,143734,COPROC,0.20.0.39330*7D

2021-12-04T14:37:37.260Z,1638628657.260 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T14:37:40.717Z,1638628660.717 [DataOverHttps](INFO): Sending 3282 bytes from file Logs/20211204T085114/Express0029.lzma
2021-12-04T14:37:41.704Z,1638628661.704 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0029.lzma.bak
2021-12-04T14:37:41.704Z,1638628661.704 [DataOverHttps](INFO): SBD MOMSN=623279
2021-12-04T14:37:44.539Z,1638628664.539 [Micromodem](INFO): Nmea in: $CAREV,143744,AUV,2.1.4000*2B

2021-12-04T14:37:44.939Z,1638628664.939 [Micromodem](INFO): Nmea in: $CAREV,143744,COPROC,0.20.0.39330*7A

2021-12-04T14:37:50.743Z,1638628670.743 [DataOverHttps](INFO): Sending 680 bytes from file Logs/20211204T085114/Express0032.lzma
2021-12-04T14:37:51.744Z,1638628671.744 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0032.lzma.bak
2021-12-04T14:37:51.744Z,1638628671.744 [DataOverHttps](INFO): SBD MOMSN=623318
2021-12-04T14:37:54.636Z,1638628674.636 [Micromodem](INFO): Nmea in: $CAREV,143754,AUV,2.1.4000*2A

2021-12-04T14:37:55.033Z,1638628675.033 [Micromodem](INFO): Nmea in: $CAREV,143754,COPROC,0.20.0.39330*7B

2021-12-04T14:38:00.782Z,1638628680.782 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20211204T085114/Express0035.lzma
2021-12-04T14:38:01.784Z,1638628681.784 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0035.lzma.bak
2021-12-04T14:38:01.784Z,1638628681.784 [DataOverHttps](INFO): SBD MOMSN=623322
2021-12-04T14:38:03.143Z,1638628683.143 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T14:38:03.143Z,1638628683.143 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T14:38:03.143Z,1638628683.143 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T14:38:04.727Z,1638628684.727 [Micromodem](INFO): Nmea in: $CAREV,143804,AUV,2.1.4000*20

2021-12-04T14:38:04.728Z,1638628684.728 [Micromodem](INFO): Nmea in: $CAREV,143804,COPROC,0.20.0.39330*71

2021-12-04T14:38:14.835Z,1638628694.835 [Micromodem](INFO): Nmea in: $CAREV,143814,AUV,2.1.4000*21

2021-12-04T14:38:14.836Z,1638628694.836 [Micromodem](INFO): Nmea in: $CAREV,143814,COPROC,0.20.0.39330*70

2021-12-04T14:38:24.541Z,1638628704.541 [Micromodem](INFO): Nmea in: $CAREV,143824,AUV,2.1.4000*22

2021-12-04T14:38:24.543Z,1638628704.543 [Micromodem](INFO): Nmea in: $CAREV,143824,COPROC,0.20.0.39330*73

2021-12-04T14:38:34.633Z,1638628714.633 [Micromodem](INFO): Nmea in: $CAREV,143834,AUV,2.1.4000*23

2021-12-04T14:38:34.647Z,1638628714.647 [Micromodem](INFO): Nmea in: $CAREV,143834,COPROC,0.20.0.39330*72

2021-12-04T14:38:44.741Z,1638628724.741 [Micromodem](INFO): Nmea in: $CAREV,143844,AUV,2.1.4000*24

2021-12-04T14:38:44.750Z,1638628724.750 [Micromodem](INFO): Nmea in: $CAREV,143844,COPROC,0.20.0.39330*75

2021-12-04T14:38:54.829Z,1638628734.829 [Micromodem](INFO): Nmea in: $CAREV,143854,AUV,2.1.4000*25

2021-12-04T14:38:54.830Z,1638628734.830 [Micromodem](INFO): Nmea in: $CAREV,143854,COPROC,0.20.0.39330*74

2021-12-04T14:39:04.536Z,1638628744.536 [Micromodem](INFO): Nmea in: $CAREV,143904,AUV,2.1.4000*21

2021-12-04T14:39:04.537Z,1638628744.537 [Micromodem](INFO): Nmea in: $CAREV,143904,COPROC,0.20.0.39330*70

2021-12-04T14:39:14.632Z,1638628754.632 [Micromodem](INFO): Nmea in: $CAREV,143914,AUV,2.1.4000*20

2021-12-04T14:39:14.633Z,1638628754.633 [Micromodem](INFO): Nmea in: $CAREV,143914,COPROC,0.20.0.39330*71

2021-12-04T14:39:24.729Z,1638628764.729 [Micromodem](INFO): Nmea in: $CAREV,143924,AUV,2.1.4000*23

2021-12-04T14:39:24.731Z,1638628764.731 [Micromodem](INFO): Nmea in: $CAREV,143924,COPROC,0.20.0.39330*72

2021-12-04T14:39:34.823Z,1638628774.823 [Micromodem](INFO): Nmea in: $CAREV,143934,AUV,2.1.4000*22

2021-12-04T14:39:34.824Z,1638628774.824 [Micromodem](INFO): Nmea in: $CAREV,143934,COPROC,0.20.0.39330*73

2021-12-04T14:39:44.571Z,1638628784.571 [Micromodem](INFO): Nmea in: $CAREV,143945,AUV,2.1.4000*24

2021-12-04T14:39:44.572Z,1638628784.572 [Micromodem](INFO): Nmea in: $CAREV,143945,COPROC,0.20.0.39330*75

2021-12-04T14:39:54.629Z,1638628794.629 [Micromodem](INFO): Nmea in: $CAREV,143955,AUV,2.1.4000*25

2021-12-04T14:39:54.630Z,1638628794.630 [Micromodem](INFO): Nmea in: $CAREV,143955,COPROC,0.20.0.39330*74

2021-12-04T14:40:04.726Z,1638628804.726 [Micromodem](INFO): Nmea in: $CAREV,144005,AUV,2.1.4000*2E

2021-12-04T14:40:04.727Z,1638628804.727 [Micromodem](INFO): Nmea in: $CAREV,144005,COPROC,0.20.0.39330*7F

2021-12-04T14:40:14.821Z,1638628814.821 [Micromodem](INFO): Nmea in: $CAREV,144015,AUV,2.1.4000*2F

2021-12-04T14:40:14.822Z,1638628814.822 [Micromodem](INFO): Nmea in: $CAREV,144015,COPROC,0.20.0.39330*7E

2021-12-04T14:40:24.540Z,1638628824.540 [Micromodem](INFO): Nmea in: $CAREV,144025,AUV,2.1.4000*2C

2021-12-04T14:40:24.541Z,1638628824.541 [Micromodem](INFO): Nmea in: $CAREV,144025,COPROC,0.20.0.39330*7D

2021-12-04T14:40:34.628Z,1638628834.628 [Micromodem](INFO): Nmea in: $CAREV,144035,AUV,2.1.4000*2D

2021-12-04T14:40:34.629Z,1638628834.629 [Micromodem](INFO): Nmea in: $CAREV,144035,COPROC,0.20.0.39330*7C

2021-12-04T14:40:44.721Z,1638628844.721 [Micromodem](INFO): Nmea in: $CAREV,144045,AUV,2.1.4000*2A

2021-12-04T14:40:44.722Z,1638628844.722 [Micromodem](INFO): Nmea in: $CAREV,144045,COPROC,0.20.0.39330*7B

2021-12-04T14:40:54.811Z,1638628854.811 [Micromodem](INFO): Nmea in: $CAREV,144055,AUV,2.1.4000*2B

2021-12-04T14:40:54.812Z,1638628854.812 [Micromodem](INFO): Nmea in: $CAREV,144055,COPROC,0.20.0.39330*7A

2021-12-04T14:41:04.557Z,1638628864.557 [Micromodem](INFO): Nmea in: $CAREV,144105,AUV,2.1.4000*2F

2021-12-04T14:41:04.562Z,1638628864.562 [Micromodem](INFO): Nmea in: $CAREV,144105,COPROC,0.20.0.39330*7E

2021-12-04T14:41:14.608Z,1638628874.608 [Micromodem](INFO): Nmea in: $CAREV,144115,AUV,2.1.4000*2E

2021-12-04T14:41:14.609Z,1638628874.609 [Micromodem](INFO): Nmea in: $CAREV,144115,COPROC,0.20.0.39330*7F

2021-12-04T14:41:24.713Z,1638628884.713 [Micromodem](INFO): Nmea in: $CAREV,144125,AUV,2.1.4000*2D

2021-12-04T14:41:24.714Z,1638628884.714 [Micromodem](INFO): Nmea in: $CAREV,144125,COPROC,0.20.0.39330*7C

2021-12-04T14:41:34.809Z,1638628894.809 [Micromodem](INFO): Nmea in: $CAREV,144135,AUV,2.1.4000*2C

2021-12-04T14:41:34.810Z,1638628894.810 [Micromodem](INFO): Nmea in: $CAREV,144135,COPROC,0.20.0.39330*7D

2021-12-04T14:41:44.549Z,1638628904.549 [Micromodem](INFO): Nmea in: $CAREV,144145,AUV,2.1.4000*2B

2021-12-04T14:41:44.552Z,1638628904.552 [Micromodem](INFO): Nmea in: $CAREV,144145,COPROC,0.20.0.39330*7A

2021-12-04T14:41:54.609Z,1638628914.609 [Micromodem](INFO): Nmea in: $CAREV,144155,AUV,2.1.4000*2A

2021-12-04T14:41:54.610Z,1638628914.610 [Micromodem](INFO): Nmea in: $CAREV,144155,COPROC,0.20.0.39330*7B

2021-12-04T14:42:04.709Z,1638628924.709 [Micromodem](INFO): Nmea in: $CAREV,144205,AUV,2.1.4000*2C

2021-12-04T14:42:04.710Z,1638628924.710 [Micromodem](INFO): Nmea in: $CAREV,144205,COPROC,0.20.0.39330*7D

2021-12-04T14:42:14.813Z,1638628934.813 [Micromodem](INFO): Nmea in: $CAREV,144215,AUV,2.1.4000*2D

2021-12-04T14:42:14.814Z,1638628934.814 [Micromodem](INFO): Nmea in: $CAREV,144215,COPROC,0.20.0.39330*7C

2021-12-04T14:42:24.554Z,1638628944.554 [Micromodem](INFO): Nmea in: $CAREV,144225,AUV,2.1.4000*2E

2021-12-04T14:42:24.557Z,1638628944.557 [Micromodem](INFO): Nmea in: $CAREV,144225,COPROC,0.20.0.39330*7F

2021-12-04T14:42:34.617Z,1638628954.617 [Micromodem](INFO): Nmea in: $CAREV,144235,AUV,2.1.4000*2F

2021-12-04T14:42:34.618Z,1638628954.618 [Micromodem](INFO): Nmea in: $CAREV,144235,COPROC,0.20.0.39330*7E

2021-12-04T14:42:44.705Z,1638628964.705 [Micromodem](INFO): Nmea in: $CAREV,144245,AUV,2.1.4000*28

2021-12-04T14:42:44.706Z,1638628964.706 [Micromodem](INFO): Nmea in: $CAREV,144245,COPROC,0.20.0.39330*79

2021-12-04T14:42:54.802Z,1638628974.802 [Micromodem](INFO): Nmea in: $CAREV,144255,AUV,2.1.4000*29

2021-12-04T14:42:54.803Z,1638628974.803 [Micromodem](INFO): Nmea in: $CAREV,144255,COPROC,0.20.0.39330*78

2021-12-04T14:43:03.728Z,1638628983.728 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T14:43:03.728Z,1638628983.728 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T14:43:03.729Z,1638628983.729 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T14:43:03.729Z,1638628983.729 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T14:43:04.103Z,1638628984.103 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T14:43:04.103Z,1638628984.103 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T14:43:04.536Z,1638628984.536 [Micromodem](INFO): Nmea in: $CAREV,144305,AUV,2.1.4000*2D

2021-12-04T14:43:04.618Z,1638628984.618 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.901469 min 
2021-12-04T14:43:04.618Z,1638628984.618 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T14:43:04.618Z,1638628984.618 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:43:04.619Z,1638628984.619 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T14:43:04.619Z,1638628984.619 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:43:04.619Z,1638628984.619 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-12-04T14:43:04.619Z,1638628984.619 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-12-04T14:43:04.619Z,1638628984.619 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:43:04.619Z,1638628984.619 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T14:43:04.901Z,1638628984.901 [Micromodem](INFO): Nmea in: $CAREV,144305,COPROC,0.20.0.39330*7C

2021-12-04T14:43:06.112Z,1638628986.112 [NAL9602](FAULT): GPS failed to acquire within timeout.
2021-12-04T14:43:06.112Z,1638628986.112 [NAL9602] Data Fault, FailCount= 1
2021-12-04T14:43:06.112Z,1638628986.112 [NAL9602](ERROR): Data Fault
2021-12-04T14:43:06.132Z,1638628986.132 [CBIT](ERROR): Data Fault in component: NAL9602
2021-12-04T14:43:06.553Z,1638628986.553 [NAL9602](INFO): Powering down
2021-12-04T14:43:07.347Z,1638628987.347 [CBIT](INFO): Clearing failed state for component NAL9602
2021-12-04T14:43:07.347Z,1638628987.347 [NAL9602] No Fault, FailCount= 1
2021-12-04T14:43:14.613Z,1638628994.613 [Micromodem](INFO): Nmea in: $CAREV,144315,AUV,2.1.4000*2C

2021-12-04T14:43:14.614Z,1638628994.614 [Micromodem](INFO): Nmea in: $CAREV,144315,COPROC,0.20.0.39330*7D

2021-12-04T14:43:24.695Z,1638629004.695 [Micromodem](INFO): Nmea in: $CAREV,144325,AUV,2.1.4000*2F

2021-12-04T14:43:24.696Z,1638629004.696 [Micromodem](INFO): Nmea in: $CAREV,144325,COPROC,0.20.0.39330*7E

2021-12-04T14:43:34.797Z,1638629014.797 [Micromodem](INFO): Nmea in: $CAREV,144335,AUV,2.1.4000*2E

2021-12-04T14:43:34.798Z,1638629014.798 [Micromodem](INFO): Nmea in: $CAREV,144335,COPROC,0.20.0.39330*7F

2021-12-04T14:43:36.826Z,1638629016.826 [NAL9602](INFO): Powering up NAL9602
2021-12-04T14:43:44.901Z,1638629024.901 [Micromodem](INFO): Nmea in: $CAREV,144345,AUV,2.1.4000*29

2021-12-04T14:43:44.902Z,1638629024.902 [Micromodem](INFO): Nmea in: $CAREV,144345,COPROC,0.20.0.39330*78

2021-12-04T14:43:47.725Z,1638629027.725 [NAL9602](INFO): NAL9602 initialized
2021-12-04T14:43:54.601Z,1638629034.601 [Micromodem](INFO): Nmea in: $CAREV,144355,AUV,2.1.4000*28

2021-12-04T14:43:54.602Z,1638629034.602 [Micromodem](INFO): Nmea in: $CAREV,144355,COPROC,0.20.0.39330*79

2021-12-04T14:44:04.697Z,1638629044.697 [Micromodem](INFO): Nmea in: $CAREV,144405,AUV,2.1.4000*2A

2021-12-04T14:44:04.698Z,1638629044.698 [Micromodem](INFO): Nmea in: $CAREV,144405,COPROC,0.20.0.39330*7B

2021-12-04T14:44:06.314Z,1638629046.314 [NAL9602](INFO): SBD MO Status=0, MOMSN=30140, MT Status=0, MTMSN=0
2021-12-04T14:44:06.314Z,1638629046.314 [NAL9602](INFO): No messages in MT queue
2021-12-04T14:44:14.797Z,1638629054.797 [Micromodem](INFO): Nmea in: $CAREV,144415,AUV,2.1.4000*2B

2021-12-04T14:44:14.798Z,1638629054.798 [Micromodem](INFO): Nmea in: $CAREV,144415,COPROC,0.20.0.39330*7A

2021-12-04T14:44:24.897Z,1638629064.897 [Micromodem](INFO): Nmea in: $CAREV,144425,AUV,2.1.4000*28

2021-12-04T14:44:24.898Z,1638629064.898 [Micromodem](INFO): Nmea in: $CAREV,144425,COPROC,0.20.0.39330*79

2021-12-04T14:44:34.615Z,1638629074.615 [Micromodem](INFO): Nmea in: $CAREV,144435,AUV,2.1.4000*29

2021-12-04T14:44:34.616Z,1638629074.616 [Micromodem](INFO): Nmea in: $CAREV,144435,COPROC,0.20.0.39330*78

2021-12-04T14:44:44.693Z,1638629084.693 [Micromodem](INFO): Nmea in: $CAREV,144445,AUV,2.1.4000*2E

2021-12-04T14:44:44.695Z,1638629084.695 [Micromodem](INFO): Nmea in: $CAREV,144445,COPROC,0.20.0.39330*7F

2021-12-04T14:44:54.797Z,1638629094.797 [Micromodem](INFO): Nmea in: $CAREV,144455,AUV,2.1.4000*2F

2021-12-04T14:44:54.798Z,1638629094.798 [Micromodem](INFO): Nmea in: $CAREV,144455,COPROC,0.20.0.39330*7E

2021-12-04T14:45:04.898Z,1638629104.898 [Micromodem](INFO): Nmea in: $CAREV,144505,AUV,2.1.4000*2B

2021-12-04T14:45:04.899Z,1638629104.899 [Micromodem](INFO): Nmea in: $CAREV,144505,COPROC,0.20.0.39330*7A

2021-12-04T14:45:14.587Z,1638629114.587 [Micromodem](INFO): Nmea in: $CAREV,144515,AUV,2.1.4000*2A

2021-12-04T14:45:14.588Z,1638629114.588 [Micromodem](INFO): Nmea in: $CAREV,144515,COPROC,0.20.0.39330*7B

2021-12-04T14:45:24.689Z,1638629124.689 [Micromodem](INFO): Nmea in: $CAREV,144525,AUV,2.1.4000*29

2021-12-04T14:45:24.690Z,1638629124.690 [Micromodem](INFO): Nmea in: $CAREV,144525,COPROC,0.20.0.39330*78

2021-12-04T14:45:34.783Z,1638629134.783 [Micromodem](INFO): Nmea in: $CAREV,144535,AUV,2.1.4000*28

2021-12-04T14:45:34.784Z,1638629134.784 [Micromodem](INFO): Nmea in: $CAREV,144535,COPROC,0.20.0.39330*79

2021-12-04T14:45:44.883Z,1638629144.883 [Micromodem](INFO): Nmea in: $CAREV,144545,AUV,2.1.4000*2F

2021-12-04T14:45:44.884Z,1638629144.884 [Micromodem](INFO): Nmea in: $CAREV,144545,COPROC,0.20.0.39330*7E

2021-12-04T14:45:54.589Z,1638629154.589 [Micromodem](INFO): Nmea in: $CAREV,144555,AUV,2.1.4000*2E

2021-12-04T14:45:54.590Z,1638629154.590 [Micromodem](INFO): Nmea in: $CAREV,144555,COPROC,0.20.0.39330*7F

2021-12-04T14:46:04.681Z,1638629164.681 [Micromodem](INFO): Nmea in: $CAREV,144605,AUV,2.1.4000*28

2021-12-04T14:46:04.683Z,1638629164.683 [Micromodem](INFO): Nmea in: $CAREV,144605,COPROC,0.20.0.39330*79

2021-12-04T14:46:04.686Z,1638629164.686 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,144603.00,A,4132.93359,N,07042.69221,W,0.797,0.00,041221,,,A*7B
2021-12-04T14:46:04.688Z,1638629164.688 [NAL9602](INFO): GPS fix at 20211204T144603: (41.548893, -70.711537)
2021-12-04T14:46:04.751Z,1638629164.751 [UniversalFixResidualReporter](INFO): Fix residual: 6.2 %DT, over the last 651.3 m. Residual distance 40.5 m at bearing -170.8 degrees. Fix at (41.5489, -70.7115) with 452.4 m made good.
2021-12-04T14:46:04.753Z,1638629164.753 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T14:46:04.753Z,1638629164.753 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T14:46:08.838Z,1638629168.838 [DataOverHttps](INFO): Sending 81 bytes from file Logs/20211204T085114/Courier0037.lzma
2021-12-04T14:46:09.840Z,1638629169.840 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0037.lzma.bak
2021-12-04T14:46:09.840Z,1638629169.840 [DataOverHttps](INFO): SBD MOMSN=623329
2021-12-04T14:46:14.780Z,1638629174.780 [Micromodem](INFO): Nmea in: $CAREV,144615,AUV,2.1.4000*29

2021-12-04T14:46:15.189Z,1638629175.189 [Micromodem](INFO): Nmea in: $CAREV,144615,COPROC,0.20.0.39330*78

2021-12-04T14:46:18.878Z,1638629178.878 [DataOverHttps](INFO): Sending 197 bytes from file Logs/20211204T085114/Express0038.lzma
2021-12-04T14:46:19.880Z,1638629179.880 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0038.lzma.bak
2021-12-04T14:46:19.880Z,1638629179.880 [DataOverHttps](INFO): SBD MOMSN=623331
2021-12-04T14:46:21.271Z,1638629181.271 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T14:46:21.271Z,1638629181.271 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T14:46:21.271Z,1638629181.271 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T14:46:25.092Z,1638629185.092 [Micromodem](INFO): Nmea in: $CAREV,144625,AUV,2.1.4000*2A

2021-12-04T14:46:25.093Z,1638629185.093 [Micromodem](INFO): Nmea in: $CAREV,144625,COPROC,0.20.0.39330*7B

2021-12-04T14:46:34.793Z,1638629194.793 [Micromodem](INFO): Nmea in: $CAREV,144635,AUV,2.1.4000*2B

2021-12-04T14:46:35.192Z,1638629195.192 [Micromodem](INFO): Nmea in: $CAREV,144635,COPROC,0.20.0.39330*7A

2021-12-04T14:46:36.802Z,1638629196.802 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T14:46:44.888Z,1638629204.888 [Micromodem](INFO): Nmea in: $CAREV,144645,AUV,2.1.4000*2C

2021-12-04T14:46:44.889Z,1638629204.889 [Micromodem](INFO): Nmea in: $CAREV,144645,COPROC,0.20.0.39330*7D

2021-12-04T14:46:54.989Z,1638629214.989 [Micromodem](INFO): Nmea in: $CAREV,144655,AUV,2.1.4000*2D

2021-12-04T14:46:54.990Z,1638629214.990 [Micromodem](INFO): Nmea in: $CAREV,144655,COPROC,0.20.0.39330*7C

2021-12-04T14:47:05.088Z,1638629225.088 [Micromodem](INFO): Nmea in: $CAREV,144705,AUV,2.1.4000*29

2021-12-04T14:47:05.089Z,1638629225.089 [Micromodem](INFO): Nmea in: $CAREV,144705,COPROC,0.20.0.39330*78

2021-12-04T14:47:14.800Z,1638629234.800 [Micromodem](INFO): Nmea in: $CAREV,144715,AUV,2.1.4000*28

2021-12-04T14:47:15.188Z,1638629235.188 [Micromodem](INFO): Nmea in: $CAREV,144715,COPROC,0.20.0.39330*79

2021-12-04T14:47:24.880Z,1638629244.880 [Micromodem](INFO): Nmea in: $CAREV,144725,AUV,2.1.4000*2B

2021-12-04T14:47:24.882Z,1638629244.882 [Micromodem](INFO): Nmea in: $CAREV,144725,COPROC,0.20.0.39330*7A

2021-12-04T14:47:34.984Z,1638629254.984 [Micromodem](INFO): Nmea in: $CAREV,144735,AUV,2.1.4000*2A

2021-12-04T14:47:34.985Z,1638629254.985 [Micromodem](INFO): Nmea in: $CAREV,144735,COPROC,0.20.0.39330*7B

2021-12-04T14:47:45.084Z,1638629265.084 [Micromodem](INFO): Nmea in: $CAREV,144745,AUV,2.1.4000*2D

2021-12-04T14:47:45.085Z,1638629265.085 [Micromodem](INFO): Nmea in: $CAREV,144745,COPROC,0.20.0.39330*7C

2021-12-04T14:47:55.178Z,1638629275.178 [Micromodem](INFO): Nmea in: $CAREV,144755,AUV,2.1.4000*2C

2021-12-04T14:47:55.180Z,1638629275.180 [Micromodem](INFO): Nmea in: $CAREV,144755,COPROC,0.20.0.39330*7D

2021-12-04T14:48:04.880Z,1638629284.880 [Micromodem](INFO): Nmea in: $CAREV,144805,AUV,2.1.4000*26

2021-12-04T14:48:04.881Z,1638629284.881 [Micromodem](INFO): Nmea in: $CAREV,144805,COPROC,0.20.0.39330*77

2021-12-04T14:48:14.974Z,1638629294.974 [Micromodem](INFO): Nmea in: $CAREV,144815,AUV,2.1.4000*27

2021-12-04T14:48:14.976Z,1638629294.976 [Micromodem](INFO): Nmea in: $CAREV,144815,COPROC,0.20.0.39330*76

2021-12-04T14:48:25.076Z,1638629305.076 [Micromodem](INFO): Nmea in: $CAREV,144825,AUV,2.1.4000*24

2021-12-04T14:48:25.077Z,1638629305.077 [Micromodem](INFO): Nmea in: $CAREV,144825,COPROC,0.20.0.39330*75

2021-12-04T14:48:35.185Z,1638629315.185 [Micromodem](INFO): Nmea in: $CAREV,144835,AUV,2.1.4000*25

2021-12-04T14:48:35.186Z,1638629315.186 [Micromodem](INFO): Nmea in: $CAREV,144835,COPROC,0.20.0.39330*74

2021-12-04T14:48:44.888Z,1638629324.888 [Micromodem](INFO): Nmea in: $CAREV,144845,AUV,2.1.4000*22

2021-12-04T14:48:44.889Z,1638629324.889 [Micromodem](INFO): Nmea in: $CAREV,144845,COPROC,0.20.0.39330*73

2021-12-04T14:48:54.976Z,1638629334.976 [Micromodem](INFO): Nmea in: $CAREV,144855,AUV,2.1.4000*23

2021-12-04T14:48:54.977Z,1638629334.977 [Micromodem](INFO): Nmea in: $CAREV,144855,COPROC,0.20.0.39330*72

2021-12-04T14:49:05.076Z,1638629345.076 [Micromodem](INFO): Nmea in: $CAREV,144905,AUV,2.1.4000*27

2021-12-04T14:49:05.077Z,1638629345.077 [Micromodem](INFO): Nmea in: $CAREV,144905,COPROC,0.20.0.39330*76

2021-12-04T14:49:15.171Z,1638629355.171 [Micromodem](INFO): Nmea in: $CAREV,144915,AUV,2.1.4000*26

2021-12-04T14:49:15.173Z,1638629355.173 [Micromodem](INFO): Nmea in: $CAREV,144915,COPROC,0.20.0.39330*77

2021-12-04T14:49:24.868Z,1638629364.868 [Micromodem](INFO): Nmea in: $CAREV,144925,AUV,2.1.4000*25

2021-12-04T14:49:24.870Z,1638629364.870 [Micromodem](INFO): Nmea in: $CAREV,144925,COPROC,0.20.0.39330*74

2021-12-04T14:49:34.966Z,1638629374.966 [Micromodem](INFO): Nmea in: $CAREV,144935,AUV,2.1.4000*24

2021-12-04T14:49:34.967Z,1638629374.967 [Micromodem](INFO): Nmea in: $CAREV,144935,COPROC,0.20.0.39330*75

2021-12-04T14:49:45.080Z,1638629385.080 [Micromodem](INFO): Nmea in: $CAREV,144945,AUV,2.1.4000*23

2021-12-04T14:49:45.081Z,1638629385.081 [Micromodem](INFO): Nmea in: $CAREV,144945,COPROC,0.20.0.39330*72

2021-12-04T14:49:55.168Z,1638629395.168 [Micromodem](INFO): Nmea in: $CAREV,144955,AUV,2.1.4000*22

2021-12-04T14:49:55.169Z,1638629395.169 [Micromodem](INFO): Nmea in: $CAREV,144955,COPROC,0.20.0.39330*73

2021-12-04T14:50:04.864Z,1638629404.864 [Micromodem](INFO): Nmea in: $CAREV,145005,AUV,2.1.4000*2F

2021-12-04T14:50:04.865Z,1638629404.865 [Micromodem](INFO): Nmea in: $CAREV,145005,COPROC,0.20.0.39330*7E

2021-12-04T14:50:14.964Z,1638629414.964 [Micromodem](INFO): Nmea in: $CAREV,145015,AUV,2.1.4000*2E

2021-12-04T14:50:14.965Z,1638629414.965 [Micromodem](INFO): Nmea in: $CAREV,145015,COPROC,0.20.0.39330*7F

2021-12-04T14:50:25.064Z,1638629425.064 [Micromodem](INFO): Nmea in: $CAREV,145025,AUV,2.1.4000*2D

2021-12-04T14:50:25.065Z,1638629425.065 [Micromodem](INFO): Nmea in: $CAREV,145025,COPROC,0.20.0.39330*7C

2021-12-04T14:50:35.164Z,1638629435.164 [Micromodem](INFO): Nmea in: $CAREV,145035,AUV,2.1.4000*2C

2021-12-04T14:50:35.165Z,1638629435.165 [Micromodem](INFO): Nmea in: $CAREV,145035,COPROC,0.20.0.39330*7D

2021-12-04T14:50:44.872Z,1638629444.872 [Micromodem](INFO): Nmea in: $CAREV,145045,AUV,2.1.4000*2B

2021-12-04T14:50:44.874Z,1638629444.874 [Micromodem](INFO): Nmea in: $CAREV,145045,COPROC,0.20.0.39330*7A

2021-12-04T14:50:54.960Z,1638629454.960 [Micromodem](INFO): Nmea in: $CAREV,145055,AUV,2.1.4000*2A

2021-12-04T14:50:54.961Z,1638629454.961 [Micromodem](INFO): Nmea in: $CAREV,145055,COPROC,0.20.0.39330*7B

2021-12-04T14:51:05.072Z,1638629465.072 [Micromodem](INFO): Nmea in: $CAREV,145105,AUV,2.1.4000*2E

2021-12-04T14:51:05.073Z,1638629465.073 [Micromodem](INFO): Nmea in: $CAREV,145105,COPROC,0.20.0.39330*7F

2021-12-04T14:51:15.168Z,1638629475.168 [Micromodem](INFO): Nmea in: $CAREV,145115,AUV,2.1.4000*2F

2021-12-04T14:51:15.169Z,1638629475.169 [Micromodem](INFO): Nmea in: $CAREV,145115,COPROC,0.20.0.39330*7E

2021-12-04T14:51:21.663Z,1638629481.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T14:51:21.663Z,1638629481.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T14:51:21.663Z,1638629481.663 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T14:51:21.663Z,1638629481.663 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T14:51:22.073Z,1638629482.073 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T14:51:22.073Z,1638629482.073 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 20.200964 min 
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:51:22.488Z,1638629482.488 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T14:51:24.458Z,1638629484.458 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145122.00,A,4132.90030,N,07042.71260,W,0.389,202.70,041221,,,A*71
2021-12-04T14:51:24.460Z,1638629484.460 [NAL9602](INFO): GPS fix at 20211204T145122: (41.548338, -70.711877)
2021-12-04T14:51:24.515Z,1638629484.515 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T14:51:24.515Z,1638629484.515 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T14:51:24.876Z,1638629484.876 [Micromodem](INFO): Nmea in: $CAREV,145125,AUV,2.1.4000*2C

2021-12-04T14:51:24.877Z,1638629484.877 [Micromodem](INFO): Nmea in: $CAREV,145125,COPROC,0.20.0.39330*7D

2021-12-04T14:51:28.537Z,1638629488.537 [DataOverHttps](INFO): Sending 73 bytes from file Logs/20211204T085114/Courier0040.lzma
2021-12-04T14:51:29.540Z,1638629489.540 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0040.lzma.bak
2021-12-04T14:51:29.540Z,1638629489.540 [DataOverHttps](INFO): SBD MOMSN=623335
2021-12-04T14:51:35.184Z,1638629495.184 [Micromodem](INFO): Nmea in: $CAREV,145135,AUV,2.1.4000*2D

2021-12-04T14:51:35.592Z,1638629495.592 [Micromodem](INFO): Nmea in: $CAREV,145135,COPROC,0.20.0.39330*7C

2021-12-04T14:51:36.410Z,1638629496.410 [NAL9602](INFO): SBD MO Status=0, MOMSN=30141, MT Status=0, MTMSN=0
2021-12-04T14:51:36.410Z,1638629496.410 [NAL9602](INFO): No messages in MT queue
2021-12-04T14:51:38.586Z,1638629498.586 [DataOverHttps](INFO): Sending 130 bytes from file Logs/20211204T085114/Express0041.lzma
2021-12-04T14:51:39.592Z,1638629499.592 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0041.lzma.bak
2021-12-04T14:51:39.592Z,1638629499.592 [DataOverHttps](INFO): SBD MOMSN=623337
2021-12-04T14:51:41.831Z,1638629501.831 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T14:51:41.831Z,1638629501.831 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T14:51:41.831Z,1638629501.831 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T14:51:45.029Z,1638629505.029 [Micromodem](INFO): Nmea in: $CAREV,145145,AUV,2.1.4000*2A

2021-12-04T14:51:45.039Z,1638629505.039 [Micromodem](INFO): Nmea in: $CAREV,145145,COPROC,0.20.0.39330*7B

2021-12-04T14:51:45.067Z,1638629505.067 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T14:51:55.164Z,1638629515.164 [Micromodem](INFO): Nmea in: $CAREV,145155,AUV,2.1.4000*2B

2021-12-04T14:51:55.165Z,1638629515.165 [Micromodem](INFO): Nmea in: $CAREV,145155,COPROC,0.20.0.39330*7A

2021-12-04T14:52:04.868Z,1638629524.868 [Micromodem](INFO): Nmea in: $CAREV,145205,AUV,2.1.4000*2D

2021-12-04T14:52:04.869Z,1638629524.869 [Micromodem](INFO): Nmea in: $CAREV,145205,COPROC,0.20.0.39330*7C

2021-12-04T14:52:06.880Z,1638629526.880 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T14:52:14.968Z,1638629534.968 [Micromodem](INFO): Nmea in: $CAREV,145215,AUV,2.1.4000*2C

2021-12-04T14:52:14.970Z,1638629534.970 [Micromodem](INFO): Nmea in: $CAREV,145215,COPROC,0.20.0.39330*7D

2021-12-04T14:52:15.068Z,1638629535.068 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:52:25.060Z,1638629545.060 [Micromodem](INFO): Nmea in: $CAREV,145225,AUV,2.1.4000*2F

2021-12-04T14:52:25.061Z,1638629545.061 [Micromodem](INFO): Nmea in: $CAREV,145225,COPROC,0.20.0.39330*7E

2021-12-04T14:52:25.102Z,1638629545.102 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T14:52:25.111Z,1638629545.111 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T14:52:32.405Z,1638629552.405 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-04T14:52:35.165Z,1638629555.165 [Micromodem](INFO): Nmea in: $CAREV,145235,AUV,2.1.4000*2E

2021-12-04T14:52:35.166Z,1638629555.166 [Micromodem](INFO): Nmea in: $CAREV,145235,COPROC,0.20.0.39330*7F

2021-12-04T14:52:43.313Z,1638629563.313 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005852
CHAN A1 (24V): -0.022411
CHAN A2 (12V): -0.004925
CHAN A3 (5V): -0.002130
CHAN B0 (3.3V): 0.000452
CHAN B1 (3.15aV): 0.000463
CHAN B2 (3.15bV): 0.000327
CHAN B3 (GND): 0.001782
OPEN: 0.006282
Full Scale: +/- 1 mA
2021-12-04T14:52:44.868Z,1638629564.868 [Micromodem](INFO): Nmea in: $CAREV,145245,AUV,2.1.4000*29

2021-12-04T14:52:44.869Z,1638629564.869 [Micromodem](INFO): Nmea in: $CAREV,145245,COPROC,0.20.0.39330*78

2021-12-04T14:52:54.964Z,1638629574.964 [Micromodem](INFO): Nmea in: $CAREV,145255,AUV,2.1.4000*28

2021-12-04T14:52:54.966Z,1638629574.966 [Micromodem](INFO): Nmea in: $CAREV,145255,COPROC,0.20.0.39330*79

2021-12-04T14:53:05.060Z,1638629585.060 [Micromodem](INFO): Nmea in: $CAREV,145305,AUV,2.1.4000*2C

2021-12-04T14:53:05.061Z,1638629585.061 [Micromodem](INFO): Nmea in: $CAREV,145305,COPROC,0.20.0.39330*7D

2021-12-04T14:53:15.160Z,1638629595.160 [Micromodem](INFO): Nmea in: $CAREV,145315,AUV,2.1.4000*2D

2021-12-04T14:53:15.161Z,1638629595.161 [Micromodem](INFO): Nmea in: $CAREV,145315,COPROC,0.20.0.39330*7C

2021-12-04T14:53:20.013Z,1638629600.013 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:53:24.872Z,1638629604.872 [Micromodem](INFO): Nmea in: $CAREV,145325,AUV,2.1.4000*2E

2021-12-04T14:53:24.873Z,1638629604.873 [Micromodem](INFO): Nmea in: $CAREV,145325,COPROC,0.20.0.39330*7F

2021-12-04T14:53:34.988Z,1638629614.988 [Micromodem](INFO): Nmea in: $CAREV,145335,AUV,2.1.4000*2F

2021-12-04T14:53:34.989Z,1638629614.989 [Micromodem](INFO): Nmea in: $CAREV,145335,COPROC,0.20.0.39330*7E

2021-12-04T14:53:39.906Z,1638629619.906 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:53:45.192Z,1638629625.192 [Micromodem](INFO): Nmea in: $CAREV,145345,AUV,2.1.4000*28

2021-12-04T14:53:45.193Z,1638629625.193 [Micromodem](INFO): Nmea in: $CAREV,145345,COPROC,0.20.0.39330*79

2021-12-04T14:53:50.093Z,1638629630.093 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T14:53:54.908Z,1638629634.908 [Micromodem](INFO): Nmea in: $CAREV,145355,AUV,2.1.4000*29

2021-12-04T14:53:54.909Z,1638629634.909 [Micromodem](INFO): Nmea in: $CAREV,145355,COPROC,0.20.0.39330*78

2021-12-04T14:54:05.008Z,1638629645.008 [Micromodem](INFO): Nmea in: $CAREV,145405,AUV,2.1.4000*2B

2021-12-04T14:54:05.009Z,1638629645.009 [Micromodem](INFO): Nmea in: $CAREV,145405,COPROC,0.20.0.39330*7A

2021-12-04T14:54:15.112Z,1638629655.112 [Micromodem](INFO): Nmea in: $CAREV,145415,AUV,2.1.4000*2A

2021-12-04T14:54:15.113Z,1638629655.113 [Micromodem](INFO): Nmea in: $CAREV,145415,COPROC,0.20.0.39330*7B

2021-12-04T14:54:25.208Z,1638629665.208 [Micromodem](INFO): Nmea in: $CAREV,145425,AUV,2.1.4000*29

2021-12-04T14:54:25.209Z,1638629665.209 [Micromodem](INFO): Nmea in: $CAREV,145425,COPROC,0.20.0.39330*78

2021-12-04T14:54:34.916Z,1638629674.916 [Micromodem](INFO): Nmea in: $CAREV,145435,AUV,2.1.4000*28

2021-12-04T14:54:34.917Z,1638629674.917 [Micromodem](INFO): Nmea in: $CAREV,145435,COPROC,0.20.0.39330*79

2021-12-04T14:54:45.004Z,1638629685.004 [Micromodem](INFO): Nmea in: $CAREV,145445,AUV,2.1.4000*2F

2021-12-04T14:54:45.005Z,1638629685.005 [Micromodem](INFO): Nmea in: $CAREV,145445,COPROC,0.20.0.39330*7E

2021-12-04T14:54:55.105Z,1638629695.105 [Micromodem](INFO): Nmea in: $CAREV,145455,AUV,2.1.4000*2E

2021-12-04T14:54:55.106Z,1638629695.106 [Micromodem](INFO): Nmea in: $CAREV,145455,COPROC,0.20.0.39330*7F

2021-12-04T14:55:05.204Z,1638629705.204 [Micromodem](INFO): Nmea in: $CAREV,145505,AUV,2.1.4000*2A

2021-12-04T14:55:05.206Z,1638629705.206 [Micromodem](INFO): Nmea in: $CAREV,145505,COPROC,0.20.0.39330*7B

2021-12-04T14:55:14.908Z,1638629714.908 [Micromodem](INFO): Nmea in: $CAREV,145515,AUV,2.1.4000*2B

2021-12-04T14:55:14.910Z,1638629714.910 [Micromodem](INFO): Nmea in: $CAREV,145515,COPROC,0.20.0.39330*7A

2021-12-04T14:55:25.005Z,1638629725.005 [Micromodem](INFO): Nmea in: $CAREV,145525,AUV,2.1.4000*28

2021-12-04T14:55:25.007Z,1638629725.007 [Micromodem](INFO): Nmea in: $CAREV,145525,COPROC,0.20.0.39330*79

2021-12-04T14:55:35.100Z,1638629735.100 [Micromodem](INFO): Nmea in: $CAREV,145535,AUV,2.1.4000*29

2021-12-04T14:55:35.101Z,1638629735.101 [Micromodem](INFO): Nmea in: $CAREV,145535,COPROC,0.20.0.39330*78

2021-12-04T14:55:45.208Z,1638629745.208 [Micromodem](INFO): Nmea in: $CAREV,145545,AUV,2.1.4000*2E

2021-12-04T14:55:45.209Z,1638629745.209 [Micromodem](INFO): Nmea in: $CAREV,145545,COPROC,0.20.0.39330*7F

2021-12-04T14:55:54.950Z,1638629754.950 [Micromodem](INFO): Nmea in: $CAREV,145555,AUV,2.1.4000*2F

2021-12-04T14:55:54.951Z,1638629754.951 [Micromodem](INFO): Nmea in: $CAREV,145555,COPROC,0.20.0.39330*7E

2021-12-04T14:56:05.005Z,1638629765.005 [Micromodem](INFO): Nmea in: $CAREV,145605,AUV,2.1.4000*29

2021-12-04T14:56:05.007Z,1638629765.007 [Micromodem](INFO): Nmea in: $CAREV,145605,COPROC,0.20.0.39330*78

2021-12-04T14:56:15.100Z,1638629775.100 [Micromodem](INFO): Nmea in: $CAREV,145615,AUV,2.1.4000*28

2021-12-04T14:56:15.101Z,1638629775.101 [Micromodem](INFO): Nmea in: $CAREV,145615,COPROC,0.20.0.39330*79

2021-12-04T14:56:25.200Z,1638629785.200 [Micromodem](INFO): Nmea in: $CAREV,145625,AUV,2.1.4000*2B

2021-12-04T14:56:25.201Z,1638629785.201 [Micromodem](INFO): Nmea in: $CAREV,145625,COPROC,0.20.0.39330*7A

2021-12-04T14:56:34.914Z,1638629794.914 [Micromodem](INFO): Nmea in: $CAREV,145635,AUV,2.1.4000*2A

2021-12-04T14:56:34.918Z,1638629794.918 [Micromodem](INFO): Nmea in: $CAREV,145635,COPROC,0.20.0.39330*7B

2021-12-04T14:56:42.582Z,1638629802.582 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T14:56:42.582Z,1638629802.582 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T14:56:42.583Z,1638629802.583 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T14:56:42.583Z,1638629802.583 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T14:56:43.021Z,1638629803.021 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T14:56:43.021Z,1638629803.021 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T14:56:43.394Z,1638629803.394 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 25.550106 min 
2021-12-04T14:56:43.394Z,1638629803.394 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T14:56:43.395Z,1638629803.395 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T14:56:44.996Z,1638629804.996 [Micromodem](INFO): Nmea in: $CAREV,145645,AUV,2.1.4000*2D

2021-12-04T14:56:44.998Z,1638629804.998 [Micromodem](INFO): Nmea in: $CAREV,145645,COPROC,0.20.0.39330*7C

2021-12-04T14:56:45.407Z,1638629805.407 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,145644.00,A,4132.87040,N,07042.72559,W,0.525,215.16,041221,,,A*7F
2021-12-04T14:56:45.409Z,1638629805.409 [NAL9602](INFO): GPS fix at 20211204T145644: (41.547840, -70.712093)
2021-12-04T14:56:45.420Z,1638629805.420 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T14:56:45.420Z,1638629805.420 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T14:56:49.105Z,1638629809.105 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20211204T085114/Courier0043.lzma
2021-12-04T14:56:50.108Z,1638629810.108 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0043.lzma.bak
2021-12-04T14:56:50.108Z,1638629810.108 [DataOverHttps](INFO): SBD MOMSN=623340
2021-12-04T14:56:55.212Z,1638629815.212 [Micromodem](INFO): Nmea in: $CAREV,145655,AUV,2.1.4000*2C

2021-12-04T14:56:55.616Z,1638629815.616 [Micromodem](INFO): Nmea in: $CAREV,145655,COPROC,0.20.0.39330*7D

2021-12-04T14:56:57.639Z,1638629817.639 [NAL9602](INFO): SBD MO Status=0, MOMSN=30142, MT Status=0, MTMSN=0
2021-12-04T14:56:57.639Z,1638629817.639 [NAL9602](INFO): No messages in MT queue
2021-12-04T14:56:59.146Z,1638629819.146 [DataOverHttps](INFO): Sending 303 bytes from file Logs/20211204T085114/Express0044.lzma
2021-12-04T14:57:00.147Z,1638629820.147 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0044.lzma.bak
2021-12-04T14:57:00.148Z,1638629820.148 [DataOverHttps](INFO): SBD MOMSN=623342
2021-12-04T14:57:01.712Z,1638629821.712 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T14:57:01.712Z,1638629821.712 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T14:57:01.712Z,1638629821.712 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T14:57:04.916Z,1638629824.916 [Micromodem](INFO): Nmea in: $CAREV,145705,AUV,2.1.4000*28

2021-12-04T14:57:04.931Z,1638629824.931 [Micromodem](INFO): Nmea in: $CAREV,145705,COPROC,0.20.0.39330*79

2021-12-04T14:57:15.008Z,1638629835.008 [Micromodem](INFO): Nmea in: $CAREV,145715,AUV,2.1.4000*29

2021-12-04T14:57:15.009Z,1638629835.009 [Micromodem](INFO): Nmea in: $CAREV,145715,COPROC,0.20.0.39330*78

2021-12-04T14:57:25.112Z,1638629845.112 [Micromodem](INFO): Nmea in: $CAREV,145725,AUV,2.1.4000*2A

2021-12-04T14:57:25.113Z,1638629845.113 [Micromodem](INFO): Nmea in: $CAREV,145725,COPROC,0.20.0.39330*7B

2021-12-04T14:57:28.344Z,1638629848.344 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T14:57:35.208Z,1638629855.208 [Micromodem](INFO): Nmea in: $CAREV,145735,AUV,2.1.4000*2B

2021-12-04T14:57:35.210Z,1638629855.210 [Micromodem](INFO): Nmea in: $CAREV,145735,COPROC,0.20.0.39330*7A

2021-12-04T14:57:44.921Z,1638629864.921 [Micromodem](INFO): Nmea in: $CAREV,145745,AUV,2.1.4000*2C

2021-12-04T14:57:44.922Z,1638629864.922 [Micromodem](INFO): Nmea in: $CAREV,145745,COPROC,0.20.0.39330*7D

2021-12-04T14:57:55.037Z,1638629875.037 [Micromodem](INFO): Nmea in: $CAREV,145755,AUV,2.1.4000*2D

2021-12-04T14:57:55.038Z,1638629875.038 [Micromodem](INFO): Nmea in: $CAREV,145755,COPROC,0.20.0.39330*7C

2021-12-04T14:58:05.112Z,1638629885.112 [Micromodem](INFO): Nmea in: $CAREV,145805,AUV,2.1.4000*27

2021-12-04T14:58:05.113Z,1638629885.113 [Micromodem](INFO): Nmea in: $CAREV,145805,COPROC,0.20.0.39330*76

2021-12-04T14:58:15.208Z,1638629895.208 [Micromodem](INFO): Nmea in: $CAREV,145815,AUV,2.1.4000*26

2021-12-04T14:58:15.209Z,1638629895.209 [Micromodem](INFO): Nmea in: $CAREV,145815,COPROC,0.20.0.39330*77

2021-12-04T14:58:24.914Z,1638629904.914 [Micromodem](INFO): Nmea in: $CAREV,145825,AUV,2.1.4000*25

2021-12-04T14:58:25.318Z,1638629905.318 [Micromodem](INFO): Nmea in: $CAREV,145825,COPROC,0.20.0.39330*74

2021-12-04T14:58:35.015Z,1638629915.015 [Micromodem](INFO): Nmea in: $CAREV,145835,AUV,2.1.4000*24

2021-12-04T14:58:35.016Z,1638629915.016 [Micromodem](INFO): Nmea in: $CAREV,145835,COPROC,0.20.0.39330*75

2021-12-04T14:58:45.120Z,1638629925.120 [Micromodem](INFO): Nmea in: $CAREV,145845,AUV,2.1.4000*23

2021-12-04T14:58:45.121Z,1638629925.121 [Micromodem](INFO): Nmea in: $CAREV,145845,COPROC,0.20.0.39330*72

2021-12-04T14:58:55.204Z,1638629935.204 [Micromodem](INFO): Nmea in: $CAREV,145855,AUV,2.1.4000*22

2021-12-04T14:58:55.205Z,1638629935.205 [Micromodem](INFO): Nmea in: $CAREV,145855,COPROC,0.20.0.39330*73

2021-12-04T14:59:05.308Z,1638629945.308 [Micromodem](INFO): Nmea in: $CAREV,145905,AUV,2.1.4000*26

2021-12-04T14:59:05.309Z,1638629945.309 [Micromodem](INFO): Nmea in: $CAREV,145905,COPROC,0.20.0.39330*77

2021-12-04T14:59:15.000Z,1638629955.000 [Micromodem](INFO): Nmea in: $CAREV,145915,AUV,2.1.4000*27

2021-12-04T14:59:15.001Z,1638629955.001 [Micromodem](INFO): Nmea in: $CAREV,145915,COPROC,0.20.0.39330*76

2021-12-04T14:59:25.115Z,1638629965.115 [Micromodem](INFO): Nmea in: $CAREV,145925,AUV,2.1.4000*24

2021-12-04T14:59:25.116Z,1638629965.116 [Micromodem](INFO): Nmea in: $CAREV,145925,COPROC,0.20.0.39330*75

2021-12-04T14:59:35.199Z,1638629975.199 [Micromodem](INFO): Nmea in: $CAREV,145935,AUV,2.1.4000*25

2021-12-04T14:59:35.200Z,1638629975.200 [Micromodem](INFO): Nmea in: $CAREV,145935,COPROC,0.20.0.39330*74

2021-12-04T14:59:45.304Z,1638629985.304 [Micromodem](INFO): Nmea in: $CAREV,145945,AUV,2.1.4000*22

2021-12-04T14:59:45.305Z,1638629985.305 [Micromodem](INFO): Nmea in: $CAREV,145945,COPROC,0.20.0.39330*73

2021-12-04T14:59:55.004Z,1638629995.004 [Micromodem](INFO): Nmea in: $CAREV,145955,AUV,2.1.4000*23

2021-12-04T14:59:55.005Z,1638629995.005 [Micromodem](INFO): Nmea in: $CAREV,145955,COPROC,0.20.0.39330*72

2021-12-04T15:00:05.100Z,1638630005.100 [Micromodem](INFO): Nmea in: $CAREV,150005,AUV,2.1.4000*2B

2021-12-04T15:00:05.101Z,1638630005.101 [Micromodem](INFO): Nmea in: $CAREV,150005,COPROC,0.20.0.39330*7A

2021-12-04T15:00:09.959Z,1638630009.959 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T15:00:15.200Z,1638630015.200 [Micromodem](INFO): Nmea in: $CAREV,150015,AUV,2.1.4000*2A

2021-12-04T15:00:15.201Z,1638630015.201 [Micromodem](INFO): Nmea in: $CAREV,150015,COPROC,0.20.0.39330*7B

2021-12-04T15:00:25.304Z,1638630025.304 [Micromodem](INFO): Nmea in: $CAREV,150025,AUV,2.1.4000*29

2021-12-04T15:00:25.306Z,1638630025.306 [Micromodem](INFO): Nmea in: $CAREV,150025,COPROC,0.20.0.39330*78

2021-12-04T15:00:34.998Z,1638630034.998 [Micromodem](INFO): Nmea in: $CAREV,150035,AUV,2.1.4000*28

2021-12-04T15:00:34.999Z,1638630034.999 [Micromodem](INFO): Nmea in: $CAREV,150035,COPROC,0.20.0.39330*79

2021-12-04T15:00:45.091Z,1638630045.091 [Micromodem](INFO): Nmea in: $CAREV,150045,AUV,2.1.4000*2F

2021-12-04T15:00:45.092Z,1638630045.092 [Micromodem](INFO): Nmea in: $CAREV,150045,COPROC,0.20.0.39330*7E

2021-12-04T15:00:55.204Z,1638630055.204 [Micromodem](INFO): Nmea in: $CAREV,150055,AUV,2.1.4000*2E

2021-12-04T15:00:55.205Z,1638630055.205 [Micromodem](INFO): Nmea in: $CAREV,150055,COPROC,0.20.0.39330*7F

2021-12-04T15:01:05.292Z,1638630065.292 [Micromodem](INFO): Nmea in: $CAREV,150105,AUV,2.1.4000*2A

2021-12-04T15:01:05.293Z,1638630065.293 [Micromodem](INFO): Nmea in: $CAREV,150105,COPROC,0.20.0.39330*7B

2021-12-04T15:01:14.994Z,1638630074.994 [Micromodem](INFO): Nmea in: $CAREV,150115,AUV,2.1.4000*2B

2021-12-04T15:01:14.995Z,1638630074.995 [Micromodem](INFO): Nmea in: $CAREV,150115,COPROC,0.20.0.39330*7A

2021-12-04T15:01:25.092Z,1638630085.092 [Micromodem](INFO): Nmea in: $CAREV,150125,AUV,2.1.4000*28

2021-12-04T15:01:25.093Z,1638630085.093 [Micromodem](INFO): Nmea in: $CAREV,150125,COPROC,0.20.0.39330*79

2021-12-04T15:01:35.220Z,1638630095.220 [Micromodem](INFO): Nmea in: $CAREV,150135,AUV,2.1.4000*29

2021-12-04T15:01:35.222Z,1638630095.222 [Micromodem](INFO): Nmea in: $CAREV,150135,COPROC,0.20.0.39330*78

2021-12-04T15:01:45.304Z,1638630105.304 [Micromodem](INFO): Nmea in: $CAREV,150145,AUV,2.1.4000*2E

2021-12-04T15:01:45.305Z,1638630105.305 [Micromodem](INFO): Nmea in: $CAREV,150145,COPROC,0.20.0.39330*7F

2021-12-04T15:01:47.332Z,1638630107.332 [DataOverHttps](IMPORTANT): SBD MTMSN=20211204T150146
2021-12-04T15:01:51.350Z,1638630111.350 [DataOverHttps](INFO): Received command: sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 240 min;set lineCaptureDepth.NeedCommsTime 240 min;set lineCaptureDepth.MicromodemCommsInterval 240 min;set lineCaptureDepth.Repeat 20 count" 3dj2t 1 2
2021-12-04T15:01:51.355Z,1638630111.355 [CommandExec](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 240 min;set lineCaptureDepth.NeedCommsTime 240 min;set lineCaptureDepth.MicromodemCommsInterval 240 min;set lineCaptureDepth.Repeat 20 count" 3dj2t 1 2.000000
2021-12-04T15:01:51.356Z,1638630111.356 [CommandExec](IMPORTANT): Scheduling command #1 of 2 with id=3dj2t
2021-12-04T15:01:51.357Z,1638630111.357 [CommandExec](IMPORTANT): Scheduled #3 (#1 of 2 with id='3dj2t'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 240 min;set lineCaptureDepth.NeedCommsTime 240 min;set lineCaptureDepth.MicromodemCommsInterval 240 min;set lineCaptureDepth.Repeat 20 count", ASAP
2021-12-04T15:01:52.352Z,1638630112.352 [DataOverHttps](IMPORTANT): SBD MTMSN=20211204T150151
2021-12-04T15:01:54.988Z,1638630114.988 [Micromodem](INFO): Nmea in: $CAREV,150155,AUV,2.1.4000*2F

2021-12-04T15:01:54.989Z,1638630114.989 [Micromodem](INFO): Nmea in: $CAREV,150155,COPROC,0.20.0.39330*7E

2021-12-04T15:01:56.370Z,1638630116.370 [DataOverHttps](INFO): Received command: sched asap "set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 10 m;set lineCaptureDepth.MinOffshore 500 m;run" 3dj2t 2 2
2021-12-04T15:01:56.374Z,1638630116.374 [CommandExec](IMPORTANT): got command schedule asap "set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 10 m;set lineCaptureDepth.MinOffshore 500 m;run" 3dj2t 2 2.000000
2021-12-04T15:01:56.374Z,1638630116.374 [CommandExec](IMPORTANT): Scheduling command #2 of 2 with id=3dj2t
2021-12-04T15:01:56.375Z,1638630116.375 [CommandExec](IMPORTANT): Scheduled #4 (#2 of 2 with id='3dj2t'): "set lineCaptureDepth.MinAltitude 3 m;set lineCaptureDepth.MaxDepth 10 m;set lineCaptureDepth.MinOffshore 500 m;run", ASAP
2021-12-04T15:01:56.477Z,1638630116.477 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-12-04T15:01:56.479Z,1638630116.479 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-12-04T15:01:56.621Z,1638630116.621 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-12-04T15:01:56.659Z,1638630116.659 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-12-04T15:01:56.676Z,1638630116.676 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-12-04T15:01:56.691Z,1638630116.691 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-12-04T15:01:56.719Z,1638630116.719 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-12-04T15:01:56.743Z,1638630116.743 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2 count
2021-12-04T15:01:56.745Z,1638630116.745 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-12-04T15:01:56.760Z,1638630116.760 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-12-04T15:01:56.767Z,1638630116.767 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-12-04T15:01:56.769Z,1638630116.769 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-12-04T15:01:56.776Z,1638630116.776 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-12-04T15:01:56.787Z,1638630116.787 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-12-04T15:01:56.789Z,1638630116.789 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-12-04T15:01:56.800Z,1638630116.800 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-12-04T15:01:56.806Z,1638630116.806 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-12-04T15:01:56.807Z,1638630116.807 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-12-04T15:01:57.146Z,1638630117.146 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-12-04T15:01:57.148Z,1638630117.148 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-12-04T15:01:57.150Z,1638630117.150 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-12-04T15:01:57.151Z,1638630117.151 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-12-04T15:01:57.153Z,1638630117.153 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-12-04T15:01:57.191Z,1638630117.191 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-12-04T15:01:57.193Z,1638630117.193 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DetectTrough = 0 bool
2021-12-04T15:01:57.195Z,1638630117.195 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-12-04T15:01:57.197Z,1638630117.197 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-12-04T15:01:57.199Z,1638630117.199 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-12-04T15:01:57.201Z,1638630117.201 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-12-04T15:01:57.203Z,1638630117.203 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-12-04T15:01:57.205Z,1638630117.205 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-12-04T15:01:57.223Z,1638630117.223 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-12-04T15:01:57.225Z,1638630117.225 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-12-04T15:01:57.239Z,1638630117.239 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0 bool
2021-12-04T15:01:57.246Z,1638630117.246 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0 bool
2021-12-04T15:01:57.248Z,1638630117.248 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 0 bool
2021-12-04T15:01:57.266Z,1638630117.266 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0 bool
2021-12-04T15:01:57.268Z,1638630117.268 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1 bool
2021-12-04T15:01:57.279Z,1638630117.279 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0 bool
2021-12-04T15:01:57.281Z,1638630117.281 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-12-04T15:01:57.288Z,1638630117.288 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-12-04T15:01:57.294Z,1638630117.294 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-12-04T15:01:57.297Z,1638630117.297 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-12-04T15:01:57.315Z,1638630117.315 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-12-04T15:01:57.317Z,1638630117.317 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-12-04T15:01:57.324Z,1638630117.324 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-12-04T15:01:57.330Z,1638630117.330 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-12-04T15:01:57.332Z,1638630117.332 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-12-04T15:01:57.343Z,1638630117.343 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-12-04T15:01:57.345Z,1638630117.345 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-12-04T15:01:57.351Z,1638630117.351 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-12-04T15:01:57.358Z,1638630117.358 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-12-04T15:01:57.360Z,1638630117.360 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-12-04T15:01:57.375Z,1638630117.375 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-12-04T15:01:57.378Z,1638630117.378 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-12-04T15:01:57.380Z,1638630117.380 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-12-04T15:01:57.382Z,1638630117.382 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-12-04T15:01:57.384Z,1638630117.384 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-12-04T15:01:57.415Z,1638630117.415 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-12-04T15:01:57.417Z,1638630117.417 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-12-04T15:01:57.419Z,1638630117.419 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-12-04T15:01:57.421Z,1638630117.421 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-12-04T15:01:57.444Z,1638630117.444 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-12-04T15:01:57.454Z,1638630117.454 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-12-04T15:01:57.457Z,1638630117.457 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-12-04T15:01:57.467Z,1638630117.467 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-12-04T15:01:57.469Z,1638630117.469 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-12-04T15:01:57.484Z,1638630117.484 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-12-04T15:01:57.491Z,1638630117.491 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-12-04T15:01:57.493Z,1638630117.493 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-12-04T15:01:57.510Z,1638630117.510 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-12-04T15:01:57.512Z,1638630117.512 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-12-04T15:01:57.519Z,1638630117.519 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-12-04T15:01:57.521Z,1638630117.521 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-12-04T15:01:57.527Z,1638630117.527 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-12-04T15:01:57.534Z,1638630117.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-12-04T15:01:57.537Z,1638630117.537 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-12-04T15:01:57.544Z,1638630117.544 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-12-04T15:01:57.550Z,1638630117.550 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-12-04T15:01:57.552Z,1638630117.552 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-12-04T15:01:57.555Z,1638630117.555 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-12-04T15:01:57.557Z,1638630117.557 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-12-04T15:01:57.568Z,1638630117.568 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-12-04T15:01:57.610Z,1638630117.610 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T15:01:57.634Z,1638630117.634 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-12-04T15:01:57.665Z,1638630117.665 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T15:01:57.703Z,1638630117.703 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T15:01:57.729Z,1638630117.729 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-12-04T15:01:57.782Z,1638630117.782 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T15:01:57.862Z,1638630117.862 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-12-04T15:01:57.889Z,1638630117.889 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-12-04T15:01:57.915Z,1638630117.915 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-12-04T15:01:57.954Z,1638630117.954 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-12-04T15:01:57.956Z,1638630117.956 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-12-04T15:01:57.959Z,1638630117.959 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-12-04T15:01:57.960Z,1638630117.960 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-12-04T15:01:57.973Z,1638630117.973 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-12-04T15:01:57.996Z,1638630117.996 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-12-04T15:01:58.020Z,1638630118.020 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-12-04T15:01:58.068Z,1638630118.068 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-12-04T15:01:58.070Z,1638630118.070 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-12-04T15:01:58.072Z,1638630118.072 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-12-04T15:01:58.075Z,1638630118.075 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-12-04T15:01:58.077Z,1638630118.077 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-12-04T15:01:58.079Z,1638630118.079 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-12-04T15:01:58.081Z,1638630118.081 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-12-04T15:01:58.087Z,1638630118.087 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-12-04T15:01:58.126Z,1638630118.126 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-12-04T15:01:58.160Z,1638630118.160 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-12-04T15:01:58.162Z,1638630118.162 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-12-04T15:01:58.166Z,1638630118.166 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-12-04T15:01:58.167Z,1638630118.167 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-12-04T15:01:58.388Z,1638630118.388 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-12-04T15:01:58.392Z,1638630118.392 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-12-04T15:01:58.394Z,1638630118.394 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-12-04T15:01:58.396Z,1638630118.396 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-12-04T15:01:58.399Z,1638630118.399 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-12-04T15:01:58.401Z,1638630118.401 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-12-04T15:01:58.404Z,1638630118.404 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-12-04T15:01:58.407Z,1638630118.407 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-12-04T15:01:58.409Z,1638630118.409 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-12-04T15:01:58.412Z,1638630118.412 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-12-04T15:01:58.446Z,1638630118.446 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-12-04T15:01:58.448Z,1638630118.448 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-12-04T15:01:58.458Z,1638630118.458 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-12-04T15:01:58.460Z,1638630118.460 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-12-04T15:01:58.467Z,1638630118.467 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-12-04T15:01:58.469Z,1638630118.469 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-12-04T15:01:58.471Z,1638630118.471 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-12-04T15:01:58.473Z,1638630118.473 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-12-04T15:01:58.492Z,1638630118.492 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-12-04T15:01:58.502Z,1638630118.502 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-12-04T15:01:58.505Z,1638630118.505 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-12-04T15:01:58.511Z,1638630118.511 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-12-04T15:01:58.518Z,1638630118.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 count
2021-12-04T15:01:58.520Z,1638630118.520 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-12-04T15:01:58.526Z,1638630118.526 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-12-04T15:01:58.528Z,1638630118.528 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-12-04T15:01:58.537Z,1638630118.537 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-12-04T15:01:58.575Z,1638630118.575 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-12-04T15:01:58.577Z,1638630118.577 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-12-04T15:01:58.580Z,1638630118.580 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-12-04T15:01:58.581Z,1638630118.581 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-12-04T15:01:58.671Z,1638630118.671 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-12-04T15:01:58.736Z,1638630118.736 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-12-04T15:01:58.784Z,1638630118.784 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-12-04T15:01:58.791Z,1638630118.791 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-12-04T15:01:58.800Z,1638630118.800 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-12-04T15:01:58.801Z,1638630118.801 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T15:01:58.832Z,1638630118.832 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-12-04T15:01:58.838Z,1638630118.838 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-12-04T15:01:58.847Z,1638630118.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-12-04T15:01:58.860Z,1638630118.860 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-12-04T15:01:58.866Z,1638630118.866 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-12-04T15:01:58.876Z,1638630118.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-12-04T15:01:58.883Z,1638630118.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-12-04T15:01:58.899Z,1638630118.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-12-04T15:01:58.899Z,1638630118.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-12-04T15:01:58.902Z,1638630118.902 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-12-04T15:01:58.909Z,1638630118.909 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-12-04T15:01:58.934Z,1638630118.934 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-12-04T15:01:58.936Z,1638630118.936 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-12-04T15:01:58.939Z,1638630118.939 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-12-04T15:01:58.941Z,1638630118.941 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-12-04T15:01:58.981Z,1638630118.981 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-12-04T15:01:59.092Z,1638630119.092 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-12-04T15:01:59.092Z,1638630119.092 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-12-04T15:01:59.127Z,1638630119.127 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-12-04T15:01:59.127Z,1638630119.127 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T15:01:59.195Z,1638630119.195 [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 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 track acoustic contact directive. -->

    <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 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>
                <Not><Arg Name="NumPings"/><Eq><Arg Name="NumPingsUSBL"/></Eq></Not>
                <And>
                    <Arg Name="LineCapture:Range"/><Lt><Arg Name="RangeUSBL"/></Lt>
                    <And><Not><Guidance:LineCapture.guidanceMode/><Eq><Units:count/><Value>4</Value></Eq></Not></And> <!-- don't enter USBL mode during rollout -->
                </And>
            </When>

            <Syslog Severity="Info">Entering USBL mode with <Arg Name="NumPingsUSBL"/><Units:count/>pings at <Arg Name="LineCapture:Range"/><Units:meter/>(mode <Guidance:LineCapture.guidanceMode/><Units:count/>).</Syslog>

            <Assign><Sequence/><Arg Name="NumPings"/><Arg Name="NumPingsUSBL"/></Assign>

        </Aggregate>

        <Aggregate Id="UpdateNumPingsATR">

            <When>
                <Not><Arg Name="NumPings"/><Eq><Arg Name="NumberOfPings"/></Eq></Not>
                 <And>
                     <Arg Name="LineCapture:Range"/><Ge><Arg Name="RangeUSBL"/></Ge>
                     <Or><Guidance:LineCapture.guidanceMode/><Eq><Units:count/><Value>4</Value></Eq></Or> <!-- do ATR mode during rollout -->
                </And>
            </When>

            <Syslog Severity="Info">Resuming normal ranging with <Arg Name="NumberOfPings"/><Units:count/>pings <Arg Name="LineCapture:Range"/><Units:meter/>(mode <Guidance:LineCapture.guidanceMode/><Units:count/>).</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>


2021-12-04T15:01:59.195Z,1638630119.195 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-12-04T15:02:02.266Z,1638630122.266 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T15:02:02.266Z,1638630122.266 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T15:02:02.266Z,1638630122.266 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T15:02:02.266Z,1638630122.266 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T15:02:02.842Z,1638630122.842 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T15:02:02.842Z,1638630122.842 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T15:02:03.094Z,1638630123.094 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 30.880452 min 
2021-12-04T15:02:03.094Z,1638630123.094 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T15:02:03.095Z,1638630123.095 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T15:02:05.084Z,1638630125.084 [Micromodem](INFO): Nmea in: $CAREV,150205,AUV,2.1.4000*29

2021-12-04T15:02:05.085Z,1638630125.085 [Micromodem](INFO): Nmea in: $CAREV,150205,COPROC,0.20.0.39330*78

2021-12-04T15:02:05.088Z,1638630125.088 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,150204.00,A,4132.84428,N,07042.74011,W,0.603,204.16,041221,,,A*7A
2021-12-04T15:02:05.094Z,1638630125.094 [NAL9602](INFO): GPS fix at 20211204T150204: (41.547405, -70.712335)
2021-12-04T15:02:05.139Z,1638630125.139 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T15:02:05.139Z,1638630125.139 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T15:02:09.421Z,1638630129.421 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20211204T085114/Courier0046.lzma
2021-12-04T15:02:10.423Z,1638630130.423 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0046.lzma.bak
2021-12-04T15:02:10.424Z,1638630130.424 [DataOverHttps](INFO): SBD MOMSN=623351
2021-12-04T15:02:11.352Z,1638630131.352 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 240 minute
2021-12-04T15:02:11.353Z,1638630131.353 [CommandExec](IMPORTANT): got command set lineCaptureDepth.NeedCommsTime 240 minute
2021-12-04T15:02:11.354Z,1638630131.354 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 240 minute
2021-12-04T15:02:11.355Z,1638630131.355 [CommandExec](IMPORTANT): got command set lineCaptureDepth.Repeat 20 count
2021-12-04T15:02:15.280Z,1638630135.280 [Micromodem](INFO): Nmea in: $CAREV,150215,AUV,2.1.4000*28

2021-12-04T15:02:15.684Z,1638630135.684 [Micromodem](INFO): Nmea in: $CAREV,150215,COPROC,0.20.0.39330*79

2021-12-04T15:02:17.305Z,1638630137.305 [NAL9602](INFO): SBD MO Status=0, MOMSN=30143, MT Status=0, MTMSN=0
2021-12-04T15:02:17.305Z,1638630137.305 [NAL9602](INFO): No messages in MT queue
2021-12-04T15:02:19.461Z,1638630139.461 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20211204T085114/Courier0049.lzma
2021-12-04T15:02:19.676Z,1638630139.676 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3 meter
2021-12-04T15:02:19.677Z,1638630139.677 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MaxDepth 10 meter
2021-12-04T15:02:19.678Z,1638630139.678 [CommandExec](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500 meter
2021-12-04T15:02:19.678Z,1638630139.678 [CommandExec](IMPORTANT): got command run
2021-12-04T15:02:19.680Z,1638630139.680 [CommandExec](IMPORTANT): Running 
2021-12-04T15:02:19.735Z,1638630139.735 [DefaultWithUndock] Stopped
2021-12-04T15:02:19.735Z,1638630139.735 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-12-04T15:02:19.735Z,1638630139.735 [DefaultWithUndock:SurfaceDefault] Stopped
2021-12-04T15:02:19.735Z,1638630139.735 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-12-04T15:02:19.736Z,1638630139.736 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-12-04T15:02:19.736Z,1638630139.736 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-04T15:02:19.736Z,1638630139.736 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T15:02:19.736Z,1638630139.736 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T15:02:19.736Z,1638630139.736 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T15:02:19.736Z,1638630139.736 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-12-04T15:02:19.736Z,1638630139.736 [lineCaptureDepth] Running Loop=1
2021-12-04T15:02:19.736Z,1638630139.736 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-12-04T15:02:19.736Z,1638630139.736 [lineCaptureDepth:Science] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:A] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:B] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:C] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:D] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:E] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:F] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T15:02:19.737Z,1638630139.737 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T15:02:19.739Z,1638630139.739 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-12-04T15:02:19.739Z,1638630139.739 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-12-04T15:02:19.739Z,1638630139.739 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-12-04T15:02:19.739Z,1638630139.739 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-12-04T15:02:19.739Z,1638630139.739 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-12-04T15:02:19.740Z,1638630139.740 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-12-04T15:02:19.740Z,1638630139.740 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T15:02:19.740Z,1638630139.740 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T15:02:19.741Z,1638630139.741 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-12-04T15:02:19.741Z,1638630139.741 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-12-04T15:02:19.741Z,1638630139.741 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T15:02:19.741Z,1638630139.741 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T15:02:19.754Z,1638630139.754 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T15:02:19.755Z,1638630139.755 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T15:02:19.756Z,1638630139.756 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-12-04T15:02:19.757Z,1638630139.757 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-12-04T15:02:19.757Z,1638630139.757 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-12-04T15:02:19.757Z,1638630139.757 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-12-04T15:02:19.759Z,1638630139.759 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-12-04T15:02:19.759Z,1638630139.759 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-12-04T15:02:19.759Z,1638630139.759 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-12-04T15:02:19.759Z,1638630139.759 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-12-04T15:02:19.759Z,1638630139.759 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T15:02:19.760Z,1638630139.760 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-12-04T15:02:19.761Z,1638630139.761 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T15:02:19.766Z,1638630139.766 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-12-04T15:02:19.767Z,1638630139.767 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-12-04T15:02:19.767Z,1638630139.767 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T15:02:19.767Z,1638630139.767 [lineCaptureDepth:C] Running Loop=1
2021-12-04T15:02:19.776Z,1638630139.776 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-12-04T15:02:19.776Z,1638630139.776 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-12-04T15:02:19.777Z,1638630139.777 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-12-04T15:02:19.777Z,1638630139.777 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-12-04T15:02:19.777Z,1638630139.777 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-12-04T15:02:19.777Z,1638630139.777 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-12-04T15:02:19.783Z,1638630139.783 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T15:02:19.785Z,1638630139.785 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-12-04T15:02:19.790Z,1638630139.790 [lineCaptureDepth:C] Stopped
2021-12-04T15:02:19.791Z,1638630139.791 [lineCaptureDepth:D] Running Loop=1
2021-12-04T15:02:19.791Z,1638630139.791 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-12-04T15:02:19.791Z,1638630139.791 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T15:02:19.792Z,1638630139.792 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T15:02:19.793Z,1638630139.793 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T15:02:19.798Z,1638630139.798 [lineCaptureDepth:Science] Running Loop=1
2021-12-04T15:02:19.807Z,1638630139.807 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-12-04T15:02:19.807Z,1638630139.807 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-12-04T15:02:19.807Z,1638630139.807 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-12-04T15:02:19.807Z,1638630139.807 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-12-04T15:02:19.808Z,1638630139.808 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-12-04T15:02:19.809Z,1638630139.809 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-12-04T15:02:19.814Z,1638630139.814 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-12-04T15:02:19.814Z,1638630139.814 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-12-04T15:02:19.814Z,1638630139.814 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-12-04T15:02:19.814Z,1638630139.814 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-12-04T15:02:19.815Z,1638630139.815 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:F] Stopped
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:E] Stopped
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:D] Stopped
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:C] Stopped
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:B] Stopped
2021-12-04T15:02:19.816Z,1638630139.816 [lineCaptureDepth:Science:A] Stopped
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:MicromodemComms] Stopped
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:D] Stopped
2021-12-04T15:02:20.160Z,1638630140.160 [lineCaptureDepth:E] Running Loop=1
2021-12-04T15:02:20.211Z,1638630140.211 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-12-04T15:02:20.464Z,1638630140.464 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0049.lzma.bak
2021-12-04T15:02:20.464Z,1638630140.464 [DataOverHttps](INFO): SBD MOMSN=623353
2021-12-04T15:02:20.552Z,1638630140.552 [lineCaptureDepth:E] Stopped
2021-12-04T15:02:20.552Z,1638630140.552 [lineCaptureDepth:G] Running Loop=1
2021-12-04T15:02:20.999Z,1638630140.999 [lineCaptureDepth:G] Stopped
2021-12-04T15:02:20.000Z,1638630141.000 [lineCaptureDepth:H] Running Loop=1
2021-12-04T15:02:21.357Z,1638630141.357 [lineCaptureDepth:H] Stopped
2021-12-04T15:02:21.357Z,1638630141.357 [lineCaptureDepth:K] Running Loop=1
2021-12-04T15:02:21.799Z,1638630141.799 [lineCaptureDepth:K] Stopped
2021-12-04T15:02:21.799Z,1638630141.799 [lineCaptureDepth:L] Running Loop=1
2021-12-04T15:02:22.189Z,1638630142.189 [lineCaptureDepth:L] Stopped
2021-12-04T15:02:22.189Z,1638630142.189 [lineCaptureDepth:M] Running Loop=1
2021-12-04T15:02:22.705Z,1638630142.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:22.711Z,1638630142.711 [lineCaptureDepth:M] Stopped
2021-12-04T15:02:22.712Z,1638630142.712 [lineCaptureDepth:O] Running Loop=1
2021-12-04T15:02:23.036Z,1638630143.036 [lineCaptureDepth:O] Stopped
2021-12-04T15:02:23.036Z,1638630143.036 [lineCaptureDepth:Lap] Running Loop=1
2021-12-04T15:02:23.037Z,1638630143.037 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T15:02:23.037Z,1638630143.037 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T15:02:23.391Z,1638630143.391 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T15:02:23.391Z,1638630143.391 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T15:02:23.391Z,1638630143.391 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T15:02:23.829Z,1638630143.829 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T15:02:23.834Z,1638630143.834 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T15:02:23.835Z,1638630143.835 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T15:02:23.836Z,1638630143.836 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T15:02:23.836Z,1638630143.836 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T15:02:23.836Z,1638630143.836 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T15:02:23.836Z,1638630143.836 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T15:02:23.837Z,1638630143.837 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T15:02:23.837Z,1638630143.837 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T15:02:23.837Z,1638630143.837 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T15:02:24.198Z,1638630144.198 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T15:02:24.198Z,1638630144.198 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T15:02:24.604Z,1638630144.604 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T15:02:24.604Z,1638630144.604 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T15:02:24.980Z,1638630144.980 [Micromodem](INFO): Nmea in: $CAREV,150225,AUV,2.1.4000*2B

2021-12-04T15:02:24.981Z,1638630144.981 [Micromodem](INFO): Nmea in: $CAREV,150225,COPROC,0.20.0.39330*7A

2021-12-04T15:02:25.058Z,1638630145.058 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T15:02:25.058Z,1638630145.058 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T15:02:25.395Z,1638630145.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:25.396Z,1638630145.396 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T15:02:25.396Z,1638630145.396 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T15:02:25.397Z,1638630145.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T15:02:25.398Z,1638630145.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T15:02:25.399Z,1638630145.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T15:02:25.400Z,1638630145.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T15:02:25.400Z,1638630145.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T15:02:25.827Z,1638630145.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T15:02:25.828Z,1638630145.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T15:02:25.829Z,1638630145.829 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T15:02:25.829Z,1638630145.829 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T15:02:28.277Z,1638630148.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:28.297Z,1638630148.297 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T15:02:28.743Z,1638630148.743 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T15:02:31.134Z,1638630151.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:33.921Z,1638630153.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:35.108Z,1638630155.108 [Micromodem](INFO): Nmea in: $CAREV,150235,AUV,2.1.4000*2A

2021-12-04T15:02:35.109Z,1638630155.109 [Micromodem](INFO): Nmea in: $CAREV,150235,COPROC,0.20.0.39330*7B

2021-12-04T15:02:36.829Z,1638630156.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:39.584Z,1638630159.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:42.406Z,1638630162.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:45.204Z,1638630165.204 [Micromodem](INFO): Nmea in: $CAREV,150245,AUV,2.1.4000*2D

2021-12-04T15:02:45.205Z,1638630165.205 [Micromodem](INFO): Nmea in: $CAREV,150245,COPROC,0.20.0.39330*7C

2021-12-04T15:02:45.231Z,1638630165.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:48.044Z,1638630168.044 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T15:02:48.078Z,1638630168.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:48.916Z,1638630168.916 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.18 m. Transitioning DDM to standby.
2021-12-04T15:02:50.932Z,1638630170.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:50.933Z,1638630170.933 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T15:02:51.304Z,1638630171.304 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T15:02:51.304Z,1638630171.304 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T15:02:51.352Z,1638630171.352 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T15:02:51.664Z,1638630171.664 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T15:02:51.664Z,1638630171.664 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T15:02:51.665Z,1638630171.665 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T15:02:52.106Z,1638630172.106 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T15:02:52.106Z,1638630172.106 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T15:02:52.106Z,1638630172.106 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T15:02:52.107Z,1638630172.107 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T15:02:52.107Z,1638630172.107 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T15:02:52.459Z,1638630172.459 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T15:02:52.459Z,1638630172.459 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T15:02:52.459Z,1638630172.459 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T15:02:52.459Z,1638630172.459 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T15:02:52.459Z,1638630172.459 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T15:02:52.460Z,1638630172.460 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T15:02:52.460Z,1638630172.460 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T15:02:52.460Z,1638630172.460 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T15:02:52.460Z,1638630172.460 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T15:02:52.460Z,1638630172.460 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T15:02:52.460Z,1638630172.460 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T15:02:52.461Z,1638630172.461 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T15:02:52.462Z,1638630172.462 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T15:02:52.462Z,1638630172.462 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T15:02:52.462Z,1638630172.462 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T15:02:52.462Z,1638630172.462 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T15:02:52.900Z,1638630172.900 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T15:02:52.900Z,1638630172.900 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T15:02:52.900Z,1638630172.900 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T15:02:52.900Z,1638630172.900 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T15:02:52.900Z,1638630172.900 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T15:02:52.900Z,1638630172.900 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T15:02:52.901Z,1638630172.901 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T15:02:52.901Z,1638630172.901 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T15:02:52.901Z,1638630172.901 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T15:02:52.901Z,1638630172.901 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T15:02:52.901Z,1638630172.901 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T15:02:53.820Z,1638630173.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:55.288Z,1638630175.288 [Micromodem](INFO): Nmea in: $CAREV,150255,AUV,2.1.4000*2C

2021-12-04T15:02:55.290Z,1638630175.290 [Micromodem](INFO): Nmea in: $CAREV,150255,COPROC,0.20.0.39330*7D

2021-12-04T15:02:56.511Z,1638630176.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:02:59.344Z,1638630179.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:02.163Z,1638630182.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:05.000Z,1638630185.000 [Micromodem](INFO): Nmea in: $CAREV,150305,AUV,2.1.4000*28

2021-12-04T15:03:05.002Z,1638630185.002 [Micromodem](INFO): Nmea in: $CAREV,150305,COPROC,0.20.0.39330*79

2021-12-04T15:03:05.072Z,1638630185.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:07.838Z,1638630187.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:10.716Z,1638630190.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:13.472Z,1638630193.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:15.071Z,1638630195.071 [Micromodem](INFO): Nmea in: $CAREV,150315,AUV,2.1.4000*29

2021-12-04T15:03:15.072Z,1638630195.072 [Micromodem](INFO): Nmea in: $CAREV,150315,COPROC,0.20.0.39330*78

2021-12-04T15:03:16.306Z,1638630196.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:19.121Z,1638630199.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:21.972Z,1638630201.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:24.830Z,1638630204.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:25.181Z,1638630205.181 [Micromodem](INFO): Nmea in: $CAREV,150325,AUV,2.1.4000*2A

2021-12-04T15:03:25.182Z,1638630205.182 [Micromodem](INFO): Nmea in: $CAREV,150325,COPROC,0.20.0.39330*7B

2021-12-04T15:03:27.644Z,1638630207.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:30.476Z,1638630210.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:32.995Z,1638630212.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:35.332Z,1638630215.332 [Micromodem](INFO): Nmea in: $CAREV,150335,AUV,2.1.4000*2B

2021-12-04T15:03:35.333Z,1638630215.333 [Micromodem](INFO): Nmea in: $CAREV,150335,COPROC,0.20.0.39330*7A

2021-12-04T15:03:35.736Z,1638630215.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:38.584Z,1638630218.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:41.104Z,1638630221.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:43.844Z,1638630223.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:45.028Z,1638630225.028 [Micromodem](INFO): Nmea in: $CAREV,150345,AUV,2.1.4000*2C

2021-12-04T15:03:45.031Z,1638630225.031 [Micromodem](INFO): Nmea in: $CAREV,150345,COPROC,0.20.0.39330*7D

2021-12-04T15:03:46.673Z,1638630226.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:49.457Z,1638630229.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:52.302Z,1638630232.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:54.811Z,1638630234.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:03:55.115Z,1638630235.115 [Micromodem](INFO): Nmea in: $CAREV,150355,AUV,2.1.4000*2D

2021-12-04T15:03:55.119Z,1638630235.119 [Micromodem](INFO): Nmea in: $CAREV,150355,COPROC,0.20.0.39330*7C

2021-12-04T15:03:57.537Z,1638630237.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:00.371Z,1638630240.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:03.194Z,1638630243.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:05.205Z,1638630245.205 [Micromodem](INFO): Nmea in: $CAREV,150405,AUV,2.1.4000*2F

2021-12-04T15:04:05.207Z,1638630245.207 [Micromodem](INFO): Nmea in: $CAREV,150405,COPROC,0.20.0.39330*7E

2021-12-04T15:04:06.016Z,1638630246.016 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T15:04:06.027Z,1638630246.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:08.898Z,1638630248.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:11.690Z,1638630251.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:14.506Z,1638630254.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:15.305Z,1638630255.305 [Micromodem](INFO): Nmea in: $CAREV,150415,AUV,2.1.4000*2E

2021-12-04T15:04:15.309Z,1638630255.309 [Micromodem](INFO): Nmea in: $CAREV,150415,COPROC,0.20.0.39330*7F

2021-12-04T15:04:17.354Z,1638630257.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:20.194Z,1638630260.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:23.031Z,1638630263.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:25.003Z,1638630265.003 [Micromodem](INFO): Nmea in: $CAREV,150425,AUV,2.1.4000*2D

2021-12-04T15:04:25.005Z,1638630265.005 [Micromodem](INFO): Nmea in: $CAREV,150425,COPROC,0.20.0.39330*7C

2021-12-04T15:04:25.838Z,1638630265.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:28.708Z,1638630268.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:31.483Z,1638630271.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:34.311Z,1638630274.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:35.127Z,1638630275.127 [Micromodem](INFO): Nmea in: $CAREV,150435,AUV,2.1.4000*2C

2021-12-04T15:04:35.130Z,1638630275.130 [Micromodem](INFO): Nmea in: $CAREV,150435,COPROC,0.20.0.39330*7D

2021-12-04T15:04:35.242Z,1638630275.242 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T15:04:37.163Z,1638630277.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:39.976Z,1638630279.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:42.862Z,1638630282.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:45.204Z,1638630285.204 [Micromodem](INFO): Nmea in: $CAREV,150445,AUV,2.1.4000*2B

2021-12-04T15:04:45.205Z,1638630285.205 [Micromodem](INFO): Nmea in: $CAREV,150445,COPROC,0.20.0.39330*7A

2021-12-04T15:04:45.675Z,1638630285.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:48.448Z,1638630288.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:51.275Z,1638630291.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:54.111Z,1638630294.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:55.305Z,1638630295.305 [Micromodem](INFO): Nmea in: $CAREV,150455,AUV,2.1.4000*2A

2021-12-04T15:04:55.306Z,1638630295.306 [Micromodem](INFO): Nmea in: $CAREV,150455,COPROC,0.20.0.39330*7B

2021-12-04T15:04:56.957Z,1638630296.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:04:59.763Z,1638630299.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:02.591Z,1638630302.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:05.010Z,1638630305.010 [Micromodem](INFO): Nmea in: $CAREV,150505,AUV,2.1.4000*2E

2021-12-04T15:05:05.011Z,1638630305.011 [Micromodem](INFO): Nmea in: $CAREV,150505,COPROC,0.20.0.39330*7F

2021-12-04T15:05:05.416Z,1638630305.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:08.250Z,1638630308.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:11.077Z,1638630311.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:11.174Z,1638630311.174 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259392
2021-12-04T15:05:13.914Z,1638630313.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:15.095Z,1638630315.095 [Micromodem](INFO): Nmea in: $CAREV,150515,AUV,2.1.4000*2F

2021-12-04T15:05:15.096Z,1638630315.096 [Micromodem](INFO): Nmea in: $CAREV,150515,COPROC,0.20.0.39330*7E

2021-12-04T15:05:16.771Z,1638630316.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:17.658Z,1638630317.658 [Radio_Surface](INFO): Powering down
2021-12-04T15:05:19.551Z,1638630319.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:22.383Z,1638630322.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:25.201Z,1638630325.201 [Micromodem](INFO): Nmea in: $CAREV,150525,AUV,2.1.4000*2C

2021-12-04T15:05:25.214Z,1638630325.214 [Micromodem](INFO): Nmea in: $CAREV,150525,COPROC,0.20.0.39330*7D

2021-12-04T15:05:25.227Z,1638630325.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:28.052Z,1638630328.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:30.916Z,1638630330.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:33.720Z,1638630333.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:35.297Z,1638630335.297 [Micromodem](INFO): Nmea in: $CAREV,150535,AUV,2.1.4000*2D

2021-12-04T15:05:35.298Z,1638630335.298 [Micromodem](INFO): Nmea in: $CAREV,150535,COPROC,0.20.0.39330*7C

2021-12-04T15:05:36.524Z,1638630336.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:39.364Z,1638630339.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:42.177Z,1638630342.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:44.709Z,1638630344.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:45.013Z,1638630345.013 [Micromodem](INFO): Nmea in: $CAREV,150545,AUV,2.1.4000*2A

2021-12-04T15:05:45.015Z,1638630345.015 [Micromodem](INFO): Nmea in: $CAREV,150545,COPROC,0.20.0.39330*7B

2021-12-04T15:05:47.330Z,1638630347.330 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T15:05:47.441Z,1638630347.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:48.334Z,1638630348.334 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-12-04T15:05:50.256Z,1638630350.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:52.765Z,1638630352.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:55.099Z,1638630355.099 [Micromodem](INFO): Nmea in: $CAREV,150555,AUV,2.1.4000*2B

2021-12-04T15:05:55.100Z,1638630355.100 [Micromodem](INFO): Nmea in: $CAREV,150555,COPROC,0.20.0.39330*7A

2021-12-04T15:05:55.523Z,1638630355.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:05:58.344Z,1638630358.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:01.165Z,1638630361.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:04.005Z,1638630364.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:05.191Z,1638630365.191 [Micromodem](INFO): Nmea in: $CAREV,150605,AUV,2.1.4000*2D

2021-12-04T15:06:05.192Z,1638630365.192 [Micromodem](INFO): Nmea in: $CAREV,150605,COPROC,0.20.0.39330*7C

2021-12-04T15:06:06.860Z,1638630366.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:09.676Z,1638630369.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:12.483Z,1638630372.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:15.293Z,1638630375.293 [Micromodem](INFO): Nmea in: $CAREV,150615,AUV,2.1.4000*2C

2021-12-04T15:06:15.294Z,1638630375.294 [Micromodem](INFO): Nmea in: $CAREV,150615,COPROC,0.20.0.39330*7D

2021-12-04T15:06:15.308Z,1638630375.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:18.133Z,1638630378.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:21.018Z,1638630381.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:23.819Z,1638630383.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:25.002Z,1638630385.002 [Micromodem](INFO): Nmea in: $CAREV,150625,AUV,2.1.4000*2F

2021-12-04T15:06:25.399Z,1638630385.399 [Micromodem](INFO): Nmea in: $CAREV,150625,COPROC,0.20.0.39330*7E

2021-12-04T15:06:26.718Z,1638630386.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:29.445Z,1638630389.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:32.276Z,1638630392.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:35.092Z,1638630395.092 [Micromodem](INFO): Nmea in: $CAREV,150635,AUV,2.1.4000*2E

2021-12-04T15:06:35.094Z,1638630395.094 [Micromodem](INFO): Nmea in: $CAREV,150635,COPROC,0.20.0.39330*7F

2021-12-04T15:06:35.105Z,1638630395.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:37.949Z,1638630397.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:40.785Z,1638630400.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:43.605Z,1638630403.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:45.192Z,1638630405.192 [Micromodem](INFO): Nmea in: $CAREV,150645,AUV,2.1.4000*29

2021-12-04T15:06:45.193Z,1638630405.193 [Micromodem](INFO): Nmea in: $CAREV,150645,COPROC,0.20.0.39330*78

2021-12-04T15:06:46.409Z,1638630406.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:49.244Z,1638630409.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:52.077Z,1638630412.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:54.930Z,1638630414.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:06:55.289Z,1638630415.289 [Micromodem](INFO): Nmea in: $CAREV,150655,AUV,2.1.4000*28

2021-12-04T15:06:55.290Z,1638630415.290 [Micromodem](INFO): Nmea in: $CAREV,150655,COPROC,0.20.0.39330*79

2021-12-04T15:06:57.732Z,1638630417.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:00.579Z,1638630420.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:03.383Z,1638630423.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:05.003Z,1638630425.003 [Micromodem](INFO): Nmea in: $CAREV,150705,AUV,2.1.4000*2C

2021-12-04T15:07:05.392Z,1638630425.392 [Micromodem](INFO): Nmea in: $CAREV,150705,COPROC,0.20.0.39330*7D

2021-12-04T15:07:06.224Z,1638630426.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:09.060Z,1638630429.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:11.901Z,1638630431.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:14.765Z,1638630434.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:15.090Z,1638630435.090 [Micromodem](INFO): Nmea in: $CAREV,150715,AUV,2.1.4000*2D

2021-12-04T15:07:15.092Z,1638630435.092 [Micromodem](INFO): Nmea in: $CAREV,150715,COPROC,0.20.0.39330*7C

2021-12-04T15:07:17.542Z,1638630437.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:20.345Z,1638630440.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:23.193Z,1638630443.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:25.183Z,1638630445.183 [Micromodem](INFO): Nmea in: $CAREV,150725,AUV,2.1.4000*2E

2021-12-04T15:07:25.184Z,1638630445.184 [Micromodem](INFO): Nmea in: $CAREV,150725,COPROC,0.20.0.39330*7F

2021-12-04T15:07:26.025Z,1638630446.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:28.889Z,1638630448.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:31.675Z,1638630451.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:34.487Z,1638630454.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:35.286Z,1638630455.286 [Micromodem](INFO): Nmea in: $CAREV,150735,AUV,2.1.4000*2F

2021-12-04T15:07:35.288Z,1638630455.288 [Micromodem](INFO): Nmea in: $CAREV,150735,COPROC,0.20.0.39330*7E

2021-12-04T15:07:37.326Z,1638630457.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:40.148Z,1638630460.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:43.031Z,1638630463.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:45.382Z,1638630465.382 [Micromodem](INFO): Nmea in: $CAREV,150745,AUV,2.1.4000*28

2021-12-04T15:07:45.383Z,1638630465.383 [Micromodem](INFO): Nmea in: $CAREV,150745,COPROC,0.20.0.39330*79

2021-12-04T15:07:45.832Z,1638630465.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:48.725Z,1638630468.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:51.460Z,1638630471.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:54.308Z,1638630474.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:55.082Z,1638630475.082 [Micromodem](INFO): Nmea in: $CAREV,150755,AUV,2.1.4000*29

2021-12-04T15:07:55.083Z,1638630475.083 [Micromodem](INFO): Nmea in: $CAREV,150755,COPROC,0.20.0.39330*78

2021-12-04T15:07:57.121Z,1638630477.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:07:59.970Z,1638630479.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:02.802Z,1638630482.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:05.184Z,1638630485.184 [Micromodem](INFO): Nmea in: $CAREV,150805,AUV,2.1.4000*23

2021-12-04T15:08:05.185Z,1638630485.185 [Micromodem](INFO): Nmea in: $CAREV,150805,COPROC,0.20.0.39330*72

2021-12-04T15:08:05.614Z,1638630485.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:08.432Z,1638630488.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:11.273Z,1638630491.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:14.092Z,1638630494.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:15.298Z,1638630495.298 [Micromodem](INFO): Nmea in: $CAREV,150815,AUV,2.1.4000*22

2021-12-04T15:08:15.300Z,1638630495.300 [Micromodem](INFO): Nmea in: $CAREV,150815,COPROC,0.20.0.39330*73

2021-12-04T15:08:16.972Z,1638630496.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:19.770Z,1638630499.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:22.624Z,1638630502.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:25.409Z,1638630505.409 [Micromodem](INFO): Nmea in: $CAREV,150825,AUV,2.1.4000*21

2021-12-04T15:08:25.411Z,1638630505.411 [Micromodem](INFO): Nmea in: $CAREV,150825,COPROC,0.20.0.39330*70

2021-12-04T15:08:25.423Z,1638630505.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:28.252Z,1638630508.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:30.767Z,1638630510.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:33.509Z,1638630513.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:35.104Z,1638630515.104 [Micromodem](INFO): Nmea in: $CAREV,150835,AUV,2.1.4000*20

2021-12-04T15:08:35.106Z,1638630515.106 [Micromodem](INFO): Nmea in: $CAREV,150835,COPROC,0.20.0.39330*71

2021-12-04T15:08:36.336Z,1638630516.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:39.154Z,1638630519.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:42.012Z,1638630522.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:44.847Z,1638630524.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:45.208Z,1638630525.208 [Micromodem](INFO): Nmea in: $CAREV,150845,AUV,2.1.4000*27

2021-12-04T15:08:45.209Z,1638630525.209 [Micromodem](INFO): Nmea in: $CAREV,150845,COPROC,0.20.0.39330*76

2021-12-04T15:08:47.687Z,1638630527.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:50.466Z,1638630530.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:53.309Z,1638630533.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:55.313Z,1638630535.313 [Micromodem](INFO): Nmea in: $CAREV,150855,AUV,2.1.4000*26

2021-12-04T15:08:55.314Z,1638630535.314 [Micromodem](INFO): Nmea in: $CAREV,150855,COPROC,0.20.0.39330*77

2021-12-04T15:08:56.131Z,1638630536.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:08:58.999Z,1638630538.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:01.787Z,1638630541.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:04.669Z,1638630544.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:05.427Z,1638630545.427 [Micromodem](INFO): Nmea in: $CAREV,150905,AUV,2.1.4000*22

2021-12-04T15:09:05.428Z,1638630545.428 [Micromodem](INFO): Nmea in: $CAREV,150905,COPROC,0.20.0.39330*73

2021-12-04T15:09:07.441Z,1638630547.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:10.271Z,1638630550.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:13.104Z,1638630553.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:15.109Z,1638630555.109 [Micromodem](INFO): Nmea in: $CAREV,150915,AUV,2.1.4000*23

2021-12-04T15:09:15.111Z,1638630555.111 [Micromodem](INFO): Nmea in: $CAREV,150915,COPROC,0.20.0.39330*72

2021-12-04T15:09:15.924Z,1638630555.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:18.799Z,1638630558.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:20.795Z,1638630560.795 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:09:21.608Z,1638630561.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:24.419Z,1638630564.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:25.204Z,1638630565.204 [Micromodem](INFO): Nmea in: $CAREV,150925,AUV,2.1.4000*20

2021-12-04T15:09:25.206Z,1638630565.206 [Micromodem](INFO): Nmea in: $CAREV,150925,COPROC,0.20.0.39330*71

2021-12-04T15:09:25.663Z,1638630565.663 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T15:09:27.244Z,1638630567.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:30.061Z,1638630570.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:32.928Z,1638630572.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:35.309Z,1638630575.309 [Micromodem](INFO): Nmea in: $CAREV,150935,AUV,2.1.4000*21

2021-12-04T15:09:35.310Z,1638630575.310 [Micromodem](INFO): Nmea in: $CAREV,150935,COPROC,0.20.0.39330*70

2021-12-04T15:09:35.732Z,1638630575.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:38.548Z,1638630578.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:41.280Z,1638630581.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:43.817Z,1638630583.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:45.400Z,1638630585.400 [Micromodem](INFO): Nmea in: $CAREV,150945,AUV,2.1.4000*26

2021-12-04T15:09:45.401Z,1638630585.401 [Micromodem](INFO): Nmea in: $CAREV,150945,COPROC,0.20.0.39330*77

2021-12-04T15:09:46.713Z,1638630586.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:49.456Z,1638630589.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:50.727Z,1638630590.727 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:09:52.284Z,1638630592.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:55.112Z,1638630595.112 [Micromodem](INFO): Nmea in: $CAREV,150955,AUV,2.1.4000*27

2021-12-04T15:09:55.113Z,1638630595.113 [Micromodem](INFO): Nmea in: $CAREV,150955,COPROC,0.20.0.39330*76

2021-12-04T15:09:55.135Z,1638630595.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:09:55.923Z,1638630595.923 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:09:57.954Z,1638630597.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:00.784Z,1638630600.784 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:10:00.795Z,1638630600.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:03.650Z,1638630603.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:05.203Z,1638630605.203 [Micromodem](INFO): Nmea in: $CAREV,151005,AUV,2.1.4000*2A

2021-12-04T15:10:05.204Z,1638630605.204 [Micromodem](INFO): Nmea in: $CAREV,151005,COPROC,0.20.0.39330*7B

2021-12-04T15:10:05.656Z,1638630605.656 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T15:10:06.436Z,1638630606.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:09.272Z,1638630609.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:12.076Z,1638630612.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:14.964Z,1638630614.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:15.306Z,1638630615.306 [Micromodem](INFO): Nmea in: $CAREV,151015,AUV,2.1.4000*2B

2021-12-04T15:10:15.307Z,1638630615.307 [Micromodem](INFO): Nmea in: $CAREV,151015,COPROC,0.20.0.39330*7A

2021-12-04T15:10:17.738Z,1638630617.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:20.559Z,1638630620.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:23.393Z,1638630623.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:25.394Z,1638630625.394 [Micromodem](INFO): Nmea in: $CAREV,151025,AUV,2.1.4000*28

2021-12-04T15:10:25.395Z,1638630625.395 [Micromodem](INFO): Nmea in: $CAREV,151025,COPROC,0.20.0.39330*79

2021-12-04T15:10:26.227Z,1638630626.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:28.728Z,1638630628.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:31.466Z,1638630631.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:34.299Z,1638630634.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:35.093Z,1638630635.093 [Micromodem](INFO): Nmea in: $CAREV,151035,AUV,2.1.4000*29

2021-12-04T15:10:35.095Z,1638630635.095 [Micromodem](INFO): Nmea in: $CAREV,151035,COPROC,0.20.0.39330*78

2021-12-04T15:10:37.138Z,1638630637.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:39.967Z,1638630639.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:40.753Z,1638630640.753 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:10:42.829Z,1638630642.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:45.191Z,1638630645.191 [Micromodem](INFO): Nmea in: $CAREV,151045,AUV,2.1.4000*2E

2021-12-04T15:10:45.192Z,1638630645.192 [Micromodem](INFO): Nmea in: $CAREV,151045,COPROC,0.20.0.39330*7F

2021-12-04T15:10:45.683Z,1638630645.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:48.439Z,1638630648.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:50.865Z,1638630650.865 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:10:51.288Z,1638630651.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:54.107Z,1638630654.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:55.294Z,1638630655.294 [Micromodem](INFO): Nmea in: $CAREV,151055,AUV,2.1.4000*2F

2021-12-04T15:10:55.295Z,1638630655.295 [Micromodem](INFO): Nmea in: $CAREV,151055,COPROC,0.20.0.39330*7E

2021-12-04T15:10:56.949Z,1638630656.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:10:59.790Z,1638630659.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:02.589Z,1638630662.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:03.003Z,1638630663.003 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T15:11:05.393Z,1638630665.393 [Micromodem](INFO): Nmea in: $CAREV,151105,AUV,2.1.4000*2B

2021-12-04T15:11:05.394Z,1638630665.394 [Micromodem](INFO): Nmea in: $CAREV,151105,COPROC,0.20.0.39330*7A

2021-12-04T15:11:05.411Z,1638630665.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:08.243Z,1638630668.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:10.769Z,1638630670.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:13.487Z,1638630673.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:15.088Z,1638630675.088 [Micromodem](INFO): Nmea in: $CAREV,151115,AUV,2.1.4000*2A

2021-12-04T15:11:15.089Z,1638630675.089 [Micromodem](INFO): Nmea in: $CAREV,151115,COPROC,0.20.0.39330*7B

2021-12-04T15:11:16.312Z,1638630676.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:19.149Z,1638630679.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:21.988Z,1638630681.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:24.825Z,1638630684.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:25.188Z,1638630685.188 [Micromodem](INFO): Nmea in: $CAREV,151125,AUV,2.1.4000*29

2021-12-04T15:11:25.189Z,1638630685.189 [Micromodem](INFO): Nmea in: $CAREV,151125,COPROC,0.20.0.39330*78

2021-12-04T15:11:27.669Z,1638630687.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:30.455Z,1638630690.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:30.872Z,1638630690.872 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T15:11:33.301Z,1638630693.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:35.295Z,1638630695.295 [Micromodem](INFO): Nmea in: $CAREV,151135,AUV,2.1.4000*28

2021-12-04T15:11:35.296Z,1638630695.296 [Micromodem](INFO): Nmea in: $CAREV,151135,COPROC,0.20.0.39330*79

2021-12-04T15:11:36.121Z,1638630696.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:38.992Z,1638630698.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:41.787Z,1638630701.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:44.692Z,1638630704.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:45.411Z,1638630705.411 [Micromodem](INFO): Nmea in: $CAREV,151145,AUV,2.1.4000*2F

2021-12-04T15:11:45.412Z,1638630705.412 [Micromodem](INFO): Nmea in: $CAREV,151145,COPROC,0.20.0.39330*7E

2021-12-04T15:11:47.452Z,1638630707.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:50.267Z,1638630710.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:50.740Z,1638630710.740 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T15:11:53.084Z,1638630713.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:55.107Z,1638630715.107 [Micromodem](INFO): Nmea in: $CAREV,151155,AUV,2.1.4000*2E

2021-12-04T15:11:55.108Z,1638630715.108 [Micromodem](INFO): Nmea in: $CAREV,151155,COPROC,0.20.0.39330*7F

2021-12-04T15:11:55.952Z,1638630715.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:11:58.787Z,1638630718.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:01.585Z,1638630721.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:04.407Z,1638630724.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:05.190Z,1638630725.190 [Micromodem](INFO): Nmea in: $CAREV,151205,AUV,2.1.4000*28

2021-12-04T15:12:05.191Z,1638630725.191 [Micromodem](INFO): Nmea in: $CAREV,151205,COPROC,0.20.0.39330*79

2021-12-04T15:12:07.232Z,1638630727.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:10.053Z,1638630730.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:12.920Z,1638630732.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:15.296Z,1638630735.296 [Micromodem](INFO): Nmea in: $CAREV,151215,AUV,2.1.4000*29

2021-12-04T15:12:15.313Z,1638630735.313 [Micromodem](INFO): Nmea in: $CAREV,151215,COPROC,0.20.0.39330*78

2021-12-04T15:12:15.751Z,1638630735.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:18.559Z,1638630738.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:21.372Z,1638630741.372 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:24.195Z,1638630744.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:25.396Z,1638630745.396 [Micromodem](INFO): Nmea in: $CAREV,151225,AUV,2.1.4000*2A

2021-12-04T15:12:25.397Z,1638630745.397 [Micromodem](INFO): Nmea in: $CAREV,151225,COPROC,0.20.0.39330*7B

2021-12-04T15:12:26.717Z,1638630746.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:29.448Z,1638630749.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:32.279Z,1638630752.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:35.100Z,1638630755.100 [Micromodem](INFO): Nmea in: $CAREV,151235,AUV,2.1.4000*2B

2021-12-04T15:12:35.101Z,1638630755.101 [Micromodem](INFO): Nmea in: $CAREV,151235,COPROC,0.20.0.39330*7A

2021-12-04T15:12:35.137Z,1638630755.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:37.963Z,1638630757.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:40.835Z,1638630760.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:43.589Z,1638630763.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:45.189Z,1638630765.189 [Micromodem](INFO): Nmea in: $CAREV,151245,AUV,2.1.4000*2C

2021-12-04T15:12:45.190Z,1638630765.190 [Micromodem](INFO): Nmea in: $CAREV,151245,COPROC,0.20.0.39330*7D

2021-12-04T15:12:46.418Z,1638630766.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:49.240Z,1638630769.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:52.079Z,1638630772.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:54.935Z,1638630774.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:12:55.303Z,1638630775.303 [Micromodem](INFO): Nmea in: $CAREV,151255,AUV,2.1.4000*2D

2021-12-04T15:12:55.305Z,1638630775.305 [Micromodem](INFO): Nmea in: $CAREV,151255,COPROC,0.20.0.39330*7C

2021-12-04T15:12:57.749Z,1638630777.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:00.560Z,1638630780.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:03.384Z,1638630783.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:05.393Z,1638630785.393 [Micromodem](INFO): Nmea in: $CAREV,151305,AUV,2.1.4000*29

2021-12-04T15:13:05.394Z,1638630785.394 [Micromodem](INFO): Nmea in: $CAREV,151305,COPROC,0.20.0.39330*78

2021-12-04T15:13:06.212Z,1638630786.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:08.716Z,1638630788.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:11.468Z,1638630791.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:14.287Z,1638630794.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:15.097Z,1638630795.097 [Micromodem](INFO): Nmea in: $CAREV,151315,AUV,2.1.4000*28

2021-12-04T15:13:15.098Z,1638630795.098 [Micromodem](INFO): Nmea in: $CAREV,151315,COPROC,0.20.0.39330*79

2021-12-04T15:13:17.120Z,1638630797.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:19.970Z,1638630799.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:22.810Z,1638630802.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:25.200Z,1638630805.200 [Micromodem](INFO): Nmea in: $CAREV,151325,AUV,2.1.4000*2B

2021-12-04T15:13:25.201Z,1638630805.201 [Micromodem](INFO): Nmea in: $CAREV,151325,COPROC,0.20.0.39330*7A

2021-12-04T15:13:25.661Z,1638630805.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:28.444Z,1638630808.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:31.259Z,1638630811.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:34.110Z,1638630814.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:35.288Z,1638630815.288 [Micromodem](INFO): Nmea in: $CAREV,151335,AUV,2.1.4000*2A

2021-12-04T15:13:35.304Z,1638630815.304 [Micromodem](INFO): Nmea in: $CAREV,151335,COPROC,0.20.0.39330*7B

2021-12-04T15:13:36.951Z,1638630816.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:39.751Z,1638630819.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:42.580Z,1638630822.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:45.388Z,1638630825.388 [Micromodem](INFO): Nmea in: $CAREV,151345,AUV,2.1.4000*2D

2021-12-04T15:13:45.389Z,1638630825.389 [Micromodem](INFO): Nmea in: $CAREV,151345,COPROC,0.20.0.39330*7C

2021-12-04T15:13:45.401Z,1638630825.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:48.251Z,1638630828.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:51.084Z,1638630831.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:53.900Z,1638630833.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:55.098Z,1638630835.098 [Micromodem](INFO): Nmea in: $CAREV,151355,AUV,2.1.4000*2C

2021-12-04T15:13:55.099Z,1638630835.099 [Micromodem](INFO): Nmea in: $CAREV,151355,COPROC,0.20.0.39330*7D

2021-12-04T15:13:56.774Z,1638630836.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:13:59.544Z,1638630839.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:02.362Z,1638630842.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:05.184Z,1638630845.184 [Micromodem](INFO): Nmea in: $CAREV,151405,AUV,2.1.4000*2E

2021-12-04T15:14:05.185Z,1638630845.185 [Micromodem](INFO): Nmea in: $CAREV,151405,COPROC,0.20.0.39330*7F

2021-12-04T15:14:05.197Z,1638630845.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:08.030Z,1638630848.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:10.920Z,1638630850.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:13.687Z,1638630853.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:15.281Z,1638630855.281 [Micromodem](INFO): Nmea in: $CAREV,151415,AUV,2.1.4000*2F

2021-12-04T15:14:15.283Z,1638630855.283 [Micromodem](INFO): Nmea in: $CAREV,151415,COPROC,0.20.0.39330*7E

2021-12-04T15:14:16.503Z,1638630856.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:19.335Z,1638630859.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:22.163Z,1638630862.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:25.027Z,1638630865.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:25.384Z,1638630865.384 [Micromodem](INFO): Nmea in: $CAREV,151425,AUV,2.1.4000*2C

2021-12-04T15:14:25.385Z,1638630865.385 [Micromodem](INFO): Nmea in: $CAREV,151425,COPROC,0.20.0.39330*7D

2021-12-04T15:14:27.833Z,1638630867.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:30.727Z,1638630870.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:33.483Z,1638630873.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:35.096Z,1638630875.096 [Micromodem](INFO): Nmea in: $CAREV,151435,AUV,2.1.4000*2D

2021-12-04T15:14:35.485Z,1638630875.485 [Micromodem](INFO): Nmea in: $CAREV,151435,COPROC,0.20.0.39330*7C

2021-12-04T15:14:36.308Z,1638630876.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:39.131Z,1638630879.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:41.990Z,1638630881.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:44.818Z,1638630884.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:45.186Z,1638630885.186 [Micromodem](INFO): Nmea in: $CAREV,151445,AUV,2.1.4000*2A

2021-12-04T15:14:45.189Z,1638630885.189 [Micromodem](INFO): Nmea in: $CAREV,151445,COPROC,0.20.0.39330*7B

2021-12-04T15:14:47.662Z,1638630887.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:50.438Z,1638630890.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:53.266Z,1638630893.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:55.292Z,1638630895.292 [Micromodem](INFO): Nmea in: $CAREV,151455,AUV,2.1.4000*2B

2021-12-04T15:14:55.293Z,1638630895.293 [Micromodem](INFO): Nmea in: $CAREV,151455,COPROC,0.20.0.39330*7A

2021-12-04T15:14:56.107Z,1638630896.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:14:58.954Z,1638630898.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:01.762Z,1638630901.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:04.612Z,1638630904.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:05.377Z,1638630905.377 [Micromodem](INFO): Nmea in: $CAREV,151505,AUV,2.1.4000*2F

2021-12-04T15:15:05.378Z,1638630905.378 [Micromodem](INFO): Nmea in: $CAREV,151505,COPROC,0.20.0.39330*7E

2021-12-04T15:15:07.424Z,1638630907.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:10.242Z,1638630910.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:12.749Z,1638630912.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:15.485Z,1638630915.485 [Micromodem](INFO): Nmea in: $CAREV,151515,AUV,2.1.4000*2E

2021-12-04T15:15:15.486Z,1638630915.486 [Micromodem](INFO): Nmea in: $CAREV,151515,COPROC,0.20.0.39330*7F

2021-12-04T15:15:15.502Z,1638630915.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:18.317Z,1638630918.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:21.147Z,1638630921.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:23.989Z,1638630923.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:25.176Z,1638630925.176 [Micromodem](INFO): Nmea in: $CAREV,151525,AUV,2.1.4000*2D

2021-12-04T15:15:25.177Z,1638630925.177 [Micromodem](INFO): Nmea in: $CAREV,151525,COPROC,0.20.0.39330*7C

2021-12-04T15:15:26.839Z,1638630926.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:29.678Z,1638630929.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:30.853Z,1638630930.853 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:15:32.467Z,1638630932.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:35.276Z,1638630935.276 [Micromodem](INFO): Nmea in: $CAREV,151535,AUV,2.1.4000*2C

2021-12-04T15:15:35.278Z,1638630935.278 [Micromodem](INFO): Nmea in: $CAREV,151535,COPROC,0.20.0.39330*7D

2021-12-04T15:15:35.318Z,1638630935.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:38.133Z,1638630938.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:41.002Z,1638630941.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:43.782Z,1638630943.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:45.381Z,1638630945.381 [Micromodem](INFO): Nmea in: $CAREV,151545,AUV,2.1.4000*2B

2021-12-04T15:15:45.382Z,1638630945.382 [Micromodem](INFO): Nmea in: $CAREV,151545,COPROC,0.20.0.39330*7A

2021-12-04T15:15:46.619Z,1638630946.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:49.427Z,1638630949.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:52.250Z,1638630952.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:55.097Z,1638630955.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:15:55.470Z,1638630955.470 [Micromodem](INFO): Nmea in: $CAREV,151555,AUV,2.1.4000*2A

2021-12-04T15:15:55.471Z,1638630955.471 [Micromodem](INFO): Nmea in: $CAREV,151555,COPROC,0.20.0.39330*7B

2021-12-04T15:15:57.915Z,1638630957.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:00.771Z,1638630960.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:03.572Z,1638630963.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:05.169Z,1638630965.169 [Micromodem](INFO): Nmea in: $CAREV,151605,AUV,2.1.4000*2C

2021-12-04T15:16:05.170Z,1638630965.170 [Micromodem](INFO): Nmea in: $CAREV,151605,COPROC,0.20.0.39330*7D

2021-12-04T15:16:06.395Z,1638630966.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:09.221Z,1638630969.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:12.063Z,1638630972.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:14.932Z,1638630974.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:15.272Z,1638630975.272 [Micromodem](INFO): Nmea in: $CAREV,151615,AUV,2.1.4000*2D

2021-12-04T15:16:15.274Z,1638630975.274 [Micromodem](INFO): Nmea in: $CAREV,151615,COPROC,0.20.0.39330*7C

2021-12-04T15:16:17.715Z,1638630977.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:20.536Z,1638630980.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:23.362Z,1638630983.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:25.375Z,1638630985.375 [Micromodem](INFO): Nmea in: $CAREV,151625,AUV,2.1.4000*2E

2021-12-04T15:16:25.376Z,1638630985.376 [Micromodem](INFO): Nmea in: $CAREV,151625,COPROC,0.20.0.39330*7F

2021-12-04T15:16:26.208Z,1638630986.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:29.038Z,1638630989.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:31.888Z,1638630991.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:34.757Z,1638630994.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:35.472Z,1638630995.472 [Micromodem](INFO): Nmea in: $CAREV,151635,AUV,2.1.4000*2F

2021-12-04T15:16:35.474Z,1638630995.474 [Micromodem](INFO): Nmea in: $CAREV,151635,COPROC,0.20.0.39330*7E

2021-12-04T15:16:37.513Z,1638630997.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:40.332Z,1638631000.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:43.163Z,1638631003.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:45.168Z,1638631005.168 [Micromodem](INFO): Nmea in: $CAREV,151645,AUV,2.1.4000*28

2021-12-04T15:16:45.169Z,1638631005.169 [Micromodem](INFO): Nmea in: $CAREV,151645,COPROC,0.20.0.39330*79

2021-12-04T15:16:46.034Z,1638631006.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:48.850Z,1638631008.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:51.666Z,1638631011.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:54.476Z,1638631014.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:16:55.263Z,1638631015.263 [Micromodem](INFO): Nmea in: $CAREV,151655,AUV,2.1.4000*29

2021-12-04T15:16:55.264Z,1638631015.264 [Micromodem](INFO): Nmea in: $CAREV,151655,COPROC,0.20.0.39330*78

2021-12-04T15:16:57.301Z,1638631017.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:00.122Z,1638631020.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:02.987Z,1638631022.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:05.365Z,1638631025.365 [Micromodem](INFO): Nmea in: $CAREV,151705,AUV,2.1.4000*2D

2021-12-04T15:17:05.366Z,1638631025.366 [Micromodem](INFO): Nmea in: $CAREV,151705,COPROC,0.20.0.39330*7C

2021-12-04T15:17:05.796Z,1638631025.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:08.696Z,1638631028.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:11.443Z,1638631031.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:14.267Z,1638631034.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:15.469Z,1638631035.469 [Micromodem](INFO): Nmea in: $CAREV,151715,AUV,2.1.4000*2C

2021-12-04T15:17:15.483Z,1638631035.483 [Micromodem](INFO): Nmea in: $CAREV,151715,COPROC,0.20.0.39330*7D

2021-12-04T15:17:17.102Z,1638631037.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:19.939Z,1638631039.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:22.799Z,1638631042.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:25.164Z,1638631045.164 [Micromodem](INFO): Nmea in: $CAREV,151725,AUV,2.1.4000*2F

2021-12-04T15:17:25.165Z,1638631045.165 [Micromodem](INFO): Nmea in: $CAREV,151725,COPROC,0.20.0.39330*7E

2021-12-04T15:17:25.621Z,1638631045.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:28.418Z,1638631048.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:31.253Z,1638631051.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:34.062Z,1638631054.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:35.264Z,1638631055.264 [Micromodem](INFO): Nmea in: $CAREV,151735,AUV,2.1.4000*2E

2021-12-04T15:17:35.266Z,1638631055.266 [Micromodem](INFO): Nmea in: $CAREV,151735,COPROC,0.20.0.39330*7F

2021-12-04T15:17:36.938Z,1638631056.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:39.745Z,1638631059.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:42.548Z,1638631062.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:45.360Z,1638631065.360 [Micromodem](INFO): Nmea in: $CAREV,151745,AUV,2.1.4000*29

2021-12-04T15:17:45.362Z,1638631065.362 [Micromodem](INFO): Nmea in: $CAREV,151745,COPROC,0.20.0.39330*78

2021-12-04T15:17:45.374Z,1638631065.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:48.198Z,1638631068.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:50.712Z,1638631070.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:52.696Z,1638631072.696 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:17:53.464Z,1638631073.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:55.459Z,1638631075.459 [Micromodem](INFO): Nmea in: $CAREV,151755,AUV,2.1.4000*28

2021-12-04T15:17:55.460Z,1638631075.460 [Micromodem](INFO): Nmea in: $CAREV,151755,COPROC,0.20.0.39330*79

2021-12-04T15:17:56.281Z,1638631076.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:17:59.112Z,1638631079.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:01.965Z,1638631081.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:04.806Z,1638631084.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:05.160Z,1638631085.160 [Micromodem](INFO): Nmea in: $CAREV,151805,AUV,2.1.4000*22

2021-12-04T15:18:05.161Z,1638631085.161 [Micromodem](INFO): Nmea in: $CAREV,151805,COPROC,0.20.0.39330*73

2021-12-04T15:18:07.644Z,1638631087.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:10.424Z,1638631090.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:13.251Z,1638631093.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:15.261Z,1638631095.261 [Micromodem](INFO): Nmea in: $CAREV,151815,AUV,2.1.4000*23

2021-12-04T15:18:15.263Z,1638631095.263 [Micromodem](INFO): Nmea in: $CAREV,151815,COPROC,0.20.0.39330*72

2021-12-04T15:18:16.101Z,1638631096.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:18.960Z,1638631098.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:21.767Z,1638631101.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:24.559Z,1638631104.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:25.361Z,1638631105.361 [Micromodem](INFO): Nmea in: $CAREV,151825,AUV,2.1.4000*20

2021-12-04T15:18:25.362Z,1638631105.362 [Micromodem](INFO): Nmea in: $CAREV,151825,COPROC,0.20.0.39330*71

2021-12-04T15:18:27.391Z,1638631107.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:30.220Z,1638631110.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:33.074Z,1638631113.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:35.457Z,1638631115.457 [Micromodem](INFO): Nmea in: $CAREV,151835,AUV,2.1.4000*21

2021-12-04T15:18:35.458Z,1638631115.458 [Micromodem](INFO): Nmea in: $CAREV,151835,COPROC,0.20.0.39330*70

2021-12-04T15:18:35.892Z,1638631115.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:38.760Z,1638631118.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:41.531Z,1638631121.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:44.376Z,1638631124.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:45.160Z,1638631125.160 [Micromodem](INFO): Nmea in: $CAREV,151845,AUV,2.1.4000*26

2021-12-04T15:18:45.161Z,1638631125.161 [Micromodem](INFO): Nmea in: $CAREV,151845,COPROC,0.20.0.39330*77

2021-12-04T15:18:47.188Z,1638631127.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:50.021Z,1638631130.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:52.886Z,1638631132.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:55.251Z,1638631135.251 [Micromodem](INFO): Nmea in: $CAREV,151855,AUV,2.1.4000*27

2021-12-04T15:18:55.252Z,1638631135.252 [Micromodem](INFO): Nmea in: $CAREV,151855,COPROC,0.20.0.39330*76

2021-12-04T15:18:55.678Z,1638631135.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:18:58.499Z,1638631138.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:01.335Z,1638631141.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:04.152Z,1638631144.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:05.357Z,1638631145.357 [Micromodem](INFO): Nmea in: $CAREV,151905,AUV,2.1.4000*23

2021-12-04T15:19:05.358Z,1638631145.358 [Micromodem](INFO): Nmea in: $CAREV,151905,COPROC,0.20.0.39330*72

2021-12-04T15:19:07.022Z,1638631147.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:09.837Z,1638631149.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:12.713Z,1638631152.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:15.465Z,1638631155.465 [Micromodem](INFO): Nmea in: $CAREV,151915,AUV,2.1.4000*22

2021-12-04T15:19:15.467Z,1638631155.467 [Micromodem](INFO): Nmea in: $CAREV,151915,COPROC,0.20.0.39330*73

2021-12-04T15:19:15.485Z,1638631155.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:18.290Z,1638631158.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:21.119Z,1638631161.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:23.965Z,1638631163.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:25.162Z,1638631165.162 [Micromodem](INFO): Nmea in: $CAREV,151925,AUV,2.1.4000*21

2021-12-04T15:19:25.163Z,1638631165.163 [Micromodem](INFO): Nmea in: $CAREV,151925,COPROC,0.20.0.39330*70

2021-12-04T15:19:26.831Z,1638631166.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:29.645Z,1638631169.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:32.451Z,1638631172.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:34.861Z,1638631174.861 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:19:35.255Z,1638631175.255 [Micromodem](INFO): Nmea in: $CAREV,151935,AUV,2.1.4000*20

2021-12-04T15:19:35.256Z,1638631175.256 [Micromodem](INFO): Nmea in: $CAREV,151935,COPROC,0.20.0.39330*71

2021-12-04T15:19:35.269Z,1638631175.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:38.092Z,1638631178.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:41.027Z,1638631181.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:43.772Z,1638631183.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:45.352Z,1638631185.352 [Micromodem](INFO): Nmea in: $CAREV,151945,AUV,2.1.4000*27

2021-12-04T15:19:45.353Z,1638631185.353 [Micromodem](INFO): Nmea in: $CAREV,151945,COPROC,0.20.0.39330*76

2021-12-04T15:19:46.619Z,1638631186.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:49.409Z,1638631189.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:52.241Z,1638631192.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:54.745Z,1638631194.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:19:55.447Z,1638631195.447 [Micromodem](INFO): Nmea in: $CAREV,151955,AUV,2.1.4000*26

2021-12-04T15:19:55.448Z,1638631195.448 [Micromodem](INFO): Nmea in: $CAREV,151955,COPROC,0.20.0.39330*77

2021-12-04T15:19:57.500Z,1638631197.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:00.310Z,1638631200.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:03.140Z,1638631203.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:05.163Z,1638631205.163 [Micromodem](INFO): Nmea in: $CAREV,152005,AUV,2.1.4000*29

2021-12-04T15:20:05.552Z,1638631205.552 [Micromodem](INFO): Nmea in: $CAREV,152005,COPROC,0.20.0.39330*78

2021-12-04T15:20:05.996Z,1638631205.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:08.827Z,1638631208.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:11.670Z,1638631211.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:14.458Z,1638631214.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:15.244Z,1638631215.244 [Micromodem](INFO): Nmea in: $CAREV,152015,AUV,2.1.4000*28

2021-12-04T15:20:15.245Z,1638631215.245 [Micromodem](INFO): Nmea in: $CAREV,152015,COPROC,0.20.0.39330*79

2021-12-04T15:20:17.287Z,1638631217.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:20.116Z,1638631220.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:22.987Z,1638631222.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:25.370Z,1638631225.370 [Micromodem](INFO): Nmea in: $CAREV,152025,AUV,2.1.4000*2B

2021-12-04T15:20:25.371Z,1638631225.371 [Micromodem](INFO): Nmea in: $CAREV,152025,COPROC,0.20.0.39330*7A

2021-12-04T15:20:25.798Z,1638631225.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:28.711Z,1638631228.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:31.431Z,1638631231.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:34.253Z,1638631234.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:35.452Z,1638631235.452 [Micromodem](INFO): Nmea in: $CAREV,152035,AUV,2.1.4000*2A

2021-12-04T15:20:35.453Z,1638631235.453 [Micromodem](INFO): Nmea in: $CAREV,152035,COPROC,0.20.0.39330*7B

2021-12-04T15:20:36.756Z,1638631236.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:39.523Z,1638631239.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:42.345Z,1638631242.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:45.163Z,1638631245.163 [Micromodem](INFO): Nmea in: $CAREV,152045,AUV,2.1.4000*2D

2021-12-04T15:20:45.180Z,1638631245.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:45.551Z,1638631245.551 [Micromodem](INFO): Nmea in: $CAREV,152045,COPROC,0.20.0.39330*7C

2021-12-04T15:20:47.996Z,1638631247.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:50.855Z,1638631250.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:53.667Z,1638631253.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:55.247Z,1638631255.247 [Micromodem](INFO): Nmea in: $CAREV,152055,AUV,2.1.4000*2C

2021-12-04T15:20:55.248Z,1638631255.248 [Micromodem](INFO): Nmea in: $CAREV,152055,COPROC,0.20.0.39330*7D

2021-12-04T15:20:56.476Z,1638631256.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:20:59.302Z,1638631259.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:02.138Z,1638631262.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:04.992Z,1638631264.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:05.365Z,1638631265.365 [Micromodem](INFO): Nmea in: $CAREV,152105,AUV,2.1.4000*28

2021-12-04T15:21:05.367Z,1638631265.367 [Micromodem](INFO): Nmea in: $CAREV,152105,COPROC,0.20.0.39330*79

2021-12-04T15:21:07.826Z,1638631267.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:10.699Z,1638631270.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:13.455Z,1638631273.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:15.448Z,1638631275.448 [Micromodem](INFO): Nmea in: $CAREV,152115,AUV,2.1.4000*29

2021-12-04T15:21:15.449Z,1638631275.449 [Micromodem](INFO): Nmea in: $CAREV,152115,COPROC,0.20.0.39330*78

2021-12-04T15:21:16.271Z,1638631276.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:18.871Z,1638631278.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:21.531Z,1638631281.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:24.349Z,1638631284.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:25.549Z,1638631285.549 [Micromodem](INFO): Nmea in: $CAREV,152125,AUV,2.1.4000*2A

2021-12-04T15:21:25.550Z,1638631285.550 [Micromodem](INFO): Nmea in: $CAREV,152125,COPROC,0.20.0.39330*7B

2021-12-04T15:21:27.184Z,1638631287.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:30.014Z,1638631290.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:32.883Z,1638631292.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:35.247Z,1638631295.247 [Micromodem](INFO): Nmea in: $CAREV,152135,AUV,2.1.4000*2B

2021-12-04T15:21:35.248Z,1638631295.248 [Micromodem](INFO): Nmea in: $CAREV,152135,COPROC,0.20.0.39330*7A

2021-12-04T15:21:35.689Z,1638631295.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:38.488Z,1638631298.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:41.332Z,1638631301.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:44.148Z,1638631304.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:45.349Z,1638631305.349 [Micromodem](INFO): Nmea in: $CAREV,152145,AUV,2.1.4000*2C

2021-12-04T15:21:45.364Z,1638631305.364 [Micromodem](INFO): Nmea in: $CAREV,152145,COPROC,0.20.0.39330*7D

2021-12-04T15:21:47.010Z,1638631307.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:49.815Z,1638631309.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:52.736Z,1638631312.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:55.444Z,1638631315.444 [Micromodem](INFO): Nmea in: $CAREV,152155,AUV,2.1.4000*2D

2021-12-04T15:21:55.445Z,1638631315.445 [Micromodem](INFO): Nmea in: $CAREV,152155,COPROC,0.20.0.39330*7C

2021-12-04T15:21:55.463Z,1638631315.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:21:58.315Z,1638631318.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:01.123Z,1638631321.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:03.997Z,1638631323.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:05.548Z,1638631325.548 [Micromodem](INFO): Nmea in: $CAREV,152205,AUV,2.1.4000*2B

2021-12-04T15:22:05.550Z,1638631325.550 [Micromodem](INFO): Nmea in: $CAREV,152205,COPROC,0.20.0.39330*7A

2021-12-04T15:22:06.813Z,1638631326.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:09.641Z,1638631329.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:12.427Z,1638631332.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:15.241Z,1638631335.241 [Micromodem](INFO): Nmea in: $CAREV,152215,AUV,2.1.4000*2A

2021-12-04T15:22:15.242Z,1638631335.242 [Micromodem](INFO): Nmea in: $CAREV,152215,COPROC,0.20.0.39330*7B

2021-12-04T15:22:15.277Z,1638631335.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:18.088Z,1638631338.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:20.959Z,1638631340.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:23.762Z,1638631343.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:25.344Z,1638631345.344 [Micromodem](INFO): Nmea in: $CAREV,152225,AUV,2.1.4000*29

2021-12-04T15:22:25.345Z,1638631345.345 [Micromodem](INFO): Nmea in: $CAREV,152225,COPROC,0.20.0.39330*78

2021-12-04T15:22:26.584Z,1638631346.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:29.389Z,1638631349.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:29.490Z,1638631349.490 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2021-12-04T15:22:29.490Z,1638631349.490 [ThrusterHE](INFO): Powering down
2021-12-04T15:22:30.214Z,1638631350.214 [ThrusterHE](DEBUG): Initializing EZServoServo.
2021-12-04T15:22:30.337Z,1638631350.337 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2021-12-04T15:22:32.232Z,1638631352.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:34.745Z,1638631354.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:35.444Z,1638631355.444 [Micromodem](INFO): Nmea in: $CAREV,152235,AUV,2.1.4000*28

2021-12-04T15:22:35.445Z,1638631355.445 [Micromodem](INFO): Nmea in: $CAREV,152235,COPROC,0.20.0.39330*79

2021-12-04T15:22:37.476Z,1638631357.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:40.310Z,1638631360.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:43.135Z,1638631363.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:45.562Z,1638631365.562 [Micromodem](INFO): Nmea in: $CAREV,152245,AUV,2.1.4000*2F

2021-12-04T15:22:45.563Z,1638631365.563 [Micromodem](INFO): Nmea in: $CAREV,152245,COPROC,0.20.0.39330*7E

2021-12-04T15:22:45.971Z,1638631365.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:48.826Z,1638631368.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:51.659Z,1638631371.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:54.454Z,1638631374.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:55.244Z,1638631375.244 [Micromodem](INFO): Nmea in: $CAREV,152255,AUV,2.1.4000*2E

2021-12-04T15:22:55.246Z,1638631375.246 [Micromodem](INFO): Nmea in: $CAREV,152255,COPROC,0.20.0.39330*7F

2021-12-04T15:22:56.972Z,1638631376.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:22:59.778Z,1638631379.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:02.658Z,1638631382.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:05.402Z,1638631385.402 [Micromodem](INFO): Nmea in: $CAREV,152305,AUV,2.1.4000*2A

2021-12-04T15:23:05.404Z,1638631385.404 [Micromodem](INFO): Nmea in: $CAREV,152305,COPROC,0.20.0.39330*7B

2021-12-04T15:23:05.416Z,1638631385.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:08.259Z,1638631388.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:10.777Z,1638631390.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:13.500Z,1638631393.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:15.508Z,1638631395.508 [Micromodem](INFO): Nmea in: $CAREV,152315,AUV,2.1.4000*2B

2021-12-04T15:23:15.509Z,1638631395.509 [Micromodem](INFO): Nmea in: $CAREV,152315,COPROC,0.20.0.39330*7A

2021-12-04T15:23:16.337Z,1638631396.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:19.159Z,1638631399.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:21.988Z,1638631401.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:24.842Z,1638631404.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:25.207Z,1638631405.207 [Micromodem](INFO): Nmea in: $CAREV,152325,AUV,2.1.4000*28

2021-12-04T15:23:25.208Z,1638631405.208 [Micromodem](INFO): Nmea in: $CAREV,152325,COPROC,0.20.0.39330*79

2021-12-04T15:23:27.665Z,1638631407.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:30.462Z,1638631410.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:33.292Z,1638631413.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:34.919Z,1638631414.919 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T15:23:35.304Z,1638631415.304 [Micromodem](INFO): Nmea in: $CAREV,152335,AUV,2.1.4000*29

2021-12-04T15:23:35.306Z,1638631415.306 [Micromodem](INFO): Nmea in: $CAREV,152335,COPROC,0.20.0.39330*78

2021-12-04T15:23:36.123Z,1638631416.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:36.937Z,1638631416.937 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:23:38.954Z,1638631418.954 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:23:38.983Z,1638631418.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:41.805Z,1638631421.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:44.687Z,1638631424.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:45.405Z,1638631425.405 [Micromodem](INFO): Nmea in: $CAREV,152345,AUV,2.1.4000*2E

2021-12-04T15:23:45.406Z,1638631425.406 [Micromodem](INFO): Nmea in: $CAREV,152345,COPROC,0.20.0.39330*7F

2021-12-04T15:23:47.436Z,1638631427.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:50.259Z,1638631430.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:53.110Z,1638631433.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:55.507Z,1638631435.507 [Micromodem](INFO): Nmea in: $CAREV,152355,AUV,2.1.4000*2F

2021-12-04T15:23:55.509Z,1638631435.509 [Micromodem](INFO): Nmea in: $CAREV,152355,COPROC,0.20.0.39330*7E

2021-12-04T15:23:55.934Z,1638631435.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:23:58.806Z,1638631438.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:01.584Z,1638631441.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:04.420Z,1638631444.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:05.210Z,1638631445.210 [Micromodem](INFO): Nmea in: $CAREV,152405,AUV,2.1.4000*2D

2021-12-04T15:24:05.211Z,1638631445.211 [Micromodem](INFO): Nmea in: $CAREV,152405,COPROC,0.20.0.39330*7C

2021-12-04T15:24:07.242Z,1638631447.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:10.057Z,1638631450.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:12.931Z,1638631452.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:15.300Z,1638631455.300 [Micromodem](INFO): Nmea in: $CAREV,152415,AUV,2.1.4000*2C

2021-12-04T15:24:15.317Z,1638631455.317 [Micromodem](INFO): Nmea in: $CAREV,152415,COPROC,0.20.0.39330*7D

2021-12-04T15:24:15.743Z,1638631455.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:18.554Z,1638631458.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:21.104Z,1638631461.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:23.800Z,1638631463.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:25.400Z,1638631465.400 [Micromodem](INFO): Nmea in: $CAREV,152425,AUV,2.1.4000*2F

2021-12-04T15:24:25.401Z,1638631465.401 [Micromodem](INFO): Nmea in: $CAREV,152425,COPROC,0.20.0.39330*7E

2021-12-04T15:24:26.651Z,1638631466.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:29.468Z,1638631469.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:32.280Z,1638631472.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:35.110Z,1638631475.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:35.515Z,1638631475.515 [Micromodem](INFO): Nmea in: $CAREV,152435,AUV,2.1.4000*2E

2021-12-04T15:24:35.516Z,1638631475.516 [Micromodem](INFO): Nmea in: $CAREV,152435,COPROC,0.20.0.39330*7F

2021-12-04T15:24:37.945Z,1638631477.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:40.801Z,1638631480.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:43.624Z,1638631483.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:45.217Z,1638631485.217 [Micromodem](INFO): Nmea in: $CAREV,152445,AUV,2.1.4000*29

2021-12-04T15:24:45.218Z,1638631485.218 [Micromodem](INFO): Nmea in: $CAREV,152445,COPROC,0.20.0.39330*78

2021-12-04T15:24:46.424Z,1638631486.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:49.278Z,1638631489.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:52.070Z,1638631492.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:54.971Z,1638631494.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:24:55.291Z,1638631495.291 [Micromodem](INFO): Nmea in: $CAREV,152455,AUV,2.1.4000*28

2021-12-04T15:24:55.292Z,1638631495.292 [Micromodem](INFO): Nmea in: $CAREV,152455,COPROC,0.20.0.39330*79

2021-12-04T15:24:57.746Z,1638631497.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:00.578Z,1638631500.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:03.384Z,1638631503.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:05.396Z,1638631505.396 [Micromodem](INFO): Nmea in: $CAREV,152505,AUV,2.1.4000*2C

2021-12-04T15:25:05.412Z,1638631505.412 [Micromodem](INFO): Nmea in: $CAREV,152505,COPROC,0.20.0.39330*7D

2021-12-04T15:25:06.218Z,1638631506.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:09.082Z,1638631509.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:11.902Z,1638631511.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:14.744Z,1638631514.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:15.503Z,1638631515.503 [Micromodem](INFO): Nmea in: $CAREV,152515,AUV,2.1.4000*2D

2021-12-04T15:25:15.504Z,1638631515.504 [Micromodem](INFO): Nmea in: $CAREV,152515,COPROC,0.20.0.39330*7C

2021-12-04T15:25:17.539Z,1638631517.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:20.352Z,1638631520.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:23.184Z,1638631523.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:25.619Z,1638631525.619 [Micromodem](INFO): Nmea in: $CAREV,152525,AUV,2.1.4000*2E

2021-12-04T15:25:25.627Z,1638631525.627 [Micromodem](INFO): Nmea in: $CAREV,152525,COPROC,0.20.0.39330*7F

2021-12-04T15:25:26.006Z,1638631526.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:28.876Z,1638631528.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:31.676Z,1638631531.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:34.496Z,1638631534.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:35.287Z,1638631535.287 [Micromodem](INFO): Nmea in: $CAREV,152535,AUV,2.1.4000*2F

2021-12-04T15:25:35.288Z,1638631535.288 [Micromodem](INFO): Nmea in: $CAREV,152535,COPROC,0.20.0.39330*7E

2021-12-04T15:25:37.324Z,1638631537.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:40.160Z,1638631540.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:43.039Z,1638631543.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:45.395Z,1638631545.395 [Micromodem](INFO): Nmea in: $CAREV,152545,AUV,2.1.4000*28

2021-12-04T15:25:45.396Z,1638631545.396 [Micromodem](INFO): Nmea in: $CAREV,152545,COPROC,0.20.0.39330*79

2021-12-04T15:25:45.818Z,1638631545.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:48.730Z,1638631548.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:51.463Z,1638631551.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:54.291Z,1638631554.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:55.492Z,1638631555.492 [Micromodem](INFO): Nmea in: $CAREV,152555,AUV,2.1.4000*29

2021-12-04T15:25:55.493Z,1638631555.493 [Micromodem](INFO): Nmea in: $CAREV,152555,COPROC,0.20.0.39330*78

2021-12-04T15:25:57.132Z,1638631557.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:25:59.959Z,1638631559.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:02.823Z,1638631562.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:05.630Z,1638631565.630 [Micromodem](INFO): Nmea in: $CAREV,152605,AUV,2.1.4000*2F

2021-12-04T15:26:05.632Z,1638631565.632 [Micromodem](INFO): Nmea in: $CAREV,152605,COPROC,0.20.0.39330*7E

2021-12-04T15:26:05.672Z,1638631565.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:08.438Z,1638631568.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:11.257Z,1638631571.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:14.088Z,1638631574.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:15.283Z,1638631575.283 [Micromodem](INFO): Nmea in: $CAREV,152615,AUV,2.1.4000*2E

2021-12-04T15:26:15.284Z,1638631575.284 [Micromodem](INFO): Nmea in: $CAREV,152615,COPROC,0.20.0.39330*7F

2021-12-04T15:26:16.952Z,1638631576.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:19.760Z,1638631579.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:22.573Z,1638631582.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:25.388Z,1638631585.388 [Micromodem](INFO): Nmea in: $CAREV,152625,AUV,2.1.4000*2D

2021-12-04T15:26:25.389Z,1638631585.389 [Micromodem](INFO): Nmea in: $CAREV,152625,COPROC,0.20.0.39330*7C

2021-12-04T15:26:25.401Z,1638631585.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:28.227Z,1638631588.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:30.728Z,1638631590.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:33.479Z,1638631593.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:35.485Z,1638631595.485 [Micromodem](INFO): Nmea in: $CAREV,152635,AUV,2.1.4000*2C

2021-12-04T15:26:35.486Z,1638631595.486 [Micromodem](INFO): Nmea in: $CAREV,152635,COPROC,0.20.0.39330*7D

2021-12-04T15:26:36.302Z,1638631596.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:39.154Z,1638631599.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:41.707Z,1638631601.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:44.387Z,1638631604.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:45.620Z,1638631605.620 [Micromodem](INFO): Nmea in: $CAREV,152645,AUV,2.1.4000*2B

2021-12-04T15:26:45.624Z,1638631605.624 [Micromodem](INFO): Nmea in: $CAREV,152645,COPROC,0.20.0.39330*7A

2021-12-04T15:26:46.846Z,1638631606.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached Waypoint: 41.552317,-70.708600
2021-12-04T15:26:46.846Z,1638631606.846 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T15:26:46.847Z,1638631606.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T15:26:46.847Z,1638631606.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1
2021-12-04T15:26:47.210Z,1638631607.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:47.211Z,1638631607.211 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern.
2021-12-04T15:26:47.212Z,1638631607.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped
2021-12-04T15:26:47.212Z,1638631607.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1
2021-12-04T15:26:47.212Z,1638631607.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T15:26:47.212Z,1638631607.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2021-12-04T15:26:47.212Z,1638631607.212 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent.
2021-12-04T15:26:47.213Z,1638631607.213 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1
2021-12-04T15:26:47.213Z,1638631607.213 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component.
2021-12-04T15:26:47.672Z,1638631607.672 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2021-12-04T15:26:50.044Z,1638631610.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:52.900Z,1638631612.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:55.284Z,1638631615.284 [Micromodem](INFO): Nmea in: $CAREV,152655,AUV,2.1.4000*2A

2021-12-04T15:26:55.285Z,1638631615.285 [Micromodem](INFO): Nmea in: $CAREV,152655,COPROC,0.20.0.39330*7B

2021-12-04T15:26:55.706Z,1638631615.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:26:58.524Z,1638631618.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:01.349Z,1638631621.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:04.183Z,1638631624.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:05.380Z,1638631625.380 [Micromodem](INFO): Nmea in: $CAREV,152705,AUV,2.1.4000*2E

2021-12-04T15:27:05.381Z,1638631625.381 [Micromodem](INFO): Nmea in: $CAREV,152705,COPROC,0.20.0.39330*7F

2021-12-04T15:27:06.692Z,1638631626.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:09.436Z,1638631629.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:12.258Z,1638631632.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:14.763Z,1638631634.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:15.483Z,1638631635.483 [Micromodem](INFO): Nmea in: $CAREV,152715,AUV,2.1.4000*2F

2021-12-04T15:27:15.484Z,1638631635.484 [Micromodem](INFO): Nmea in: $CAREV,152715,COPROC,0.20.0.39330*7E

2021-12-04T15:27:17.511Z,1638631637.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:20.339Z,1638631640.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:23.182Z,1638631643.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:25.585Z,1638631645.585 [Micromodem](INFO): Nmea in: $CAREV,152725,AUV,2.1.4000*2C

2021-12-04T15:27:25.587Z,1638631645.587 [Micromodem](INFO): Nmea in: $CAREV,152725,COPROC,0.20.0.39330*7D

2021-12-04T15:27:26.006Z,1638631646.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:28.871Z,1638631648.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:31.682Z,1638631651.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:34.499Z,1638631654.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:35.280Z,1638631655.280 [Micromodem](INFO): Nmea in: $CAREV,152735,AUV,2.1.4000*2D

2021-12-04T15:27:35.284Z,1638631655.284 [Micromodem](INFO): Nmea in: $CAREV,152735,COPROC,0.20.0.39330*7C

2021-12-04T15:27:37.311Z,1638631657.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:38.936Z,1638631658.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:27:40.136Z,1638631660.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:43.010Z,1638631663.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:45.384Z,1638631665.384 [Micromodem](INFO): Nmea in: $CAREV,152745,AUV,2.1.4000*2A

2021-12-04T15:27:45.385Z,1638631665.385 [Micromodem](INFO): Nmea in: $CAREV,152745,COPROC,0.20.0.39330*7B

2021-12-04T15:27:45.815Z,1638631665.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:48.729Z,1638631668.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:51.484Z,1638631671.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:54.275Z,1638631674.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:55.475Z,1638631675.475 [Micromodem](INFO): Nmea in: $CAREV,152755,AUV,2.1.4000*2B

2021-12-04T15:27:55.476Z,1638631675.476 [Micromodem](INFO): Nmea in: $CAREV,152755,COPROC,0.20.0.39330*7A

2021-12-04T15:27:57.113Z,1638631677.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:27:59.942Z,1638631679.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:02.807Z,1638631682.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:05.579Z,1638631685.579 [Micromodem](INFO): Nmea in: $CAREV,152805,AUV,2.1.4000*21

2021-12-04T15:28:05.580Z,1638631685.580 [Micromodem](INFO): Nmea in: $CAREV,152805,COPROC,0.20.0.39330*70

2021-12-04T15:28:05.619Z,1638631685.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:08.427Z,1638631688.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:11.252Z,1638631691.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:14.076Z,1638631694.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:15.276Z,1638631695.276 [Micromodem](INFO): Nmea in: $CAREV,152815,AUV,2.1.4000*20

2021-12-04T15:28:15.277Z,1638631695.277 [Micromodem](INFO): Nmea in: $CAREV,152815,COPROC,0.20.0.39330*71

2021-12-04T15:28:16.938Z,1638631696.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:19.743Z,1638631699.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:22.578Z,1638631702.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:25.371Z,1638631705.371 [Micromodem](INFO): Nmea in: $CAREV,152825,AUV,2.1.4000*23

2021-12-04T15:28:25.372Z,1638631705.372 [Micromodem](INFO): Nmea in: $CAREV,152825,COPROC,0.20.0.39330*72

2021-12-04T15:28:25.384Z,1638631705.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:28.224Z,1638631708.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:30.728Z,1638631710.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:33.474Z,1638631713.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:35.476Z,1638631715.476 [Micromodem](INFO): Nmea in: $CAREV,152835,AUV,2.1.4000*22

2021-12-04T15:28:35.478Z,1638631715.478 [Micromodem](INFO): Nmea in: $CAREV,152835,COPROC,0.20.0.39330*73

2021-12-04T15:28:36.292Z,1638631716.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:39.124Z,1638631719.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:41.978Z,1638631721.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:44.816Z,1638631724.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:45.611Z,1638631725.611 [Micromodem](INFO): Nmea in: $CAREV,152845,AUV,2.1.4000*25

2021-12-04T15:28:45.614Z,1638631725.614 [Micromodem](INFO): Nmea in: $CAREV,152845,COPROC,0.20.0.39330*74

2021-12-04T15:28:47.661Z,1638631727.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:50.431Z,1638631730.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:53.264Z,1638631733.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:55.281Z,1638631735.281 [Micromodem](INFO): Nmea in: $CAREV,152855,AUV,2.1.4000*24

2021-12-04T15:28:55.282Z,1638631735.282 [Micromodem](INFO): Nmea in: $CAREV,152855,COPROC,0.20.0.39330*75

2021-12-04T15:28:56.100Z,1638631736.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:28:58.953Z,1638631738.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:01.770Z,1638631741.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:04.577Z,1638631744.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:05.367Z,1638631745.367 [Micromodem](INFO): Nmea in: $CAREV,152905,AUV,2.1.4000*20

2021-12-04T15:29:05.368Z,1638631745.368 [Micromodem](INFO): Nmea in: $CAREV,152905,COPROC,0.20.0.39330*71

2021-12-04T15:29:07.403Z,1638631747.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:10.225Z,1638631750.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:12.727Z,1638631752.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:15.472Z,1638631755.472 [Micromodem](INFO): Nmea in: $CAREV,152915,AUV,2.1.4000*21

2021-12-04T15:29:15.474Z,1638631755.474 [Micromodem](INFO): Nmea in: $CAREV,152915,COPROC,0.20.0.39330*70

2021-12-04T15:29:15.486Z,1638631755.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:18.330Z,1638631758.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:21.156Z,1638631761.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:23.673Z,1638631763.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:25.589Z,1638631765.589 [Micromodem](INFO): Nmea in: $CAREV,152925,AUV,2.1.4000*22

2021-12-04T15:29:25.593Z,1638631765.593 [Micromodem](INFO): Nmea in: $CAREV,152925,COPROC,0.20.0.39330*73

2021-12-04T15:29:26.392Z,1638631766.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:26.793Z,1638631766.793 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:29:29.213Z,1638631769.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:32.060Z,1638631772.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:34.901Z,1638631774.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:35.277Z,1638631775.277 [Micromodem](INFO): Nmea in: $CAREV,152935,AUV,2.1.4000*23

2021-12-04T15:29:35.278Z,1638631775.278 [Micromodem](INFO): Nmea in: $CAREV,152935,COPROC,0.20.0.39330*72

2021-12-04T15:29:37.711Z,1638631777.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:40.526Z,1638631780.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:41.733Z,1638631781.733 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:29:43.359Z,1638631783.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:45.368Z,1638631785.368 [Micromodem](INFO): Nmea in: $CAREV,152945,AUV,2.1.4000*24

2021-12-04T15:29:45.369Z,1638631785.369 [Micromodem](INFO): Nmea in: $CAREV,152945,COPROC,0.20.0.39330*75

2021-12-04T15:29:46.182Z,1638631786.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:46.681Z,1638631786.681 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T15:29:48.665Z,1638631788.665 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:29:48.696Z,1638631788.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:51.445Z,1638631791.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:51.853Z,1638631791.853 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T15:29:54.280Z,1638631794.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:55.463Z,1638631795.463 [Micromodem](INFO): Nmea in: $CAREV,152955,AUV,2.1.4000*25

2021-12-04T15:29:55.464Z,1638631795.464 [Micromodem](INFO): Nmea in: $CAREV,152955,COPROC,0.20.0.39330*74

2021-12-04T15:29:56.703Z,1638631796.703 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:29:56.708Z,1638631796.708 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T15:29:57.096Z,1638631797.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:29:59.949Z,1638631799.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:01.940Z,1638631801.940 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T15:30:02.793Z,1638631802.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:05.564Z,1638631805.564 [Micromodem](INFO): Nmea in: $CAREV,153005,AUV,2.1.4000*28

2021-12-04T15:30:05.565Z,1638631805.565 [Micromodem](INFO): Nmea in: $CAREV,153005,COPROC,0.20.0.39330*79

2021-12-04T15:30:05.592Z,1638631805.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:06.786Z,1638631806.786 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:30:06.806Z,1638631806.806 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T15:30:06.806Z,1638631806.806 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T15:30:06.806Z,1638631806.806 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T15:30:06.877Z,1638631806.877 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T15:30:07.258Z,1638631807.258 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T15:30:08.044Z,1638631808.044 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T15:30:08.044Z,1638631808.044 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T15:30:08.408Z,1638631808.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:11.236Z,1638631811.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:14.076Z,1638631814.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:15.276Z,1638631815.276 [Micromodem](INFO): Nmea in: $CAREV,153015,AUV,2.1.4000*29

2021-12-04T15:30:15.277Z,1638631815.277 [Micromodem](INFO): Nmea in: $CAREV,153015,COPROC,0.20.0.39330*78

2021-12-04T15:30:16.894Z,1638631816.894 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T15:30:16.906Z,1638631816.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:19.724Z,1638631819.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:22.564Z,1638631822.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:25.364Z,1638631825.364 [Micromodem](INFO): Nmea in: $CAREV,153025,AUV,2.1.4000*2A

2021-12-04T15:30:25.365Z,1638631825.365 [Micromodem](INFO): Nmea in: $CAREV,153025,COPROC,0.20.0.39330*7B

2021-12-04T15:30:25.404Z,1638631825.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:26.986Z,1638631826.986 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T15:30:28.209Z,1638631828.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:31.050Z,1638631831.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:33.863Z,1638631833.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:35.473Z,1638631835.473 [Micromodem](INFO): Nmea in: $CAREV,153035,AUV,2.1.4000*2B

2021-12-04T15:30:35.477Z,1638631835.477 [Micromodem](INFO): Nmea in: $CAREV,153035,COPROC,0.20.0.39330*7A

2021-12-04T15:30:36.774Z,1638631836.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:39.552Z,1638631839.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:42.359Z,1638631842.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:45.181Z,1638631845.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:45.571Z,1638631845.571 [Micromodem](INFO): Nmea in: $CAREV,153045,AUV,2.1.4000*2C

2021-12-04T15:30:45.573Z,1638631845.573 [Micromodem](INFO): Nmea in: $CAREV,153045,COPROC,0.20.0.39330*7D

2021-12-04T15:30:47.996Z,1638631847.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:50.868Z,1638631850.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:53.671Z,1638631853.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:55.280Z,1638631855.280 [Micromodem](INFO): Nmea in: $CAREV,153055,AUV,2.1.4000*2D

2021-12-04T15:30:55.658Z,1638631855.658 [Micromodem](INFO): Nmea in: $CAREV,153055,COPROC,0.20.0.39330*7C

2021-12-04T15:30:56.536Z,1638631856.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:30:59.308Z,1638631859.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:02.135Z,1638631862.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:04.990Z,1638631864.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:05.364Z,1638631865.364 [Micromodem](INFO): Nmea in: $CAREV,153105,AUV,2.1.4000*29

2021-12-04T15:31:05.365Z,1638631865.365 [Micromodem](INFO): Nmea in: $CAREV,153105,COPROC,0.20.0.39330*78

2021-12-04T15:31:07.815Z,1638631867.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:10.700Z,1638631870.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:13.504Z,1638631873.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:15.484Z,1638631875.484 [Micromodem](INFO): Nmea in: $CAREV,153115,AUV,2.1.4000*28

2021-12-04T15:31:15.488Z,1638631875.488 [Micromodem](INFO): Nmea in: $CAREV,153115,COPROC,0.20.0.39330*79

2021-12-04T15:31:16.284Z,1638631876.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:19.102Z,1638631879.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:21.936Z,1638631881.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:24.796Z,1638631884.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:25.571Z,1638631885.571 [Micromodem](INFO): Nmea in: $CAREV,153125,AUV,2.1.4000*2B

2021-12-04T15:31:25.572Z,1638631885.572 [Micromodem](INFO): Nmea in: $CAREV,153125,COPROC,0.20.0.39330*7A

2021-12-04T15:31:27.597Z,1638631887.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:30.413Z,1638631890.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:33.241Z,1638631893.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:35.657Z,1638631895.657 [Micromodem](INFO): Nmea in: $CAREV,153135,AUV,2.1.4000*2A

2021-12-04T15:31:35.658Z,1638631895.658 [Micromodem](INFO): Nmea in: $CAREV,153135,COPROC,0.20.0.39330*7B

2021-12-04T15:31:36.085Z,1638631896.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:38.919Z,1638631898.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:41.783Z,1638631901.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:44.564Z,1638631904.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:45.351Z,1638631905.351 [Micromodem](INFO): Nmea in: $CAREV,153145,AUV,2.1.4000*2D

2021-12-04T15:31:45.352Z,1638631905.352 [Micromodem](INFO): Nmea in: $CAREV,153145,COPROC,0.20.0.39330*7C

2021-12-04T15:31:47.387Z,1638631907.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:50.228Z,1638631910.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:53.063Z,1638631913.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:55.464Z,1638631915.464 [Micromodem](INFO): Nmea in: $CAREV,153155,AUV,2.1.4000*2C

2021-12-04T15:31:55.467Z,1638631915.467 [Micromodem](INFO): Nmea in: $CAREV,153155,COPROC,0.20.0.39330*7D

2021-12-04T15:31:55.866Z,1638631915.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:31:58.742Z,1638631918.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:01.547Z,1638631921.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:04.352Z,1638631924.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:05.557Z,1638631925.557 [Micromodem](INFO): Nmea in: $CAREV,153205,AUV,2.1.4000*2A

2021-12-04T15:32:05.559Z,1638631925.559 [Micromodem](INFO): Nmea in: $CAREV,153205,COPROC,0.20.0.39330*7B

2021-12-04T15:32:07.191Z,1638631927.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:10.028Z,1638631930.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:12.912Z,1638631932.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:15.652Z,1638631935.652 [Micromodem](INFO): Nmea in: $CAREV,153215,AUV,2.1.4000*2B

2021-12-04T15:32:15.653Z,1638631935.653 [Micromodem](INFO): Nmea in: $CAREV,153215,COPROC,0.20.0.39330*7A

2021-12-04T15:32:15.695Z,1638631935.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:18.542Z,1638631938.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:21.318Z,1638631941.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:24.174Z,1638631944.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:25.351Z,1638631945.351 [Micromodem](INFO): Nmea in: $CAREV,153225,AUV,2.1.4000*28

2021-12-04T15:32:25.352Z,1638631945.352 [Micromodem](INFO): Nmea in: $CAREV,153225,COPROC,0.20.0.39330*79

2021-12-04T15:32:27.005Z,1638631947.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:29.815Z,1638631949.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:32.695Z,1638631952.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:35.476Z,1638631955.476 [Micromodem](INFO): Nmea in: $CAREV,153235,AUV,2.1.4000*29

2021-12-04T15:32:35.485Z,1638631955.485 [Micromodem](INFO): Nmea in: $CAREV,153235,COPROC,0.20.0.39330*78

2021-12-04T15:32:35.528Z,1638631955.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:38.297Z,1638631958.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:41.116Z,1638631961.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:43.943Z,1638631963.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:45.547Z,1638631965.547 [Micromodem](INFO): Nmea in: $CAREV,153245,AUV,2.1.4000*2E

2021-12-04T15:32:45.548Z,1638631965.548 [Micromodem](INFO): Nmea in: $CAREV,153245,COPROC,0.20.0.39330*7F

2021-12-04T15:32:46.829Z,1638631966.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:49.627Z,1638631969.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:52.445Z,1638631972.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:55.310Z,1638631975.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:32:55.652Z,1638631975.652 [Micromodem](INFO): Nmea in: $CAREV,153255,AUV,2.1.4000*2F

2021-12-04T15:32:55.653Z,1638631975.653 [Micromodem](INFO): Nmea in: $CAREV,153255,COPROC,0.20.0.39330*7E

2021-12-04T15:32:58.087Z,1638631978.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:01.043Z,1638631981.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:03.760Z,1638631983.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:05.342Z,1638631985.342 [Micromodem](INFO): Nmea in: $CAREV,153305,AUV,2.1.4000*2B

2021-12-04T15:33:05.343Z,1638631985.343 [Micromodem](INFO): Nmea in: $CAREV,153305,COPROC,0.20.0.39330*7A

2021-12-04T15:33:06.582Z,1638631986.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:09.394Z,1638631989.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:12.222Z,1638631992.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:14.736Z,1638631994.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:15.471Z,1638631995.471 [Micromodem](INFO): Nmea in: $CAREV,153315,AUV,2.1.4000*2A

2021-12-04T15:33:15.475Z,1638631995.475 [Micromodem](INFO): Nmea in: $CAREV,153315,COPROC,0.20.0.39330*7B

2021-12-04T15:33:17.515Z,1638631997.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:20.305Z,1638632000.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:20.739Z,1638632000.739 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:33:23.136Z,1638632003.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:25.548Z,1638632005.548 [Micromodem](INFO): Nmea in: $CAREV,153325,AUV,2.1.4000*29

2021-12-04T15:33:25.549Z,1638632005.549 [Micromodem](INFO): Nmea in: $CAREV,153325,COPROC,0.20.0.39330*78

2021-12-04T15:33:25.962Z,1638632005.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:28.829Z,1638632008.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:31.650Z,1638632011.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:34.470Z,1638632014.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:35.648Z,1638632015.648 [Micromodem](INFO): Nmea in: $CAREV,153335,AUV,2.1.4000*28

2021-12-04T15:33:35.649Z,1638632015.649 [Micromodem](INFO): Nmea in: $CAREV,153335,COPROC,0.20.0.39330*79

2021-12-04T15:33:37.273Z,1638632017.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:40.098Z,1638632020.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:42.957Z,1638632022.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:45.341Z,1638632025.341 [Micromodem](INFO): Nmea in: $CAREV,153345,AUV,2.1.4000*2F

2021-12-04T15:33:45.342Z,1638632025.342 [Micromodem](INFO): Nmea in: $CAREV,153345,COPROC,0.20.0.39330*7E

2021-12-04T15:33:45.778Z,1638632025.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:48.601Z,1638632028.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:51.419Z,1638632031.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:54.240Z,1638632034.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:55.469Z,1638632035.469 [Micromodem](INFO): Nmea in: $CAREV,153355,AUV,2.1.4000*2E

2021-12-04T15:33:55.475Z,1638632035.475 [Micromodem](INFO): Nmea in: $CAREV,153355,COPROC,0.20.0.39330*7F

2021-12-04T15:33:57.085Z,1638632037.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:33:59.902Z,1638632039.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:02.791Z,1638632042.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:05.544Z,1638632045.544 [Micromodem](INFO): Nmea in: $CAREV,153405,AUV,2.1.4000*2C

2021-12-04T15:34:05.545Z,1638632045.545 [Micromodem](INFO): Nmea in: $CAREV,153405,COPROC,0.20.0.39330*7D

2021-12-04T15:34:05.592Z,1638632045.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:08.394Z,1638632048.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:11.221Z,1638632051.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:14.039Z,1638632054.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:15.646Z,1638632055.646 [Micromodem](INFO): Nmea in: $CAREV,153415,AUV,2.1.4000*2D

2021-12-04T15:34:15.647Z,1638632055.647 [Micromodem](INFO): Nmea in: $CAREV,153415,COPROC,0.20.0.39330*7C

2021-12-04T15:34:16.919Z,1638632056.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:19.700Z,1638632059.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:22.545Z,1638632062.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:25.345Z,1638632065.345 [Micromodem](INFO): Nmea in: $CAREV,153425,AUV,2.1.4000*2E

2021-12-04T15:34:25.347Z,1638632065.347 [Micromodem](INFO): Nmea in: $CAREV,153425,COPROC,0.20.0.39330*7F

2021-12-04T15:34:25.359Z,1638632065.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:28.180Z,1638632068.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:30.686Z,1638632070.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:33.448Z,1638632073.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:35.437Z,1638632075.437 [Micromodem](INFO): Nmea in: $CAREV,153435,AUV,2.1.4000*2F

2021-12-04T15:34:35.439Z,1638632075.439 [Micromodem](INFO): Nmea in: $CAREV,153435,COPROC,0.20.0.39330*7E

2021-12-04T15:34:36.259Z,1638632076.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:39.093Z,1638632079.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:41.924Z,1638632081.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:44.785Z,1638632084.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:45.535Z,1638632085.535 [Micromodem](INFO): Nmea in: $CAREV,153445,AUV,2.1.4000*28

2021-12-04T15:34:45.536Z,1638632085.536 [Micromodem](INFO): Nmea in: $CAREV,153445,COPROC,0.20.0.39330*79

2021-12-04T15:34:47.598Z,1638632087.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:50.405Z,1638632090.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:53.239Z,1638632093.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:55.640Z,1638632095.640 [Micromodem](INFO): Nmea in: $CAREV,153455,AUV,2.1.4000*29

2021-12-04T15:34:55.641Z,1638632095.641 [Micromodem](INFO): Nmea in: $CAREV,153455,COPROC,0.20.0.39330*78

2021-12-04T15:34:56.051Z,1638632096.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:34:58.908Z,1638632098.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:01.728Z,1638632101.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:04.557Z,1638632104.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:05.347Z,1638632105.347 [Micromodem](INFO): Nmea in: $CAREV,153505,AUV,2.1.4000*2D

2021-12-04T15:35:05.348Z,1638632105.348 [Micromodem](INFO): Nmea in: $CAREV,153505,COPROC,0.20.0.39330*7C

2021-12-04T15:35:07.364Z,1638632107.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:10.190Z,1638632110.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:13.059Z,1638632113.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:15.436Z,1638632115.436 [Micromodem](INFO): Nmea in: $CAREV,153515,AUV,2.1.4000*2C

2021-12-04T15:35:15.439Z,1638632115.439 [Micromodem](INFO): Nmea in: $CAREV,153515,COPROC,0.20.0.39330*7D

2021-12-04T15:35:15.868Z,1638632115.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:18.737Z,1638632118.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:21.533Z,1638632121.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:24.335Z,1638632124.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:25.536Z,1638632125.536 [Micromodem](INFO): Nmea in: $CAREV,153525,AUV,2.1.4000*2F

2021-12-04T15:35:25.538Z,1638632125.538 [Micromodem](INFO): Nmea in: $CAREV,153525,COPROC,0.20.0.39330*7E

2021-12-04T15:35:27.163Z,1638632127.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:30.000Z,1638632130.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:32.897Z,1638632132.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:35.632Z,1638632135.632 [Micromodem](INFO): Nmea in: $CAREV,153535,AUV,2.1.4000*2E

2021-12-04T15:35:35.633Z,1638632135.633 [Micromodem](INFO): Nmea in: $CAREV,153535,COPROC,0.20.0.39330*7F

2021-12-04T15:35:35.684Z,1638632135.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:38.501Z,1638632138.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:41.309Z,1638632141.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:44.131Z,1638632144.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:45.369Z,1638632145.369 [Micromodem](INFO): Nmea in: $CAREV,153545,AUV,2.1.4000*29

2021-12-04T15:35:45.371Z,1638632145.371 [Micromodem](INFO): Nmea in: $CAREV,153545,COPROC,0.20.0.39330*78

2021-12-04T15:35:47.026Z,1638632147.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:49.800Z,1638632149.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:52.697Z,1638632152.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:55.427Z,1638632155.427 [Micromodem](INFO): Nmea in: $CAREV,153555,AUV,2.1.4000*28

2021-12-04T15:35:55.428Z,1638632155.428 [Micromodem](INFO): Nmea in: $CAREV,153555,COPROC,0.20.0.39330*79

2021-12-04T15:35:55.445Z,1638632155.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:35:58.272Z,1638632158.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:01.095Z,1638632161.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:03.997Z,1638632163.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:05.556Z,1638632165.556 [Micromodem](INFO): Nmea in: $CAREV,153605,AUV,2.1.4000*2E

2021-12-04T15:36:05.557Z,1638632165.557 [Micromodem](INFO): Nmea in: $CAREV,153605,COPROC,0.20.0.39330*7F

2021-12-04T15:36:06.786Z,1638632166.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:09.607Z,1638632169.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:12.412Z,1638632172.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:15.251Z,1638632175.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:15.638Z,1638632175.638 [Micromodem](INFO): Nmea in: $CAREV,153615,AUV,2.1.4000*2F

2021-12-04T15:36:15.641Z,1638632175.641 [Micromodem](INFO): Nmea in: $CAREV,153615,COPROC,0.20.0.39330*7E

2021-12-04T15:36:18.147Z,1638632178.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:20.931Z,1638632180.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:23.755Z,1638632183.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:25.339Z,1638632185.339 [Micromodem](INFO): Nmea in: $CAREV,153625,AUV,2.1.4000*2C

2021-12-04T15:36:25.728Z,1638632185.728 [Micromodem](INFO): Nmea in: $CAREV,153625,COPROC,0.20.0.39330*7D

2021-12-04T15:36:26.574Z,1638632186.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:29.378Z,1638632189.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:32.230Z,1638632192.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:35.064Z,1638632195.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:35.423Z,1638632195.423 [Micromodem](INFO): Nmea in: $CAREV,153635,AUV,2.1.4000*2D

2021-12-04T15:36:35.424Z,1638632195.424 [Micromodem](INFO): Nmea in: $CAREV,153635,COPROC,0.20.0.39330*7C

2021-12-04T15:36:37.877Z,1638632197.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:40.751Z,1638632200.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:43.527Z,1638632203.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:45.533Z,1638632205.533 [Micromodem](INFO): Nmea in: $CAREV,153645,AUV,2.1.4000*2A

2021-12-04T15:36:45.534Z,1638632205.534 [Micromodem](INFO): Nmea in: $CAREV,153645,COPROC,0.20.0.39330*7B

2021-12-04T15:36:46.377Z,1638632206.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:49.182Z,1638632209.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:52.014Z,1638632212.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:54.864Z,1638632214.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:36:55.639Z,1638632215.639 [Micromodem](INFO): Nmea in: $CAREV,153655,AUV,2.1.4000*2B

2021-12-04T15:36:55.640Z,1638632215.640 [Micromodem](INFO): Nmea in: $CAREV,153655,COPROC,0.20.0.39330*7A

2021-12-04T15:36:57.711Z,1638632217.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:00.522Z,1638632220.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:03.318Z,1638632223.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:05.343Z,1638632225.343 [Micromodem](INFO): Nmea in: $CAREV,153705,AUV,2.1.4000*2F

2021-12-04T15:37:05.724Z,1638632225.724 [Micromodem](INFO): Nmea in: $CAREV,153705,COPROC,0.20.0.39330*7E

2021-12-04T15:37:06.140Z,1638632226.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:08.999Z,1638632228.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:11.823Z,1638632231.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:14.687Z,1638632234.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:15.419Z,1638632235.419 [Micromodem](INFO): Nmea in: $CAREV,153715,AUV,2.1.4000*2E

2021-12-04T15:37:15.420Z,1638632235.420 [Micromodem](INFO): Nmea in: $CAREV,153715,COPROC,0.20.0.39330*7F

2021-12-04T15:37:17.471Z,1638632237.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:20.279Z,1638632240.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:23.111Z,1638632243.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:25.528Z,1638632245.528 [Micromodem](INFO): Nmea in: $CAREV,153725,AUV,2.1.4000*2D

2021-12-04T15:37:25.529Z,1638632245.529 [Micromodem](INFO): Nmea in: $CAREV,153725,COPROC,0.20.0.39330*7C

2021-12-04T15:37:25.957Z,1638632245.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:28.821Z,1638632248.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:31.600Z,1638632251.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:34.473Z,1638632254.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:35.637Z,1638632255.637 [Micromodem](INFO): Nmea in: $CAREV,153735,AUV,2.1.4000*2C

2021-12-04T15:37:35.647Z,1638632255.647 [Micromodem](INFO): Nmea in: $CAREV,153735,COPROC,0.20.0.39330*7D

2021-12-04T15:37:37.318Z,1638632257.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:40.113Z,1638632260.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:42.929Z,1638632262.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:45.721Z,1638632265.721 [Micromodem](INFO): Nmea in: $CAREV,153745,AUV,2.1.4000*2B

2021-12-04T15:37:45.722Z,1638632265.722 [Micromodem](INFO): Nmea in: $CAREV,153745,COPROC,0.20.0.39330*7A

2021-12-04T15:37:45.745Z,1638632265.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:48.568Z,1638632268.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:51.410Z,1638632271.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:54.229Z,1638632274.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:55.423Z,1638632275.423 [Micromodem](INFO): Nmea in: $CAREV,153755,AUV,2.1.4000*2A

2021-12-04T15:37:55.424Z,1638632275.424 [Micromodem](INFO): Nmea in: $CAREV,153755,COPROC,0.20.0.39330*7B

2021-12-04T15:37:56.736Z,1638632276.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:37:59.507Z,1638632279.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:02.308Z,1638632282.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:05.143Z,1638632285.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:05.536Z,1638632285.536 [Micromodem](INFO): Nmea in: $CAREV,153805,AUV,2.1.4000*20

2021-12-04T15:38:05.537Z,1638632285.537 [Micromodem](INFO): Nmea in: $CAREV,153805,COPROC,0.20.0.39330*71

2021-12-04T15:38:07.951Z,1638632287.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:10.818Z,1638632290.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:13.630Z,1638632293.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:15.620Z,1638632295.620 [Micromodem](INFO): Nmea in: $CAREV,153815,AUV,2.1.4000*21

2021-12-04T15:38:15.621Z,1638632295.621 [Micromodem](INFO): Nmea in: $CAREV,153815,COPROC,0.20.0.39330*70

2021-12-04T15:38:16.444Z,1638632296.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:19.326Z,1638632299.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:22.096Z,1638632302.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:24.957Z,1638632304.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:25.722Z,1638632305.722 [Micromodem](INFO): Nmea in: $CAREV,153825,AUV,2.1.4000*22

2021-12-04T15:38:25.724Z,1638632305.724 [Micromodem](INFO): Nmea in: $CAREV,153825,COPROC,0.20.0.39330*73

2021-12-04T15:38:27.758Z,1638632307.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:30.633Z,1638632310.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:33.420Z,1638632313.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:35.428Z,1638632315.428 [Micromodem](INFO): Nmea in: $CAREV,153835,AUV,2.1.4000*23

2021-12-04T15:38:35.432Z,1638632315.432 [Micromodem](INFO): Nmea in: $CAREV,153835,COPROC,0.20.0.39330*72

2021-12-04T15:38:36.230Z,1638632316.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:38.759Z,1638632318.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:41.546Z,1638632321.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:44.379Z,1638632324.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:45.528Z,1638632325.528 [Micromodem](INFO): Nmea in: $CAREV,153845,AUV,2.1.4000*24

2021-12-04T15:38:45.529Z,1638632325.529 [Micromodem](INFO): Nmea in: $CAREV,153845,COPROC,0.20.0.39330*75

2021-12-04T15:38:47.172Z,1638632327.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:49.980Z,1638632329.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:52.828Z,1638632332.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:55.611Z,1638632335.611 [Micromodem](INFO): Nmea in: $CAREV,153855,AUV,2.1.4000*25

2021-12-04T15:38:55.612Z,1638632335.612 [Micromodem](INFO): Nmea in: $CAREV,153855,COPROC,0.20.0.39330*74

2021-12-04T15:38:55.635Z,1638632335.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:38:58.524Z,1638632338.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:01.291Z,1638632341.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:04.111Z,1638632344.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:05.713Z,1638632345.713 [Micromodem](INFO): Nmea in: $CAREV,153905,AUV,2.1.4000*21

2021-12-04T15:39:05.714Z,1638632345.714 [Micromodem](INFO): Nmea in: $CAREV,153905,COPROC,0.20.0.39330*70

2021-12-04T15:39:06.957Z,1638632346.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:09.778Z,1638632349.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:12.761Z,1638632352.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:15.410Z,1638632355.410 [Micromodem](INFO): Nmea in: $CAREV,153915,AUV,2.1.4000*20

2021-12-04T15:39:15.411Z,1638632355.411 [Micromodem](INFO): Nmea in: $CAREV,153915,COPROC,0.20.0.39330*71

2021-12-04T15:39:15.423Z,1638632355.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:18.252Z,1638632358.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:21.093Z,1638632361.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:23.905Z,1638632363.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:25.589Z,1638632365.589 [Micromodem](INFO): Nmea in: $CAREV,153925,AUV,2.1.4000*23

2021-12-04T15:39:25.590Z,1638632365.590 [Micromodem](INFO): Nmea in: $CAREV,153925,COPROC,0.20.0.39330*72

2021-12-04T15:39:26.800Z,1638632366.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:29.583Z,1638632369.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:32.393Z,1638632372.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:35.232Z,1638632375.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:35.608Z,1638632375.608 [Micromodem](INFO): Nmea in: $CAREV,153935,AUV,2.1.4000*22

2021-12-04T15:39:35.610Z,1638632375.610 [Micromodem](INFO): Nmea in: $CAREV,153935,COPROC,0.20.0.39330*73

2021-12-04T15:39:38.050Z,1638632378.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:40.906Z,1638632380.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:43.720Z,1638632383.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:45.707Z,1638632385.707 [Micromodem](INFO): Nmea in: $CAREV,153945,AUV,2.1.4000*25

2021-12-04T15:39:45.708Z,1638632385.708 [Micromodem](INFO): Nmea in: $CAREV,153945,COPROC,0.20.0.39330*74

2021-12-04T15:39:46.546Z,1638632386.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:49.359Z,1638632389.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:51.864Z,1638632391.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:54.688Z,1638632394.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:39:55.037Z,1638632395.037 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T15:39:55.409Z,1638632395.409 [Micromodem](INFO): Nmea in: $CAREV,153955,AUV,2.1.4000*24

2021-12-04T15:39:55.410Z,1638632395.410 [Micromodem](INFO): Nmea in: $CAREV,153955,COPROC,0.20.0.39330*75

2021-12-04T15:39:57.439Z,1638632397.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:00.262Z,1638632400.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:03.107Z,1638632403.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:05.553Z,1638632405.553 [Micromodem](INFO): Nmea in: $CAREV,154005,AUV,2.1.4000*2F

2021-12-04T15:40:05.558Z,1638632405.558 [Micromodem](INFO): Nmea in: $CAREV,154005,COPROC,0.20.0.39330*7E

2021-12-04T15:40:05.964Z,1638632405.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:08.782Z,1638632408.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:11.596Z,1638632411.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:14.404Z,1638632414.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:15.611Z,1638632415.611 [Micromodem](INFO): Nmea in: $CAREV,154015,AUV,2.1.4000*2E

2021-12-04T15:40:15.613Z,1638632415.613 [Micromodem](INFO): Nmea in: $CAREV,154015,COPROC,0.20.0.39330*7F

2021-12-04T15:40:17.245Z,1638632417.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:20.071Z,1638632420.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:22.933Z,1638632422.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:25.712Z,1638632425.712 [Micromodem](INFO): Nmea in: $CAREV,154025,AUV,2.1.4000*2D

2021-12-04T15:40:25.726Z,1638632425.726 [Micromodem](INFO): Nmea in: $CAREV,154025,COPROC,0.20.0.39330*7C

2021-12-04T15:40:25.753Z,1638632425.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:28.569Z,1638632428.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:31.384Z,1638632431.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:34.212Z,1638632434.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:35.412Z,1638632435.412 [Micromodem](INFO): Nmea in: $CAREV,154035,AUV,2.1.4000*2C

2021-12-04T15:40:35.413Z,1638632435.413 [Micromodem](INFO): Nmea in: $CAREV,154035,COPROC,0.20.0.39330*7D

2021-12-04T15:40:37.039Z,1638632437.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:39.886Z,1638632439.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:42.728Z,1638632442.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:45.579Z,1638632445.579 [Micromodem](INFO): Nmea in: $CAREV,154045,AUV,2.1.4000*2B

2021-12-04T15:40:45.580Z,1638632445.580 [Micromodem](INFO): Nmea in: $CAREV,154045,COPROC,0.20.0.39330*7A

2021-12-04T15:40:45.601Z,1638632445.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:48.363Z,1638632448.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:51.180Z,1638632451.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:54.014Z,1638632454.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:55.608Z,1638632455.608 [Micromodem](INFO): Nmea in: $CAREV,154055,AUV,2.1.4000*2A

2021-12-04T15:40:55.610Z,1638632455.610 [Micromodem](INFO): Nmea in: $CAREV,154055,COPROC,0.20.0.39330*7B

2021-12-04T15:40:56.887Z,1638632456.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:40:59.712Z,1638632459.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:02.521Z,1638632462.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:05.329Z,1638632465.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:05.708Z,1638632465.708 [Micromodem](INFO): Nmea in: $CAREV,154105,AUV,2.1.4000*2E

2021-12-04T15:41:05.710Z,1638632465.710 [Micromodem](INFO): Nmea in: $CAREV,154105,COPROC,0.20.0.39330*7F

2021-12-04T15:41:08.154Z,1638632468.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:11.012Z,1638632471.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:13.829Z,1638632473.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:15.406Z,1638632475.406 [Micromodem](INFO): Nmea in: $CAREV,154115,AUV,2.1.4000*2F

2021-12-04T15:41:15.407Z,1638632475.407 [Micromodem](INFO): Nmea in: $CAREV,154115,COPROC,0.20.0.39330*7E

2021-12-04T15:41:16.716Z,1638632476.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:19.504Z,1638632479.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:22.301Z,1638632482.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:25.124Z,1638632485.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:25.759Z,1638632485.759 [Micromodem](INFO): Nmea in: $CAREV,154125,AUV,2.1.4000*2C

2021-12-04T15:41:25.760Z,1638632485.760 [Micromodem](INFO): Nmea in: $CAREV,154125,COPROC,0.20.0.39330*7D

2021-12-04T15:41:27.957Z,1638632487.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:30.818Z,1638632490.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:33.619Z,1638632493.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:35.604Z,1638632495.604 [Micromodem](INFO): Nmea in: $CAREV,154135,AUV,2.1.4000*2D

2021-12-04T15:41:35.606Z,1638632495.606 [Micromodem](INFO): Nmea in: $CAREV,154135,COPROC,0.20.0.39330*7C

2021-12-04T15:41:36.439Z,1638632496.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:39.007Z,1638632499.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:41.695Z,1638632501.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:44.518Z,1638632504.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:45.703Z,1638632505.703 [Micromodem](INFO): Nmea in: $CAREV,154145,AUV,2.1.4000*2A

2021-12-04T15:41:45.704Z,1638632505.704 [Micromodem](INFO): Nmea in: $CAREV,154145,COPROC,0.20.0.39330*7B

2021-12-04T15:41:47.352Z,1638632507.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:50.159Z,1638632510.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:52.692Z,1638632512.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:55.414Z,1638632515.414 [Micromodem](INFO): Nmea in: $CAREV,154155,AUV,2.1.4000*2B

2021-12-04T15:41:55.415Z,1638632515.415 [Micromodem](INFO): Nmea in: $CAREV,154155,COPROC,0.20.0.39330*7A

2021-12-04T15:41:55.427Z,1638632515.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:41:58.248Z,1638632518.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:01.066Z,1638632521.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:03.920Z,1638632523.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:05.530Z,1638632525.530 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T15:42:05.533Z,1638632525.533 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T15:42:05.541Z,1638632525.541 [Micromodem](INFO): Nmea in: $CAREV,154205,AUV,2.1.4000*2D

2021-12-04T15:42:05.544Z,1638632525.544 [Micromodem](INFO): Nmea in: $CAREV,154205,COPROC,0.20.0.39330*7C

2021-12-04T15:42:06.758Z,1638632526.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:09.606Z,1638632529.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:12.403Z,1638632532.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:15.216Z,1638632535.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:15.601Z,1638632535.601 [Micromodem](INFO): Nmea in: $CAREV,154215,AUV,2.1.4000*2C

2021-12-04T15:42:15.602Z,1638632535.602 [Micromodem](INFO): Nmea in: $CAREV,154215,COPROC,0.20.0.39330*7D

2021-12-04T15:42:18.036Z,1638632538.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:20.918Z,1638632540.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:23.715Z,1638632543.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:25.712Z,1638632545.712 [Micromodem](INFO): Nmea in: $CAREV,154225,AUV,2.1.4000*2F

2021-12-04T15:42:25.713Z,1638632545.713 [Micromodem](INFO): Nmea in: $CAREV,154225,COPROC,0.20.0.39330*7E

2021-12-04T15:42:26.536Z,1638632546.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:29.348Z,1638632549.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:32.177Z,1638632552.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:35.042Z,1638632555.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:35.417Z,1638632555.417 [Micromodem](INFO): Nmea in: $CAREV,154235,AUV,2.1.4000*2E

2021-12-04T15:42:35.420Z,1638632555.420 [Micromodem](INFO): Nmea in: $CAREV,154235,COPROC,0.20.0.39330*7F

2021-12-04T15:42:37.845Z,1638632557.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:40.712Z,1638632560.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:43.519Z,1638632563.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:45.523Z,1638632565.523 [Micromodem](INFO): Nmea in: $CAREV,154245,AUV,2.1.4000*29

2021-12-04T15:42:45.525Z,1638632565.525 [Micromodem](INFO): Nmea in: $CAREV,154245,COPROC,0.20.0.39330*78

2021-12-04T15:42:46.320Z,1638632566.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:49.148Z,1638632569.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:51.971Z,1638632571.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:54.834Z,1638632574.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:42:55.600Z,1638632575.600 [Micromodem](INFO): Nmea in: $CAREV,154255,AUV,2.1.4000*28

2021-12-04T15:42:55.601Z,1638632575.601 [Micromodem](INFO): Nmea in: $CAREV,154255,COPROC,0.20.0.39330*79

2021-12-04T15:42:57.647Z,1638632577.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:00.492Z,1638632580.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:03.309Z,1638632583.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:05.695Z,1638632585.695 [Micromodem](INFO): Nmea in: $CAREV,154305,AUV,2.1.4000*2C

2021-12-04T15:43:05.696Z,1638632585.696 [Micromodem](INFO): Nmea in: $CAREV,154305,COPROC,0.20.0.39330*7D

2021-12-04T15:43:06.121Z,1638632586.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:08.976Z,1638632588.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:11.797Z,1638632591.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:14.685Z,1638632594.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:15.419Z,1638632595.419 [Micromodem](INFO): Nmea in: $CAREV,154315,AUV,2.1.4000*2D

2021-12-04T15:43:15.420Z,1638632595.420 [Micromodem](INFO): Nmea in: $CAREV,154315,COPROC,0.20.0.39330*7C

2021-12-04T15:43:17.432Z,1638632597.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:20.256Z,1638632600.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:23.089Z,1638632603.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:25.504Z,1638632605.504 [Micromodem](INFO): Nmea in: $CAREV,154325,AUV,2.1.4000*2E

2021-12-04T15:43:25.506Z,1638632605.506 [Micromodem](INFO): Nmea in: $CAREV,154325,COPROC,0.20.0.39330*7F

2021-12-04T15:43:25.907Z,1638632605.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:28.782Z,1638632608.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:31.587Z,1638632611.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:34.396Z,1638632614.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:35.596Z,1638632615.596 [Micromodem](INFO): Nmea in: $CAREV,154335,AUV,2.1.4000*2F

2021-12-04T15:43:35.597Z,1638632615.597 [Micromodem](INFO): Nmea in: $CAREV,154335,COPROC,0.20.0.39330*7E

2021-12-04T15:43:37.218Z,1638632617.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:40.052Z,1638632620.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:42.904Z,1638632622.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:45.696Z,1638632625.696 [Micromodem](INFO): Nmea in: $CAREV,154345,AUV,2.1.4000*28

2021-12-04T15:43:45.697Z,1638632625.697 [Micromodem](INFO): Nmea in: $CAREV,154345,COPROC,0.20.0.39330*79

2021-12-04T15:43:45.739Z,1638632625.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:48.555Z,1638632628.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:51.375Z,1638632631.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:54.207Z,1638632634.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:55.412Z,1638632635.412 [Micromodem](INFO): Nmea in: $CAREV,154355,AUV,2.1.4000*29

2021-12-04T15:43:55.793Z,1638632635.793 [Micromodem](INFO): Nmea in: $CAREV,154355,COPROC,0.20.0.39330*78

2021-12-04T15:43:57.074Z,1638632637.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:43:59.860Z,1638632639.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:02.745Z,1638632642.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:05.497Z,1638632645.497 [Micromodem](INFO): Nmea in: $CAREV,154405,AUV,2.1.4000*2B

2021-12-04T15:44:05.499Z,1638632645.499 [Micromodem](INFO): Nmea in: $CAREV,154405,COPROC,0.20.0.39330*7A

2021-12-04T15:44:05.544Z,1638632645.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:08.331Z,1638632648.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:11.153Z,1638632651.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:13.988Z,1638632653.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:15.596Z,1638632655.596 [Micromodem](INFO): Nmea in: $CAREV,154415,AUV,2.1.4000*2A

2021-12-04T15:44:15.597Z,1638632655.597 [Micromodem](INFO): Nmea in: $CAREV,154415,COPROC,0.20.0.39330*7B

2021-12-04T15:44:16.862Z,1638632656.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:19.667Z,1638632659.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:22.506Z,1638632662.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:25.304Z,1638632665.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:25.692Z,1638632665.692 [Micromodem](INFO): Nmea in: $CAREV,154425,AUV,2.1.4000*29

2021-12-04T15:44:25.711Z,1638632665.711 [Micromodem](INFO): Nmea in: $CAREV,154425,COPROC,0.20.0.39330*78

2021-12-04T15:44:28.128Z,1638632668.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:30.977Z,1638632670.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:33.788Z,1638632673.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:35.793Z,1638632675.793 [Micromodem](INFO): Nmea in: $CAREV,154435,AUV,2.1.4000*28

2021-12-04T15:44:35.795Z,1638632675.795 [Micromodem](INFO): Nmea in: $CAREV,154435,COPROC,0.20.0.39330*79

2021-12-04T15:44:36.680Z,1638632676.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:39.469Z,1638632679.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:42.272Z,1638632682.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:45.097Z,1638632685.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:45.499Z,1638632685.499 [Micromodem](INFO): Nmea in: $CAREV,154445,AUV,2.1.4000*2F

2021-12-04T15:44:45.501Z,1638632685.501 [Micromodem](INFO): Nmea in: $CAREV,154445,COPROC,0.20.0.39330*7E

2021-12-04T15:44:47.924Z,1638632687.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:50.818Z,1638632690.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:53.585Z,1638632693.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:55.588Z,1638632695.588 [Micromodem](INFO): Nmea in: $CAREV,154455,AUV,2.1.4000*2E

2021-12-04T15:44:55.589Z,1638632695.589 [Micromodem](INFO): Nmea in: $CAREV,154455,COPROC,0.20.0.39330*7F

2021-12-04T15:44:56.403Z,1638632696.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:44:59.232Z,1638632699.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:02.058Z,1638632702.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:04.921Z,1638632704.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:05.703Z,1638632705.703 [Micromodem](INFO): Nmea in: $CAREV,154505,AUV,2.1.4000*2A

2021-12-04T15:45:05.704Z,1638632705.704 [Micromodem](INFO): Nmea in: $CAREV,154505,COPROC,0.20.0.39330*7B

2021-12-04T15:45:07.733Z,1638632707.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:10.557Z,1638632710.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:13.376Z,1638632713.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:15.784Z,1638632715.784 [Micromodem](INFO): Nmea in: $CAREV,154515,AUV,2.1.4000*2B

2021-12-04T15:45:15.785Z,1638632715.785 [Micromodem](INFO): Nmea in: $CAREV,154515,COPROC,0.20.0.39330*7A

2021-12-04T15:45:16.208Z,1638632716.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:18.710Z,1638632718.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:21.505Z,1638632721.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:24.281Z,1638632724.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:25.514Z,1638632725.514 [Micromodem](INFO): Nmea in: $CAREV,154525,AUV,2.1.4000*28

2021-12-04T15:45:25.515Z,1638632725.515 [Micromodem](INFO): Nmea in: $CAREV,154525,COPROC,0.20.0.39330*79

2021-12-04T15:45:27.112Z,1638632727.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:29.964Z,1638632729.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:32.812Z,1638632732.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:35.578Z,1638632735.578 [Micromodem](INFO): Nmea in: $CAREV,154535,AUV,2.1.4000*29

2021-12-04T15:45:35.579Z,1638632735.579 [Micromodem](INFO): Nmea in: $CAREV,154535,COPROC,0.20.0.39330*78

2021-12-04T15:45:35.601Z,1638632735.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:38.424Z,1638632738.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:41.266Z,1638632741.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:44.083Z,1638632744.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:45.680Z,1638632745.680 [Micromodem](INFO): Nmea in: $CAREV,154545,AUV,2.1.4000*2E

2021-12-04T15:45:45.681Z,1638632745.681 [Micromodem](INFO): Nmea in: $CAREV,154545,COPROC,0.20.0.39330*7F

2021-12-04T15:45:46.952Z,1638632746.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:49.760Z,1638632749.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:52.589Z,1638632752.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:55.387Z,1638632755.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:45:55.781Z,1638632755.781 [Micromodem](INFO): Nmea in: $CAREV,154555,AUV,2.1.4000*2F

2021-12-04T15:45:55.783Z,1638632755.783 [Micromodem](INFO): Nmea in: $CAREV,154555,COPROC,0.20.0.39330*7E

2021-12-04T15:45:58.220Z,1638632758.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:00.722Z,1638632760.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:03.512Z,1638632763.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:05.495Z,1638632765.495 [Micromodem](INFO): Nmea in: $CAREV,154605,AUV,2.1.4000*29

2021-12-04T15:46:05.496Z,1638632765.496 [Micromodem](INFO): Nmea in: $CAREV,154605,COPROC,0.20.0.39330*78

2021-12-04T15:46:06.309Z,1638632766.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:07.509Z,1638632767.509 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T15:46:09.191Z,1638632769.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:11.953Z,1638632771.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:14.819Z,1638632774.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:15.597Z,1638632775.597 [Micromodem](INFO): Nmea in: $CAREV,154615,AUV,2.1.4000*28

2021-12-04T15:46:15.598Z,1638632775.598 [Micromodem](INFO): Nmea in: $CAREV,154615,COPROC,0.20.0.39330*79

2021-12-04T15:46:17.605Z,1638632777.605 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:46:17.624Z,1638632777.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:20.440Z,1638632780.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:22.501Z,1638632782.501 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T15:46:23.280Z,1638632783.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:25.692Z,1638632785.692 [Micromodem](INFO): Nmea in: $CAREV,154625,AUV,2.1.4000*2B

2021-12-04T15:46:25.693Z,1638632785.693 [Micromodem](INFO): Nmea in: $CAREV,154625,COPROC,0.20.0.39330*7A

2021-12-04T15:46:26.159Z,1638632786.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:27.712Z,1638632787.712 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T15:46:28.944Z,1638632788.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:31.773Z,1638632791.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:32.555Z,1638632792.555 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T15:46:34.591Z,1638632794.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:35.786Z,1638632795.786 [Micromodem](INFO): Nmea in: $CAREV,154635,AUV,2.1.4000*2A

2021-12-04T15:46:35.788Z,1638632795.788 [Micromodem](INFO): Nmea in: $CAREV,154635,COPROC,0.20.0.39330*7B

2021-12-04T15:46:37.414Z,1638632797.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:40.230Z,1638632800.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:43.084Z,1638632803.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:43.867Z,1638632803.867 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T15:46:45.488Z,1638632805.488 [Micromodem](INFO): Nmea in: $CAREV,154645,AUV,2.1.4000*2D

2021-12-04T15:46:45.489Z,1638632805.489 [Micromodem](INFO): Nmea in: $CAREV,154645,COPROC,0.20.0.39330*7C

2021-12-04T15:46:45.897Z,1638632805.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:48.749Z,1638632808.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:51.559Z,1638632811.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:52.784Z,1638632812.784 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T15:46:54.369Z,1638632814.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:46:55.576Z,1638632815.576 [Micromodem](INFO): Nmea in: $CAREV,154655,AUV,2.1.4000*2C

2021-12-04T15:46:55.577Z,1638632815.577 [Micromodem](INFO): Nmea in: $CAREV,154655,COPROC,0.20.0.39330*7D

2021-12-04T15:46:57.210Z,1638632817.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:00.033Z,1638632820.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:02.900Z,1638632822.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:05.676Z,1638632825.676 [Micromodem](INFO): Nmea in: $CAREV,154705,AUV,2.1.4000*28

2021-12-04T15:47:05.677Z,1638632825.677 [Micromodem](INFO): Nmea in: $CAREV,154705,COPROC,0.20.0.39330*79

2021-12-04T15:47:05.727Z,1638632825.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:08.543Z,1638632828.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:11.056Z,1638632831.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:13.777Z,1638632833.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:15.778Z,1638632835.778 [Micromodem](INFO): Nmea in: $CAREV,154715,AUV,2.1.4000*29

2021-12-04T15:47:15.779Z,1638632835.779 [Micromodem](INFO): Nmea in: $CAREV,154715,COPROC,0.20.0.39330*78

2021-12-04T15:47:16.683Z,1638632836.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:19.434Z,1638632839.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:22.248Z,1638632842.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:24.757Z,1638632844.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:25.508Z,1638632845.508 [Micromodem](INFO): Nmea in: $CAREV,154725,AUV,2.1.4000*2A

2021-12-04T15:47:25.520Z,1638632845.520 [Micromodem](INFO): Nmea in: $CAREV,154725,COPROC,0.20.0.39330*7B

2021-12-04T15:47:27.576Z,1638632847.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:30.337Z,1638632850.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:33.154Z,1638632853.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:35.572Z,1638632855.572 [Micromodem](INFO): Nmea in: $CAREV,154735,AUV,2.1.4000*2B

2021-12-04T15:47:35.573Z,1638632855.573 [Micromodem](INFO): Nmea in: $CAREV,154735,COPROC,0.20.0.39330*7A

2021-12-04T15:47:36.003Z,1638632856.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:38.868Z,1638632858.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:41.647Z,1638632861.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:44.503Z,1638632864.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:45.672Z,1638632865.672 [Micromodem](INFO): Nmea in: $CAREV,154745,AUV,2.1.4000*2C

2021-12-04T15:47:45.673Z,1638632865.673 [Micromodem](INFO): Nmea in: $CAREV,154745,COPROC,0.20.0.39330*7D

2021-12-04T15:47:47.305Z,1638632867.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:50.128Z,1638632870.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:52.989Z,1638632872.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:55.784Z,1638632875.784 [Micromodem](INFO): Nmea in: $CAREV,154755,AUV,2.1.4000*2D

2021-12-04T15:47:55.786Z,1638632875.786 [Micromodem](INFO): Nmea in: $CAREV,154755,COPROC,0.20.0.39330*7C

2021-12-04T15:47:55.840Z,1638632875.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:47:58.679Z,1638632878.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:01.443Z,1638632881.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:04.268Z,1638632884.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:05.492Z,1638632885.492 [Micromodem](INFO): Nmea in: $CAREV,154805,AUV,2.1.4000*27

2021-12-04T15:48:05.495Z,1638632885.495 [Micromodem](INFO): Nmea in: $CAREV,154805,COPROC,0.20.0.39330*76

2021-12-04T15:48:07.090Z,1638632887.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:09.930Z,1638632889.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:12.804Z,1638632892.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:15.568Z,1638632895.568 [Micromodem](INFO): Nmea in: $CAREV,154815,AUV,2.1.4000*26

2021-12-04T15:48:15.569Z,1638632895.569 [Micromodem](INFO): Nmea in: $CAREV,154815,COPROC,0.20.0.39330*77

2021-12-04T15:48:15.591Z,1638632895.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:18.425Z,1638632898.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:21.255Z,1638632901.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:24.076Z,1638632904.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:25.669Z,1638632905.669 [Micromodem](INFO): Nmea in: $CAREV,154825,AUV,2.1.4000*25

2021-12-04T15:48:25.671Z,1638632905.671 [Micromodem](INFO): Nmea in: $CAREV,154825,COPROC,0.20.0.39330*74

2021-12-04T15:48:26.916Z,1638632906.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:29.741Z,1638632909.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:32.614Z,1638632912.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:35.369Z,1638632915.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:35.765Z,1638632915.765 [Micromodem](INFO): Nmea in: $CAREV,154835,AUV,2.1.4000*24

2021-12-04T15:48:35.766Z,1638632915.766 [Micromodem](INFO): Nmea in: $CAREV,154835,COPROC,0.20.0.39330*75

2021-12-04T15:48:38.219Z,1638632918.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:40.720Z,1638632920.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:42.672Z,1638632922.672 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T15:48:43.497Z,1638632923.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:45.485Z,1638632925.485 [Micromodem](INFO): Nmea in: $CAREV,154845,AUV,2.1.4000*23

2021-12-04T15:48:45.500Z,1638632925.500 [Micromodem](INFO): Nmea in: $CAREV,154845,COPROC,0.20.0.39330*72

2021-12-04T15:48:46.291Z,1638632926.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:49.109Z,1638632929.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:51.936Z,1638632931.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:54.803Z,1638632934.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:48:55.560Z,1638632935.560 [Micromodem](INFO): Nmea in: $CAREV,154855,AUV,2.1.4000*22

2021-12-04T15:48:55.562Z,1638632935.562 [Micromodem](INFO): Nmea in: $CAREV,154855,COPROC,0.20.0.39330*73

2021-12-04T15:48:57.633Z,1638632937.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:00.420Z,1638632940.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:03.253Z,1638632943.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:05.664Z,1638632945.664 [Micromodem](INFO): Nmea in: $CAREV,154905,AUV,2.1.4000*26

2021-12-04T15:49:05.666Z,1638632945.666 [Micromodem](INFO): Nmea in: $CAREV,154905,COPROC,0.20.0.39330*77

2021-12-04T15:49:06.109Z,1638632946.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:08.936Z,1638632948.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:11.742Z,1638632951.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:12.944Z,1638632952.944 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-12-04T15:49:14.579Z,1638632954.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:15.761Z,1638632955.761 [Micromodem](INFO): Nmea in: $CAREV,154915,AUV,2.1.4000*27

2021-12-04T15:49:15.762Z,1638632955.762 [Micromodem](INFO): Nmea in: $CAREV,154915,COPROC,0.20.0.39330*76

2021-12-04T15:49:17.387Z,1638632957.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:20.230Z,1638632960.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:22.736Z,1638632962.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:25.491Z,1638632965.491 [Micromodem](INFO): Nmea in: $CAREV,154925,AUV,2.1.4000*24

2021-12-04T15:49:25.492Z,1638632965.492 [Micromodem](INFO): Nmea in: $CAREV,154925,COPROC,0.20.0.39330*75

2021-12-04T15:49:25.513Z,1638632965.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:28.309Z,1638632968.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:31.128Z,1638632971.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:33.956Z,1638632973.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:35.560Z,1638632975.560 [Micromodem](INFO): Nmea in: $CAREV,154935,AUV,2.1.4000*25

2021-12-04T15:49:35.561Z,1638632975.561 [Micromodem](INFO): Nmea in: $CAREV,154935,COPROC,0.20.0.39330*74

2021-12-04T15:49:36.813Z,1638632976.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:39.616Z,1638632979.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:42.481Z,1638632982.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:45.263Z,1638632985.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:45.677Z,1638632985.677 [Micromodem](INFO): Nmea in: $CAREV,154945,AUV,2.1.4000*22

2021-12-04T15:49:45.678Z,1638632985.678 [Micromodem](INFO): Nmea in: $CAREV,154945,COPROC,0.20.0.39330*73

2021-12-04T15:49:48.096Z,1638632988.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:50.962Z,1638632990.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:53.758Z,1638632993.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:55.756Z,1638632995.756 [Micromodem](INFO): Nmea in: $CAREV,154955,AUV,2.1.4000*23

2021-12-04T15:49:55.758Z,1638632995.758 [Micromodem](INFO): Nmea in: $CAREV,154955,COPROC,0.20.0.39330*72

2021-12-04T15:49:56.660Z,1638632996.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:49:59.414Z,1638632999.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:02.247Z,1638633002.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:02.710Z,1638633002.710 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T15:50:04.753Z,1638633004.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:05.483Z,1638633005.483 [Micromodem](INFO): Nmea in: $CAREV,155005,AUV,2.1.4000*2E

2021-12-04T15:50:05.854Z,1638633005.854 [Micromodem](INFO): Nmea in: $CAREV,155005,COPROC,0.20.0.39330*7F

2021-12-04T15:50:07.512Z,1638633007.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:10.318Z,1638633010.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:13.147Z,1638633013.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:15.573Z,1638633015.573 [Micromodem](INFO): Nmea in: $CAREV,155015,AUV,2.1.4000*2F

2021-12-04T15:50:15.575Z,1638633015.575 [Micromodem](INFO): Nmea in: $CAREV,155015,COPROC,0.20.0.39330*7E

2021-12-04T15:50:15.996Z,1638633015.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:18.860Z,1638633018.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:21.639Z,1638633021.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:24.500Z,1638633024.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:25.652Z,1638633025.652 [Micromodem](INFO): Nmea in: $CAREV,155025,AUV,2.1.4000*2C

2021-12-04T15:50:25.654Z,1638633025.654 [Micromodem](INFO): Nmea in: $CAREV,155025,COPROC,0.20.0.39330*7D

2021-12-04T15:50:27.280Z,1638633027.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:30.105Z,1638633030.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:32.963Z,1638633032.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:35.756Z,1638633035.756 [Micromodem](INFO): Nmea in: $CAREV,155035,AUV,2.1.4000*2D

2021-12-04T15:50:35.757Z,1638633035.757 [Micromodem](INFO): Nmea in: $CAREV,155035,COPROC,0.20.0.39330*7C

2021-12-04T15:50:35.811Z,1638633035.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:38.667Z,1638633038.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:41.428Z,1638633041.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:44.251Z,1638633044.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:45.480Z,1638633045.480 [Micromodem](INFO): Nmea in: $CAREV,155045,AUV,2.1.4000*2A

2021-12-04T15:50:45.850Z,1638633045.850 [Micromodem](INFO): Nmea in: $CAREV,155045,COPROC,0.20.0.39330*7B

2021-12-04T15:50:47.084Z,1638633047.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:49.904Z,1638633049.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:52.777Z,1638633052.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:55.552Z,1638633055.552 [Micromodem](INFO): Nmea in: $CAREV,155055,AUV,2.1.4000*2B

2021-12-04T15:50:55.553Z,1638633055.553 [Micromodem](INFO): Nmea in: $CAREV,155055,COPROC,0.20.0.39330*7A

2021-12-04T15:50:55.599Z,1638633055.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:50:58.397Z,1638633058.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:01.216Z,1638633061.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:04.047Z,1638633064.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:05.652Z,1638633065.652 [Micromodem](INFO): Nmea in: $CAREV,155105,AUV,2.1.4000*2F

2021-12-04T15:51:05.654Z,1638633065.654 [Micromodem](INFO): Nmea in: $CAREV,155105,COPROC,0.20.0.39330*7E

2021-12-04T15:51:06.903Z,1638633066.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:09.725Z,1638633069.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:12.576Z,1638633072.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:15.360Z,1638633075.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:15.756Z,1638633075.756 [Micromodem](INFO): Nmea in: $CAREV,155115,AUV,2.1.4000*2E

2021-12-04T15:51:15.759Z,1638633075.759 [Micromodem](INFO): Nmea in: $CAREV,155115,COPROC,0.20.0.39330*7F

2021-12-04T15:51:18.182Z,1638633078.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:20.684Z,1638633080.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:23.460Z,1638633083.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:25.861Z,1638633085.861 [Micromodem](INFO): Nmea in: $CAREV,155125,AUV,2.1.4000*2D

2021-12-04T15:51:25.862Z,1638633085.862 [Micromodem](INFO): Nmea in: $CAREV,155125,COPROC,0.20.0.39330*7C

2021-12-04T15:51:26.276Z,1638633086.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:29.095Z,1638633089.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:31.923Z,1638633091.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:34.788Z,1638633094.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:35.543Z,1638633095.543 [Micromodem](INFO): Nmea in: $CAREV,155135,AUV,2.1.4000*2C

2021-12-04T15:51:35.544Z,1638633095.544 [Micromodem](INFO): Nmea in: $CAREV,155135,COPROC,0.20.0.39330*7D

2021-12-04T15:51:37.589Z,1638633097.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:40.411Z,1638633100.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:43.249Z,1638633103.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:45.652Z,1638633105.652 [Micromodem](INFO): Nmea in: $CAREV,155145,AUV,2.1.4000*2B

2021-12-04T15:51:45.654Z,1638633105.654 [Micromodem](INFO): Nmea in: $CAREV,155145,COPROC,0.20.0.39330*7A

2021-12-04T15:51:46.067Z,1638633106.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:48.934Z,1638633108.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:51.744Z,1638633111.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:54.564Z,1638633114.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:51:55.748Z,1638633115.748 [Micromodem](INFO): Nmea in: $CAREV,155155,AUV,2.1.4000*2A

2021-12-04T15:51:55.749Z,1638633115.749 [Micromodem](INFO): Nmea in: $CAREV,155155,COPROC,0.20.0.39330*7B

2021-12-04T15:51:57.373Z,1638633117.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:00.218Z,1638633120.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:03.042Z,1638633123.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:05.852Z,1638633125.852 [Micromodem](INFO): Nmea in: $CAREV,155205,AUV,2.1.4000*2C

2021-12-04T15:52:05.853Z,1638633125.853 [Micromodem](INFO): Nmea in: $CAREV,155205,COPROC,0.20.0.39330*7D

2021-12-04T15:52:05.865Z,1638633125.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:08.747Z,1638633128.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:11.536Z,1638633131.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:14.343Z,1638633134.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:15.543Z,1638633135.543 [Micromodem](INFO): Nmea in: $CAREV,155215,AUV,2.1.4000*2D

2021-12-04T15:52:15.544Z,1638633135.544 [Micromodem](INFO): Nmea in: $CAREV,155215,COPROC,0.20.0.39330*7C

2021-12-04T15:52:17.171Z,1638633137.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:20.003Z,1638633140.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:22.872Z,1638633142.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:25.648Z,1638633145.648 [Micromodem](INFO): Nmea in: $CAREV,155225,AUV,2.1.4000*2E

2021-12-04T15:52:25.663Z,1638633145.663 [Micromodem](INFO): Nmea in: $CAREV,155225,COPROC,0.20.0.39330*7F

2021-12-04T15:52:25.685Z,1638633145.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:28.513Z,1638633148.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:31.310Z,1638633151.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:34.145Z,1638633154.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:35.753Z,1638633155.753 [Micromodem](INFO): Nmea in: $CAREV,155235,AUV,2.1.4000*2F

2021-12-04T15:52:35.754Z,1638633155.754 [Micromodem](INFO): Nmea in: $CAREV,155235,COPROC,0.20.0.39330*7E

2021-12-04T15:52:36.652Z,1638633156.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:39.404Z,1638633159.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:42.219Z,1638633162.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:45.049Z,1638633165.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:45.843Z,1638633165.843 [Micromodem](INFO): Nmea in: $CAREV,155245,AUV,2.1.4000*28

2021-12-04T15:52:45.844Z,1638633165.844 [Micromodem](INFO): Nmea in: $CAREV,155245,COPROC,0.20.0.39330*79

2021-12-04T15:52:47.880Z,1638633167.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:50.741Z,1638633170.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:53.553Z,1638633173.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:55.541Z,1638633175.541 [Micromodem](INFO): Nmea in: $CAREV,155255,AUV,2.1.4000*29

2021-12-04T15:52:55.542Z,1638633175.542 [Micromodem](INFO): Nmea in: $CAREV,155255,COPROC,0.20.0.39330*78

2021-12-04T15:52:56.358Z,1638633176.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:52:59.211Z,1638633179.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:02.022Z,1638633182.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:04.908Z,1638633184.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:05.656Z,1638633185.656 [Micromodem](INFO): Nmea in: $CAREV,155305,AUV,2.1.4000*2D

2021-12-04T15:53:05.660Z,1638633185.660 [Micromodem](INFO): Nmea in: $CAREV,155305,COPROC,0.20.0.39330*7C

2021-12-04T15:53:07.704Z,1638633187.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:10.516Z,1638633190.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:13.328Z,1638633193.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:15.740Z,1638633195.740 [Micromodem](INFO): Nmea in: $CAREV,155315,AUV,2.1.4000*2C

2021-12-04T15:53:15.741Z,1638633195.741 [Micromodem](INFO): Nmea in: $CAREV,155315,COPROC,0.20.0.39330*7D

2021-12-04T15:53:16.156Z,1638633196.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:19.022Z,1638633199.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:21.819Z,1638633201.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:24.695Z,1638633204.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:25.844Z,1638633205.844 [Micromodem](INFO): Nmea in: $CAREV,155325,AUV,2.1.4000*2F

2021-12-04T15:53:25.845Z,1638633205.845 [Micromodem](INFO): Nmea in: $CAREV,155325,COPROC,0.20.0.39330*7E

2021-12-04T15:53:27.509Z,1638633207.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:30.306Z,1638633210.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:33.131Z,1638633213.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:35.538Z,1638633215.538 [Micromodem](INFO): Nmea in: $CAREV,155335,AUV,2.1.4000*2E

2021-12-04T15:53:35.539Z,1638633215.539 [Micromodem](INFO): Nmea in: $CAREV,155335,COPROC,0.20.0.39330*7F

2021-12-04T15:53:35.955Z,1638633215.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:38.824Z,1638633218.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:41.641Z,1638633221.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:44.479Z,1638633224.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:45.644Z,1638633225.644 [Micromodem](INFO): Nmea in: $CAREV,155345,AUV,2.1.4000*29

2021-12-04T15:53:45.646Z,1638633225.646 [Micromodem](INFO): Nmea in: $CAREV,155345,COPROC,0.20.0.39330*78

2021-12-04T15:53:47.264Z,1638633227.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:50.090Z,1638633230.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:52.960Z,1638633232.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:55.741Z,1638633235.741 [Micromodem](INFO): Nmea in: $CAREV,155355,AUV,2.1.4000*28

2021-12-04T15:53:55.743Z,1638633235.743 [Micromodem](INFO): Nmea in: $CAREV,155355,COPROC,0.20.0.39330*79

2021-12-04T15:53:55.764Z,1638633235.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:53:58.651Z,1638633238.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:01.403Z,1638633241.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:04.242Z,1638633244.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:05.834Z,1638633245.834 [Micromodem](INFO): Nmea in: $CAREV,155405,AUV,2.1.4000*2A

2021-12-04T15:54:05.835Z,1638633245.835 [Micromodem](INFO): Nmea in: $CAREV,155405,COPROC,0.20.0.39330*7B

2021-12-04T15:54:07.071Z,1638633247.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:09.892Z,1638633249.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:12.757Z,1638633252.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:15.545Z,1638633255.545 [Micromodem](INFO): Nmea in: $CAREV,155415,AUV,2.1.4000*2B

2021-12-04T15:54:15.547Z,1638633255.547 [Micromodem](INFO): Nmea in: $CAREV,155415,COPROC,0.20.0.39330*7A

2021-12-04T15:54:15.573Z,1638633255.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:18.377Z,1638633258.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:21.203Z,1638633261.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:24.031Z,1638633264.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:25.636Z,1638633265.636 [Micromodem](INFO): Nmea in: $CAREV,155425,AUV,2.1.4000*28

2021-12-04T15:54:25.638Z,1638633265.638 [Micromodem](INFO): Nmea in: $CAREV,155425,COPROC,0.20.0.39330*79

2021-12-04T15:54:26.890Z,1638633266.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:29.702Z,1638633269.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:32.525Z,1638633272.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:35.340Z,1638633275.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:35.736Z,1638633275.736 [Micromodem](INFO): Nmea in: $CAREV,155435,AUV,2.1.4000*29

2021-12-04T15:54:35.737Z,1638633275.737 [Micromodem](INFO): Nmea in: $CAREV,155435,COPROC,0.20.0.39330*78

2021-12-04T15:54:38.178Z,1638633278.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:41.014Z,1638633281.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:43.832Z,1638633283.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:45.845Z,1638633285.845 [Micromodem](INFO): Nmea in: $CAREV,155445,AUV,2.1.4000*2E

2021-12-04T15:54:45.846Z,1638633285.846 [Micromodem](INFO): Nmea in: $CAREV,155445,COPROC,0.20.0.39330*7F

2021-12-04T15:54:46.691Z,1638633286.691 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 3
2021-12-04T15:54:46.702Z,1638633286.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:49.508Z,1638633289.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:52.324Z,1638633292.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:55.135Z,1638633295.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:54:55.543Z,1638633295.543 [Micromodem](INFO): Nmea in: $CAREV,155455,AUV,2.1.4000*2F

2021-12-04T15:54:55.544Z,1638633295.544 [Micromodem](INFO): Nmea in: $CAREV,155455,COPROC,0.20.0.39330*7E

2021-12-04T15:54:57.962Z,1638633297.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:00.839Z,1638633300.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:03.630Z,1638633303.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:05.629Z,1638633305.629 [Micromodem](INFO): Nmea in: $CAREV,155505,AUV,2.1.4000*2B

2021-12-04T15:55:05.630Z,1638633305.630 [Micromodem](INFO): Nmea in: $CAREV,155505,COPROC,0.20.0.39330*7A

2021-12-04T15:55:06.494Z,1638633306.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:09.292Z,1638633309.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:12.104Z,1638633312.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:14.968Z,1638633314.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:15.742Z,1638633315.742 [Micromodem](INFO): Nmea in: $CAREV,155515,AUV,2.1.4000*2A

2021-12-04T15:55:15.743Z,1638633315.743 [Micromodem](INFO): Nmea in: $CAREV,155515,COPROC,0.20.0.39330*7B

2021-12-04T15:55:17.770Z,1638633317.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:20.668Z,1638633320.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:23.440Z,1638633323.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:25.827Z,1638633325.827 [Micromodem](INFO): Nmea in: $CAREV,155525,AUV,2.1.4000*29

2021-12-04T15:55:25.828Z,1638633325.828 [Micromodem](INFO): Nmea in: $CAREV,155525,COPROC,0.20.0.39330*78

2021-12-04T15:55:26.248Z,1638633326.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:29.075Z,1638633329.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:31.903Z,1638633331.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:34.768Z,1638633334.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:35.535Z,1638633335.535 [Micromodem](INFO): Nmea in: $CAREV,155535,AUV,2.1.4000*28

2021-12-04T15:55:35.928Z,1638633335.928 [Micromodem](INFO): Nmea in: $CAREV,155535,COPROC,0.20.0.39330*79

2021-12-04T15:55:37.567Z,1638633337.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:40.390Z,1638633340.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:43.213Z,1638633343.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:45.632Z,1638633345.632 [Micromodem](INFO): Nmea in: $CAREV,155545,AUV,2.1.4000*2F

2021-12-04T15:55:45.634Z,1638633345.634 [Micromodem](INFO): Nmea in: $CAREV,155545,COPROC,0.20.0.39330*7E

2021-12-04T15:55:46.058Z,1638633346.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:48.894Z,1638633348.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:51.727Z,1638633351.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:54.537Z,1638633354.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:55:55.725Z,1638633355.725 [Micromodem](INFO): Nmea in: $CAREV,155555,AUV,2.1.4000*2E

2021-12-04T15:55:55.726Z,1638633355.726 [Micromodem](INFO): Nmea in: $CAREV,155555,COPROC,0.20.0.39330*7F

2021-12-04T15:55:57.361Z,1638633357.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:00.181Z,1638633360.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:03.041Z,1638633363.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:05.823Z,1638633365.823 [Micromodem](INFO): Nmea in: $CAREV,155605,AUV,2.1.4000*28

2021-12-04T15:56:05.824Z,1638633365.824 [Micromodem](INFO): Nmea in: $CAREV,155605,COPROC,0.20.0.39330*79

2021-12-04T15:56:05.845Z,1638633365.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:08.706Z,1638633368.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:11.508Z,1638633371.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:14.324Z,1638633374.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:15.928Z,1638633375.928 [Micromodem](INFO): Nmea in: $CAREV,155615,AUV,2.1.4000*29

2021-12-04T15:56:15.931Z,1638633375.931 [Micromodem](INFO): Nmea in: $CAREV,155615,COPROC,0.20.0.39330*78

2021-12-04T15:56:17.147Z,1638633377.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:19.986Z,1638633379.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:22.836Z,1638633382.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:25.626Z,1638633385.626 [Micromodem](INFO): Nmea in: $CAREV,155625,AUV,2.1.4000*2A

2021-12-04T15:56:25.628Z,1638633385.628 [Micromodem](INFO): Nmea in: $CAREV,155625,COPROC,0.20.0.39330*7B

2021-12-04T15:56:25.649Z,1638633385.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:28.503Z,1638633388.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:31.288Z,1638633391.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:34.144Z,1638633394.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:35.729Z,1638633395.729 [Micromodem](INFO): Nmea in: $CAREV,155635,AUV,2.1.4000*2B

2021-12-04T15:56:35.732Z,1638633395.732 [Micromodem](INFO): Nmea in: $CAREV,155635,COPROC,0.20.0.39330*7A

2021-12-04T15:56:36.977Z,1638633396.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:39.808Z,1638633399.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:42.685Z,1638633402.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:45.432Z,1638633405.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:45.824Z,1638633405.824 [Micromodem](INFO): Nmea in: $CAREV,155645,AUV,2.1.4000*2C

2021-12-04T15:56:45.825Z,1638633405.825 [Micromodem](INFO): Nmea in: $CAREV,155645,COPROC,0.20.0.39330*7D

2021-12-04T15:56:48.254Z,1638633408.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:51.133Z,1638633411.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:53.922Z,1638633413.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:55.924Z,1638633415.924 [Micromodem](INFO): Nmea in: $CAREV,155655,AUV,2.1.4000*2D

2021-12-04T15:56:55.926Z,1638633415.926 [Micromodem](INFO): Nmea in: $CAREV,155655,COPROC,0.20.0.39330*7C

2021-12-04T15:56:56.768Z,1638633416.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:56:59.582Z,1638633419.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:02.394Z,1638633422.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:05.228Z,1638633425.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:05.632Z,1638633425.632 [Micromodem](INFO): Nmea in: $CAREV,155705,AUV,2.1.4000*29

2021-12-04T15:57:05.634Z,1638633425.634 [Micromodem](INFO): Nmea in: $CAREV,155705,COPROC,0.20.0.39330*78

2021-12-04T15:57:08.054Z,1638633428.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:10.915Z,1638633430.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:13.718Z,1638633433.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:15.720Z,1638633435.720 [Micromodem](INFO): Nmea in: $CAREV,155715,AUV,2.1.4000*28

2021-12-04T15:57:15.721Z,1638633435.721 [Micromodem](INFO): Nmea in: $CAREV,155715,COPROC,0.20.0.39330*79

2021-12-04T15:57:16.551Z,1638633436.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:19.367Z,1638633439.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:22.202Z,1638633442.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:25.029Z,1638633445.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:25.820Z,1638633445.820 [Micromodem](INFO): Nmea in: $CAREV,155725,AUV,2.1.4000*2B

2021-12-04T15:57:25.821Z,1638633445.821 [Micromodem](INFO): Nmea in: $CAREV,155725,COPROC,0.20.0.39330*7A

2021-12-04T15:57:27.863Z,1638633447.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:30.726Z,1638633450.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:33.540Z,1638633453.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:35.927Z,1638633455.927 [Micromodem](INFO): Nmea in: $CAREV,155735,AUV,2.1.4000*2A

2021-12-04T15:57:35.928Z,1638633455.928 [Micromodem](INFO): Nmea in: $CAREV,155735,COPROC,0.20.0.39330*7B

2021-12-04T15:57:36.332Z,1638633456.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:39.160Z,1638633459.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:41.987Z,1638633461.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:44.853Z,1638633464.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:45.628Z,1638633465.628 [Micromodem](INFO): Nmea in: $CAREV,155745,AUV,2.1.4000*2D

2021-12-04T15:57:45.629Z,1638633465.629 [Micromodem](INFO): Nmea in: $CAREV,155745,COPROC,0.20.0.39330*7C

2021-12-04T15:57:47.657Z,1638633467.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:49.668Z,1638633469.668 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-12-04T15:57:50.511Z,1638633470.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:53.303Z,1638633473.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:55.720Z,1638633475.720 [Micromodem](INFO): Nmea in: $CAREV,155755,AUV,2.1.4000*2C

2021-12-04T15:57:55.721Z,1638633475.721 [Micromodem](INFO): Nmea in: $CAREV,155755,COPROC,0.20.0.39330*7D

2021-12-04T15:57:56.137Z,1638633476.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:57:58.987Z,1638633478.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:01.797Z,1638633481.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:04.704Z,1638633484.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:05.816Z,1638633485.816 [Micromodem](INFO): Nmea in: $CAREV,155805,AUV,2.1.4000*26

2021-12-04T15:58:05.817Z,1638633485.817 [Micromodem](INFO): Nmea in: $CAREV,155805,COPROC,0.20.0.39330*77

2021-12-04T15:58:07.448Z,1638633487.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:10.271Z,1638633490.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:13.111Z,1638633493.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:15.916Z,1638633495.916 [Micromodem](INFO): Nmea in: $CAREV,155815,AUV,2.1.4000*27

2021-12-04T15:58:15.928Z,1638633495.928 [Micromodem](INFO): Nmea in: $CAREV,155815,COPROC,0.20.0.39330*76

2021-12-04T15:58:15.941Z,1638633495.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:18.798Z,1638633498.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:21.606Z,1638633501.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:24.417Z,1638633504.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:25.616Z,1638633505.616 [Micromodem](INFO): Nmea in: $CAREV,155825,AUV,2.1.4000*24

2021-12-04T15:58:25.618Z,1638633505.618 [Micromodem](INFO): Nmea in: $CAREV,155825,COPROC,0.20.0.39330*75

2021-12-04T15:58:27.270Z,1638633507.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:30.061Z,1638633510.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:32.948Z,1638633512.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:35.714Z,1638633515.714 [Micromodem](INFO): Nmea in: $CAREV,155835,AUV,2.1.4000*25

2021-12-04T15:58:35.715Z,1638633515.715 [Micromodem](INFO): Nmea in: $CAREV,155835,COPROC,0.20.0.39330*74

2021-12-04T15:58:35.737Z,1638633515.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:38.565Z,1638633518.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:41.257Z,1638633521.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:43.811Z,1638633523.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:45.806Z,1638633525.806 [Micromodem](INFO): Nmea in: $CAREV,155845,AUV,2.1.4000*22

2021-12-04T15:58:45.807Z,1638633525.807 [Micromodem](INFO): Nmea in: $CAREV,155845,COPROC,0.20.0.39330*73

2021-12-04T15:58:46.693Z,1638633526.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:49.500Z,1638633529.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:52.292Z,1638633532.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:55.117Z,1638633535.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:58:55.912Z,1638633535.912 [Micromodem](INFO): Nmea in: $CAREV,155855,AUV,2.1.4000*23

2021-12-04T15:58:55.913Z,1638633535.913 [Micromodem](INFO): Nmea in: $CAREV,155855,COPROC,0.20.0.39330*72

2021-12-04T15:58:57.944Z,1638633537.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:00.814Z,1638633540.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:03.605Z,1638633543.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:05.603Z,1638633545.603 [Micromodem](INFO): Nmea in: $CAREV,155905,AUV,2.1.4000*27

2021-12-04T15:59:05.604Z,1638633545.604 [Micromodem](INFO): Nmea in: $CAREV,155905,COPROC,0.20.0.39330*76

2021-12-04T15:59:06.463Z,1638633546.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:09.260Z,1638633549.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:12.078Z,1638633552.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:14.936Z,1638633554.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:15.708Z,1638633555.708 [Micromodem](INFO): Nmea in: $CAREV,155915,AUV,2.1.4000*26

2021-12-04T15:59:15.714Z,1638633555.714 [Micromodem](INFO): Nmea in: $CAREV,155915,COPROC,0.20.0.39330*77

2021-12-04T15:59:17.758Z,1638633557.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:20.585Z,1638633560.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:23.403Z,1638633563.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:25.805Z,1638633565.805 [Micromodem](INFO): Nmea in: $CAREV,155925,AUV,2.1.4000*25

2021-12-04T15:59:25.819Z,1638633565.819 [Micromodem](INFO): Nmea in: $CAREV,155925,COPROC,0.20.0.39330*74

2021-12-04T15:59:26.218Z,1638633566.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:29.074Z,1638633569.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:31.880Z,1638633571.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:34.751Z,1638633574.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:35.905Z,1638633575.905 [Micromodem](INFO): Nmea in: $CAREV,155935,AUV,2.1.4000*24

2021-12-04T15:59:35.906Z,1638633575.906 [Micromodem](INFO): Nmea in: $CAREV,155935,COPROC,0.20.0.39330*75

2021-12-04T15:59:37.619Z,1638633577.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:40.370Z,1638633580.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:43.216Z,1638633583.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:45.604Z,1638633585.604 [Micromodem](INFO): Nmea in: $CAREV,155945,AUV,2.1.4000*23

2021-12-04T15:59:45.605Z,1638633585.605 [Micromodem](INFO): Nmea in: $CAREV,155945,COPROC,0.20.0.39330*72

2021-12-04T15:59:46.016Z,1638633586.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:48.884Z,1638633588.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:51.694Z,1638633591.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:54.516Z,1638633594.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T15:59:55.698Z,1638633595.698 [Micromodem](INFO): Nmea in: $CAREV,155955,AUV,2.1.4000*22

2021-12-04T15:59:55.699Z,1638633595.699 [Micromodem](INFO): Nmea in: $CAREV,155955,COPROC,0.20.0.39330*73

2021-12-04T15:59:57.332Z,1638633597.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:00.155Z,1638633600.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:03.017Z,1638633603.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:05.808Z,1638633605.808 [Micromodem](INFO): Nmea in: $CAREV,160005,AUV,2.1.4000*28

2021-12-04T16:00:05.809Z,1638633605.809 [Micromodem](INFO): Nmea in: $CAREV,160005,COPROC,0.20.0.39330*79

2021-12-04T16:00:05.851Z,1638633605.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:08.710Z,1638633608.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:11.523Z,1638633611.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:14.296Z,1638633614.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:15.900Z,1638633615.900 [Micromodem](INFO): Nmea in: $CAREV,160015,AUV,2.1.4000*29

2021-12-04T16:00:15.901Z,1638633615.901 [Micromodem](INFO): Nmea in: $CAREV,160015,COPROC,0.20.0.39330*78

2021-12-04T16:00:17.134Z,1638633617.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:19.956Z,1638633619.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:22.847Z,1638633622.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:25.605Z,1638633625.605 [Micromodem](INFO): Nmea in: $CAREV,160025,AUV,2.1.4000*2A

2021-12-04T16:00:25.607Z,1638633625.607 [Micromodem](INFO): Nmea in: $CAREV,160025,COPROC,0.20.0.39330*7B

2021-12-04T16:00:25.629Z,1638633625.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:28.479Z,1638633628.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:31.267Z,1638633631.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:34.101Z,1638633634.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:35.695Z,1638633635.695 [Micromodem](INFO): Nmea in: $CAREV,160035,AUV,2.1.4000*2B

2021-12-04T16:00:35.696Z,1638633635.696 [Micromodem](INFO): Nmea in: $CAREV,160035,COPROC,0.20.0.39330*7A

2021-12-04T16:00:36.948Z,1638633636.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:39.787Z,1638633639.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:42.660Z,1638633642.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:45.408Z,1638633645.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:45.818Z,1638633645.818 [Micromodem](INFO): Nmea in: $CAREV,160045,AUV,2.1.4000*2C

2021-12-04T16:00:45.822Z,1638633645.822 [Micromodem](INFO): Nmea in: $CAREV,160045,COPROC,0.20.0.39330*7D

2021-12-04T16:00:48.232Z,1638633648.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:51.060Z,1638633651.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:53.898Z,1638633653.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:55.896Z,1638633655.896 [Micromodem](INFO): Nmea in: $CAREV,160055,AUV,2.1.4000*2D

2021-12-04T16:00:55.898Z,1638633655.898 [Micromodem](INFO): Nmea in: $CAREV,160055,COPROC,0.20.0.39330*7C

2021-12-04T16:00:56.744Z,1638633656.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:00:59.557Z,1638633659.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:02.375Z,1638633662.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:05.217Z,1638633665.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:05.605Z,1638633665.605 [Micromodem](INFO): Nmea in: $CAREV,160105,AUV,2.1.4000*29

2021-12-04T16:01:05.607Z,1638633665.607 [Micromodem](INFO): Nmea in: $CAREV,160105,COPROC,0.20.0.39330*78

2021-12-04T16:01:08.032Z,1638633668.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:10.903Z,1638633670.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:13.708Z,1638633673.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:15.693Z,1638633675.693 [Micromodem](INFO): Nmea in: $CAREV,160115,AUV,2.1.4000*28

2021-12-04T16:01:15.694Z,1638633675.694 [Micromodem](INFO): Nmea in: $CAREV,160115,COPROC,0.20.0.39330*79

2021-12-04T16:01:16.543Z,1638633676.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:19.341Z,1638633679.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:22.168Z,1638633682.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:24.680Z,1638633684.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:25.807Z,1638633685.807 [Micromodem](INFO): Nmea in: $CAREV,160125,AUV,2.1.4000*2B

2021-12-04T16:01:25.808Z,1638633685.808 [Micromodem](INFO): Nmea in: $CAREV,160125,COPROC,0.20.0.39330*7A

2021-12-04T16:01:27.435Z,1638633687.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:30.245Z,1638633690.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:33.080Z,1638633693.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:35.897Z,1638633695.897 [Micromodem](INFO): Nmea in: $CAREV,160135,AUV,2.1.4000*2A

2021-12-04T16:01:35.898Z,1638633695.898 [Micromodem](INFO): Nmea in: $CAREV,160135,COPROC,0.20.0.39330*7B

2021-12-04T16:01:35.910Z,1638633695.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:38.771Z,1638633698.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:41.580Z,1638633701.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:44.387Z,1638633704.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:45.600Z,1638633705.600 [Micromodem](INFO): Nmea in: $CAREV,160145,AUV,2.1.4000*2D

2021-12-04T16:01:45.992Z,1638633705.992 [Micromodem](INFO): Nmea in: $CAREV,160145,COPROC,0.20.0.39330*7C

2021-12-04T16:01:47.214Z,1638633707.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:50.067Z,1638633710.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:52.897Z,1638633712.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:55.692Z,1638633715.692 [Micromodem](INFO): Nmea in: $CAREV,160155,AUV,2.1.4000*2C

2021-12-04T16:01:55.693Z,1638633715.693 [Micromodem](INFO): Nmea in: $CAREV,160155,COPROC,0.20.0.39330*7D

2021-12-04T16:01:55.736Z,1638633715.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:01:58.548Z,1638633718.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:01.363Z,1638633721.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:04.188Z,1638633724.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:05.792Z,1638633725.792 [Micromodem](INFO): Nmea in: $CAREV,160205,AUV,2.1.4000*2A

2021-12-04T16:02:05.793Z,1638633725.793 [Micromodem](INFO): Nmea in: $CAREV,160205,COPROC,0.20.0.39330*7B

2021-12-04T16:02:07.043Z,1638633727.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:09.860Z,1638633729.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:12.737Z,1638633732.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:15.509Z,1638633735.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:15.897Z,1638633735.897 [Micromodem](INFO): Nmea in: $CAREV,160215,AUV,2.1.4000*2B

2021-12-04T16:02:15.899Z,1638633735.899 [Micromodem](INFO): Nmea in: $CAREV,160215,COPROC,0.20.0.39330*7A

2021-12-04T16:02:18.325Z,1638633738.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:21.150Z,1638633741.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:23.990Z,1638633743.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:25.604Z,1638633745.604 [Micromodem](INFO): Nmea in: $CAREV,160225,AUV,2.1.4000*28

2021-12-04T16:02:26.017Z,1638633746.017 [Micromodem](INFO): Nmea in: $CAREV,160225,COPROC,0.20.0.39330*79

2021-12-04T16:02:26.841Z,1638633746.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:29.644Z,1638633749.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:32.501Z,1638633752.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:35.292Z,1638633755.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:35.688Z,1638633755.688 [Micromodem](INFO): Nmea in: $CAREV,160235,AUV,2.1.4000*29

2021-12-04T16:02:35.699Z,1638633755.699 [Micromodem](INFO): Nmea in: $CAREV,160235,COPROC,0.20.0.39330*78

2021-12-04T16:02:38.154Z,1638633758.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:40.981Z,1638633760.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:43.783Z,1638633763.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:45.790Z,1638633765.790 [Micromodem](INFO): Nmea in: $CAREV,160245,AUV,2.1.4000*2E

2021-12-04T16:02:45.791Z,1638633765.791 [Micromodem](INFO): Nmea in: $CAREV,160245,COPROC,0.20.0.39330*7F

2021-12-04T16:02:46.691Z,1638633766.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:49.482Z,1638633769.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:52.272Z,1638633772.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:55.093Z,1638633775.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:02:55.889Z,1638633775.889 [Micromodem](INFO): Nmea in: $CAREV,160255,AUV,2.1.4000*2F

2021-12-04T16:02:55.891Z,1638633775.891 [Micromodem](INFO): Nmea in: $CAREV,160255,COPROC,0.20.0.39330*7E

2021-12-04T16:02:57.919Z,1638633777.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:00.795Z,1638633780.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:03.592Z,1638633783.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:06.027Z,1638633786.027 [Micromodem](INFO): Nmea in: $CAREV,160305,AUV,2.1.4000*2B

2021-12-04T16:03:06.028Z,1638633786.028 [Micromodem](INFO): Nmea in: $CAREV,160305,COPROC,0.20.0.39330*7A

2021-12-04T16:03:06.399Z,1638633786.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:09.231Z,1638633789.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:12.056Z,1638633792.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:14.906Z,1638633794.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:15.691Z,1638633795.691 [Micromodem](INFO): Nmea in: $CAREV,160315,AUV,2.1.4000*2A

2021-12-04T16:03:15.692Z,1638633795.692 [Micromodem](INFO): Nmea in: $CAREV,160315,COPROC,0.20.0.39330*7B

2021-12-04T16:03:17.730Z,1638633797.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:20.593Z,1638633800.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:23.386Z,1638633803.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:25.779Z,1638633805.779 [Micromodem](INFO): Nmea in: $CAREV,160325,AUV,2.1.4000*29

2021-12-04T16:03:25.780Z,1638633805.780 [Micromodem](INFO): Nmea in: $CAREV,160325,COPROC,0.20.0.39330*78

2021-12-04T16:03:26.212Z,1638633806.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:29.022Z,1638633809.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:31.880Z,1638633811.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:34.714Z,1638633814.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:35.884Z,1638633815.884 [Micromodem](INFO): Nmea in: $CAREV,160335,AUV,2.1.4000*28

2021-12-04T16:03:35.886Z,1638633815.886 [Micromodem](INFO): Nmea in: $CAREV,160335,COPROC,0.20.0.39330*79

2021-12-04T16:03:37.516Z,1638633817.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:40.339Z,1638633820.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:43.174Z,1638633823.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:45.980Z,1638633825.980 [Micromodem](INFO): Nmea in: $CAREV,160345,AUV,2.1.4000*2F

2021-12-04T16:03:45.981Z,1638633825.981 [Micromodem](INFO): Nmea in: $CAREV,160345,COPROC,0.20.0.39330*7E

2021-12-04T16:03:45.993Z,1638633825.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:48.863Z,1638633828.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:51.674Z,1638633831.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:54.513Z,1638633834.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:03:55.684Z,1638633835.684 [Micromodem](INFO): Nmea in: $CAREV,160355,AUV,2.1.4000*2E

2021-12-04T16:03:55.685Z,1638633835.685 [Micromodem](INFO): Nmea in: $CAREV,160355,COPROC,0.20.0.39330*7F

2021-12-04T16:03:57.312Z,1638633837.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:00.140Z,1638633840.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:03.001Z,1638633843.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:05.776Z,1638633845.776 [Micromodem](INFO): Nmea in: $CAREV,160405,AUV,2.1.4000*2C

2021-12-04T16:04:05.777Z,1638633845.777 [Micromodem](INFO): Nmea in: $CAREV,160405,COPROC,0.20.0.39330*7D

2021-12-04T16:04:05.838Z,1638633845.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:08.687Z,1638633848.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:11.482Z,1638633851.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:14.271Z,1638633854.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:15.881Z,1638633855.881 [Micromodem](INFO): Nmea in: $CAREV,160415,AUV,2.1.4000*2D

2021-12-04T16:04:15.882Z,1638633855.882 [Micromodem](INFO): Nmea in: $CAREV,160415,COPROC,0.20.0.39330*7C

2021-12-04T16:04:17.100Z,1638633857.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:19.955Z,1638633859.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:22.800Z,1638633862.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:25.602Z,1638633865.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:25.997Z,1638633865.997 [Micromodem](INFO): Nmea in: $CAREV,160425,AUV,2.1.4000*2E

2021-12-04T16:04:25.998Z,1638633865.998 [Micromodem](INFO): Nmea in: $CAREV,160425,COPROC,0.20.0.39330*7F

2021-12-04T16:04:28.472Z,1638633868.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:31.249Z,1638633871.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:34.087Z,1638633874.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:35.673Z,1638633875.673 [Micromodem](INFO): Nmea in: $CAREV,160435,AUV,2.1.4000*2F

2021-12-04T16:04:35.674Z,1638633875.674 [Micromodem](INFO): Nmea in: $CAREV,160435,COPROC,0.20.0.39330*7E

2021-12-04T16:04:36.921Z,1638633876.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:39.739Z,1638633879.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:42.590Z,1638633882.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:45.384Z,1638633885.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:45.777Z,1638633885.777 [Micromodem](INFO): Nmea in: $CAREV,160445,AUV,2.1.4000*28

2021-12-04T16:04:45.779Z,1638633885.779 [Micromodem](INFO): Nmea in: $CAREV,160445,COPROC,0.20.0.39330*79

2021-12-04T16:04:48.227Z,1638633888.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:51.036Z,1638633891.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:53.869Z,1638633893.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:55.870Z,1638633895.870 [Micromodem](INFO): Nmea in: $CAREV,160455,AUV,2.1.4000*29

2021-12-04T16:04:55.872Z,1638633895.872 [Micromodem](INFO): Nmea in: $CAREV,160455,COPROC,0.20.0.39330*78

2021-12-04T16:04:56.736Z,1638633896.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:04:59.553Z,1638633899.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:02.352Z,1638633902.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:05.194Z,1638633905.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:06.047Z,1638633906.047 [Micromodem](INFO): Nmea in: $CAREV,160505,AUV,2.1.4000*2D

2021-12-04T16:05:06.048Z,1638633906.048 [Micromodem](INFO): Nmea in: $CAREV,160505,COPROC,0.20.0.39330*7C

2021-12-04T16:05:08.007Z,1638633908.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:08.477Z,1638633908.477 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T16:05:10.868Z,1638633910.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:13.684Z,1638633913.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:15.679Z,1638633915.679 [Micromodem](INFO): Nmea in: $CAREV,160515,AUV,2.1.4000*2C

2021-12-04T16:05:15.680Z,1638633915.680 [Micromodem](INFO): Nmea in: $CAREV,160515,COPROC,0.20.0.39330*7D

2021-12-04T16:05:16.513Z,1638633916.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:19.324Z,1638633919.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:22.163Z,1638633922.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:24.578Z,1638633924.578 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:05:25.000Z,1638633925.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:25.777Z,1638633925.777 [Micromodem](INFO): Nmea in: $CAREV,160525,AUV,2.1.4000*2F

2021-12-04T16:05:25.778Z,1638633925.778 [Micromodem](INFO): Nmea in: $CAREV,160525,COPROC,0.20.0.39330*7E

2021-12-04T16:05:27.819Z,1638633927.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:28.668Z,1638633928.668 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:05:30.688Z,1638633930.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:33.496Z,1638633933.496 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:05:33.506Z,1638633933.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:35.874Z,1638633935.874 [Micromodem](INFO): Nmea in: $CAREV,160535,AUV,2.1.4000*2E

2021-12-04T16:05:35.875Z,1638633935.875 [Micromodem](INFO): Nmea in: $CAREV,160535,COPROC,0.20.0.39330*7F

2021-12-04T16:05:36.299Z,1638633936.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:36.713Z,1638633936.713 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T16:05:38.741Z,1638633938.741 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:05:39.131Z,1638633939.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:41.963Z,1638633941.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:44.801Z,1638633944.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:46.082Z,1638633946.082 [Micromodem](INFO): Nmea in: $CAREV,160545,AUV,2.1.4000*29

2021-12-04T16:05:46.083Z,1638633946.083 [Micromodem](INFO): Nmea in: $CAREV,160545,COPROC,0.20.0.39330*78

2021-12-04T16:05:47.639Z,1638633947.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:50.471Z,1638633950.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:53.270Z,1638633953.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:53.660Z,1638633953.660 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T16:05:55.671Z,1638633955.671 [Micromodem](INFO): Nmea in: $CAREV,160555,AUV,2.1.4000*28

2021-12-04T16:05:55.672Z,1638633955.672 [Micromodem](INFO): Nmea in: $CAREV,160555,COPROC,0.20.0.39330*79

2021-12-04T16:05:56.094Z,1638633956.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:05:58.942Z,1638633958.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:01.755Z,1638633961.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:04.642Z,1638633964.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:05.772Z,1638633965.772 [Micromodem](INFO): Nmea in: $CAREV,160605,AUV,2.1.4000*2E

2021-12-04T16:06:05.773Z,1638633965.773 [Micromodem](INFO): Nmea in: $CAREV,160605,COPROC,0.20.0.39330*7F

2021-12-04T16:06:07.394Z,1638633967.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:10.221Z,1638633970.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:13.065Z,1638633973.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:15.869Z,1638633975.869 [Micromodem](INFO): Nmea in: $CAREV,160615,AUV,2.1.4000*2F

2021-12-04T16:06:15.871Z,1638633975.871 [Micromodem](INFO): Nmea in: $CAREV,160615,COPROC,0.20.0.39330*7E

2021-12-04T16:06:15.883Z,1638633975.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:18.764Z,1638633978.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:21.549Z,1638633981.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:24.367Z,1638633984.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:25.973Z,1638633985.973 [Micromodem](INFO): Nmea in: $CAREV,160625,AUV,2.1.4000*2C

2021-12-04T16:06:25.975Z,1638633985.975 [Micromodem](INFO): Nmea in: $CAREV,160625,COPROC,0.20.0.39330*7D

2021-12-04T16:06:27.195Z,1638633987.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:30.034Z,1638633990.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:32.881Z,1638633992.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:35.675Z,1638633995.675 [Micromodem](INFO): Nmea in: $CAREV,160635,AUV,2.1.4000*2D

2021-12-04T16:06:35.677Z,1638633995.677 [Micromodem](INFO): Nmea in: $CAREV,160635,COPROC,0.20.0.39330*7C

2021-12-04T16:06:35.720Z,1638633995.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:38.556Z,1638633998.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:41.352Z,1638634001.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:44.168Z,1638634004.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:45.773Z,1638634005.773 [Micromodem](INFO): Nmea in: $CAREV,160645,AUV,2.1.4000*2A

2021-12-04T16:06:45.774Z,1638634005.774 [Micromodem](INFO): Nmea in: $CAREV,160645,COPROC,0.20.0.39330*7B

2021-12-04T16:06:47.032Z,1638634007.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:49.845Z,1638634009.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:52.690Z,1638634012.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:55.504Z,1638634015.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:06:55.868Z,1638634015.868 [Micromodem](INFO): Nmea in: $CAREV,160655,AUV,2.1.4000*2B

2021-12-04T16:06:55.870Z,1638634015.870 [Micromodem](INFO): Nmea in: $CAREV,160655,COPROC,0.20.0.39330*7A

2021-12-04T16:06:58.317Z,1638634018.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:01.173Z,1638634021.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:03.960Z,1638634023.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:05.968Z,1638634025.968 [Micromodem](INFO): Nmea in: $CAREV,160705,AUV,2.1.4000*2F

2021-12-04T16:07:05.969Z,1638634025.969 [Micromodem](INFO): Nmea in: $CAREV,160705,COPROC,0.20.0.39330*7E

2021-12-04T16:07:06.832Z,1638634026.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:09.638Z,1638634029.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:12.485Z,1638634032.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:15.268Z,1638634035.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:15.681Z,1638634035.681 [Micromodem](INFO): Nmea in: $CAREV,160715,AUV,2.1.4000*2E

2021-12-04T16:07:15.683Z,1638634035.683 [Micromodem](INFO): Nmea in: $CAREV,160715,COPROC,0.20.0.39330*7F

2021-12-04T16:07:18.099Z,1638634038.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:20.949Z,1638634040.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:23.770Z,1638634043.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:25.760Z,1638634045.760 [Micromodem](INFO): Nmea in: $CAREV,160725,AUV,2.1.4000*2D

2021-12-04T16:07:25.761Z,1638634045.761 [Micromodem](INFO): Nmea in: $CAREV,160726,COPROC,0.20.0.39330*7F

2021-12-04T16:07:26.735Z,1638634046.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:29.443Z,1638634049.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:32.241Z,1638634052.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:35.079Z,1638634055.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:35.876Z,1638634055.876 [Micromodem](INFO): Nmea in: $CAREV,160736,AUV,2.1.4000*2F

2021-12-04T16:07:35.882Z,1638634055.882 [Micromodem](INFO): Nmea in: $CAREV,160736,COPROC,0.20.0.39330*7E

2021-12-04T16:07:37.898Z,1638634057.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:40.777Z,1638634060.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:43.601Z,1638634063.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:45.960Z,1638634065.960 [Micromodem](INFO): Nmea in: $CAREV,160746,AUV,2.1.4000*28

2021-12-04T16:07:45.961Z,1638634065.961 [Micromodem](INFO): Nmea in: $CAREV,160746,COPROC,0.20.0.39330*79

2021-12-04T16:07:46.379Z,1638634066.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:49.230Z,1638634069.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:52.047Z,1638634072.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:54.884Z,1638634074.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:07:55.680Z,1638634075.680 [Micromodem](INFO): Nmea in: $CAREV,160756,AUV,2.1.4000*29

2021-12-04T16:07:55.681Z,1638634075.681 [Micromodem](INFO): Nmea in: $CAREV,160756,COPROC,0.20.0.39330*78

2021-12-04T16:07:57.705Z,1638634077.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:00.529Z,1638634080.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:03.343Z,1638634083.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:05.761Z,1638634085.761 [Micromodem](INFO): Nmea in: $CAREV,160806,AUV,2.1.4000*23

2021-12-04T16:08:05.762Z,1638634085.762 [Micromodem](INFO): Nmea in: $CAREV,160806,COPROC,0.20.0.39330*72

2021-12-04T16:08:06.176Z,1638634086.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:08.661Z,1638634088.661 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T16:08:08.683Z,1638634088.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:11.446Z,1638634091.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:14.250Z,1638634094.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:15.861Z,1638634095.861 [Micromodem](INFO): Nmea in: $CAREV,160816,AUV,2.1.4000*22

2021-12-04T16:08:15.862Z,1638634095.862 [Micromodem](INFO): Nmea in: $CAREV,160816,COPROC,0.20.0.39330*73

2021-12-04T16:08:17.079Z,1638634097.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:18.695Z,1638634098.695 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T16:08:19.917Z,1638634099.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:22.769Z,1638634102.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:25.583Z,1638634105.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:25.957Z,1638634105.957 [Micromodem](INFO): Nmea in: $CAREV,160826,AUV,2.1.4000*21

2021-12-04T16:08:25.959Z,1638634105.959 [Micromodem](INFO): Nmea in: $CAREV,160826,COPROC,0.20.0.39330*70

2021-12-04T16:08:28.422Z,1638634108.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:31.240Z,1638634111.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:34.052Z,1638634114.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:36.060Z,1638634116.060 [Micromodem](INFO): Nmea in: $CAREV,160836,AUV,2.1.4000*20

2021-12-04T16:08:36.061Z,1638634116.061 [Micromodem](INFO): Nmea in: $CAREV,160836,COPROC,0.20.0.39330*71

2021-12-04T16:08:36.921Z,1638634116.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:38.916Z,1638634118.916 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T16:08:39.714Z,1638634119.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:42.548Z,1638634122.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:45.381Z,1638634125.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:45.756Z,1638634125.756 [Micromodem](INFO): Nmea in: $CAREV,160846,AUV,2.1.4000*27

2021-12-04T16:08:45.757Z,1638634125.757 [Micromodem](INFO): Nmea in: $CAREV,160846,COPROC,0.20.0.39330*76

2021-12-04T16:08:48.197Z,1638634128.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:50.702Z,1638634130.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:53.486Z,1638634133.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:55.862Z,1638634135.862 [Micromodem](INFO): Nmea in: $CAREV,160856,AUV,2.1.4000*26

2021-12-04T16:08:55.863Z,1638634135.863 [Micromodem](INFO): Nmea in: $CAREV,160856,COPROC,0.20.0.39330*77

2021-12-04T16:08:56.288Z,1638634136.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:58.718Z,1638634138.718 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T16:08:58.718Z,1638634138.718 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T16:08:58.718Z,1638634138.718 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T16:08:58.794Z,1638634138.794 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T16:08:59.158Z,1638634139.158 [RDI_Pathfinder](INFO): Powering down
2021-12-04T16:08:59.176Z,1638634139.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:08:59.996Z,1638634139.996 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T16:08:59.996Z,1638634139.996 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T16:09:01.924Z,1638634141.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:04.765Z,1638634144.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:05.956Z,1638634145.956 [Micromodem](INFO): Nmea in: $CAREV,160906,AUV,2.1.4000*22

2021-12-04T16:09:05.957Z,1638634145.957 [Micromodem](INFO): Nmea in: $CAREV,160906,COPROC,0.20.0.39330*73

2021-12-04T16:09:07.589Z,1638634147.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:10.407Z,1638634150.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:13.256Z,1638634153.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:16.075Z,1638634156.075 [Micromodem](INFO): Nmea in: $CAREV,160916,AUV,2.1.4000*23

2021-12-04T16:09:16.078Z,1638634156.078 [Micromodem](INFO): Nmea in: $CAREV,160916,COPROC,0.20.0.39330*72

2021-12-04T16:09:16.090Z,1638634156.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:18.897Z,1638634158.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:21.757Z,1638634161.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:24.582Z,1638634164.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:25.763Z,1638634165.763 [Micromodem](INFO): Nmea in: $CAREV,160926,AUV,2.1.4000*20

2021-12-04T16:09:25.764Z,1638634165.764 [Micromodem](INFO): Nmea in: $CAREV,160926,COPROC,0.20.0.39330*71

2021-12-04T16:09:27.397Z,1638634167.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:30.208Z,1638634170.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:33.030Z,1638634173.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:35.849Z,1638634175.849 [Micromodem](INFO): Nmea in: $CAREV,160936,AUV,2.1.4000*21

2021-12-04T16:09:35.850Z,1638634175.850 [Micromodem](INFO): Nmea in: $CAREV,160936,COPROC,0.20.0.39330*70

2021-12-04T16:09:35.862Z,1638634175.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:38.755Z,1638634178.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:41.534Z,1638634181.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:44.463Z,1638634184.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:46.025Z,1638634186.025 [Micromodem](INFO): Nmea in: $CAREV,160946,AUV,2.1.4000*26

2021-12-04T16:09:46.035Z,1638634186.035 [Micromodem](INFO): Nmea in: $CAREV,160946,COPROC,0.20.0.39330*77

2021-12-04T16:09:47.176Z,1638634187.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:50.009Z,1638634190.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:52.844Z,1638634192.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:55.694Z,1638634195.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:09:56.058Z,1638634196.058 [Micromodem](INFO): Nmea in: $CAREV,160956,AUV,2.1.4000*27

2021-12-04T16:09:56.061Z,1638634196.061 [Micromodem](INFO): Nmea in: $CAREV,160956,COPROC,0.20.0.39330*76

2021-12-04T16:09:58.526Z,1638634198.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:01.317Z,1638634201.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:04.144Z,1638634204.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:05.745Z,1638634205.745 [Micromodem](INFO): Nmea in: $CAREV,161006,AUV,2.1.4000*2A

2021-12-04T16:10:05.746Z,1638634205.746 [Micromodem](INFO): Nmea in: $CAREV,161006,COPROC,0.20.0.39330*7B

2021-12-04T16:10:06.972Z,1638634206.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:09.827Z,1638634209.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:12.662Z,1638634212.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:15.499Z,1638634215.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:15.844Z,1638634215.844 [Micromodem](INFO): Nmea in: $CAREV,161016,AUV,2.1.4000*2B

2021-12-04T16:10:15.846Z,1638634215.846 [Micromodem](INFO): Nmea in: $CAREV,161016,COPROC,0.20.0.39330*7A

2021-12-04T16:10:18.284Z,1638634218.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:21.111Z,1638634221.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:23.933Z,1638634223.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:25.943Z,1638634225.943 [Micromodem](INFO): Nmea in: $CAREV,161026,AUV,2.1.4000*28

2021-12-04T16:10:25.944Z,1638634225.944 [Micromodem](INFO): Nmea in: $CAREV,161026,COPROC,0.20.0.39330*79

2021-12-04T16:10:26.790Z,1638634226.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:29.645Z,1638634229.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:32.499Z,1638634232.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:35.248Z,1638634235.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:36.055Z,1638634236.055 [Micromodem](INFO): Nmea in: $CAREV,161036,AUV,2.1.4000*29

2021-12-04T16:10:36.056Z,1638634236.056 [Micromodem](INFO): Nmea in: $CAREV,161036,COPROC,0.20.0.39330*78

2021-12-04T16:10:38.074Z,1638634238.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:40.902Z,1638634240.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:43.767Z,1638634243.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:45.741Z,1638634245.741 [Micromodem](INFO): Nmea in: $CAREV,161046,AUV,2.1.4000*2E

2021-12-04T16:10:45.742Z,1638634245.742 [Micromodem](INFO): Nmea in: $CAREV,161046,COPROC,0.20.0.39330*7F

2021-12-04T16:10:46.589Z,1638634246.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:49.391Z,1638634249.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:52.220Z,1638634252.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:55.053Z,1638634255.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:10:55.839Z,1638634255.839 [Micromodem](INFO): Nmea in: $CAREV,161056,AUV,2.1.4000*2F

2021-12-04T16:10:55.840Z,1638634255.840 [Micromodem](INFO): Nmea in: $CAREV,161056,COPROC,0.20.0.39330*7E

2021-12-04T16:10:57.875Z,1638634257.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:00.745Z,1638634260.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:03.539Z,1638634263.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:05.943Z,1638634265.943 [Micromodem](INFO): Nmea in: $CAREV,161106,AUV,2.1.4000*2B

2021-12-04T16:11:05.944Z,1638634265.944 [Micromodem](INFO): Nmea in: $CAREV,161106,COPROC,0.20.0.39330*7A

2021-12-04T16:11:06.421Z,1638634266.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:09.212Z,1638634269.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:12.012Z,1638634272.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:14.523Z,1638634274.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:16.039Z,1638634276.039 [Micromodem](INFO): Nmea in: $CAREV,161116,AUV,2.1.4000*2A

2021-12-04T16:11:16.040Z,1638634276.040 [Micromodem](INFO): Nmea in: $CAREV,161116,COPROC,0.20.0.39330*7B

2021-12-04T16:11:17.275Z,1638634277.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:20.091Z,1638634280.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:22.924Z,1638634282.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:25.737Z,1638634285.737 [Micromodem](INFO): Nmea in: $CAREV,161126,AUV,2.1.4000*29

2021-12-04T16:11:25.738Z,1638634285.738 [Micromodem](INFO): Nmea in: $CAREV,161126,COPROC,0.20.0.39330*78

2021-12-04T16:11:25.783Z,1638634285.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:28.610Z,1638634288.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:31.405Z,1638634291.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:34.239Z,1638634294.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:35.835Z,1638634295.835 [Micromodem](INFO): Nmea in: $CAREV,161136,AUV,2.1.4000*28

2021-12-04T16:11:35.836Z,1638634295.836 [Micromodem](INFO): Nmea in: $CAREV,161136,COPROC,0.20.0.39330*79

2021-12-04T16:11:37.065Z,1638634297.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:39.887Z,1638634299.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:42.755Z,1638634302.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:45.562Z,1638634305.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:45.949Z,1638634305.949 [Micromodem](INFO): Nmea in: $CAREV,161146,AUV,2.1.4000*2F

2021-12-04T16:11:45.951Z,1638634305.951 [Micromodem](INFO): Nmea in: $CAREV,161146,COPROC,0.20.0.39330*7E

2021-12-04T16:11:48.463Z,1638634308.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:51.200Z,1638634311.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:54.031Z,1638634314.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:56.036Z,1638634316.036 [Micromodem](INFO): Nmea in: $CAREV,161156,AUV,2.1.4000*2E

2021-12-04T16:11:56.037Z,1638634316.037 [Micromodem](INFO): Nmea in: $CAREV,161156,COPROC,0.20.0.39330*7F

2021-12-04T16:11:56.860Z,1638634316.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:11:59.703Z,1638634319.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:02.544Z,1638634322.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:05.352Z,1638634325.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:05.737Z,1638634325.737 [Micromodem](INFO): Nmea in: $CAREV,161206,AUV,2.1.4000*28

2021-12-04T16:12:05.738Z,1638634325.738 [Micromodem](INFO): Nmea in: $CAREV,161206,COPROC,0.20.0.39330*79

2021-12-04T16:12:08.171Z,1638634328.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:11.020Z,1638634331.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:13.853Z,1638634333.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:15.836Z,1638634335.836 [Micromodem](INFO): Nmea in: $CAREV,161216,AUV,2.1.4000*29

2021-12-04T16:12:15.838Z,1638634335.838 [Micromodem](INFO): Nmea in: $CAREV,161216,COPROC,0.20.0.39330*78

2021-12-04T16:12:16.686Z,1638634336.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:19.505Z,1638634339.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:22.331Z,1638634342.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:25.136Z,1638634345.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:25.948Z,1638634345.948 [Micromodem](INFO): Nmea in: $CAREV,161226,AUV,2.1.4000*2A

2021-12-04T16:12:25.949Z,1638634345.949 [Micromodem](INFO): Nmea in: $CAREV,161226,COPROC,0.20.0.39330*7B

2021-12-04T16:12:27.968Z,1638634347.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:30.815Z,1638634350.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:33.635Z,1638634353.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:36.033Z,1638634356.033 [Micromodem](INFO): Nmea in: $CAREV,161236,AUV,2.1.4000*2B

2021-12-04T16:12:36.034Z,1638634356.034 [Micromodem](INFO): Nmea in: $CAREV,161236,COPROC,0.20.0.39330*7A

2021-12-04T16:12:36.519Z,1638634356.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:39.274Z,1638634359.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:42.107Z,1638634362.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:44.943Z,1638634364.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:45.741Z,1638634365.741 [Micromodem](INFO): Nmea in: $CAREV,161246,AUV,2.1.4000*2C

2021-12-04T16:12:45.742Z,1638634365.742 [Micromodem](INFO): Nmea in: $CAREV,161246,COPROC,0.20.0.39330*7D

2021-12-04T16:12:47.769Z,1638634367.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:50.633Z,1638634370.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:53.448Z,1638634373.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:55.836Z,1638634375.836 [Micromodem](INFO): Nmea in: $CAREV,161256,AUV,2.1.4000*2D

2021-12-04T16:12:55.837Z,1638634375.837 [Micromodem](INFO): Nmea in: $CAREV,161256,COPROC,0.20.0.39330*7C

2021-12-04T16:12:56.253Z,1638634376.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:12:59.085Z,1638634379.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:01.903Z,1638634381.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:04.807Z,1638634384.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:05.937Z,1638634385.937 [Micromodem](INFO): Nmea in: $CAREV,161306,AUV,2.1.4000*29

2021-12-04T16:13:05.938Z,1638634385.938 [Micromodem](INFO): Nmea in: $CAREV,161306,COPROC,0.20.0.39330*78

2021-12-04T16:13:07.575Z,1638634387.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:10.475Z,1638634390.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:13.215Z,1638634393.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:16.026Z,1638634396.026 [Micromodem](INFO): Nmea in: $CAREV,161316,AUV,2.1.4000*28

2021-12-04T16:13:16.027Z,1638634396.027 [Micromodem](INFO): Nmea in: $CAREV,161316,COPROC,0.20.0.39330*79

2021-12-04T16:13:16.039Z,1638634396.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:18.891Z,1638634398.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:21.715Z,1638634401.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:24.576Z,1638634404.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:25.739Z,1638634405.739 [Micromodem](INFO): Nmea in: $CAREV,161326,AUV,2.1.4000*2B

2021-12-04T16:13:25.740Z,1638634405.740 [Micromodem](INFO): Nmea in: $CAREV,161326,COPROC,0.20.0.39330*7A

2021-12-04T16:13:27.356Z,1638634407.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:30.183Z,1638634410.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:33.011Z,1638634413.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:35.823Z,1638634415.823 [Micromodem](INFO): Nmea in: $CAREV,161336,AUV,2.1.4000*2A

2021-12-04T16:13:35.824Z,1638634415.824 [Micromodem](INFO): Nmea in: $CAREV,161336,COPROC,0.20.0.39330*7B

2021-12-04T16:13:35.867Z,1638634415.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:38.696Z,1638634418.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:41.503Z,1638634421.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:44.384Z,1638634424.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:45.923Z,1638634425.923 [Micromodem](INFO): Nmea in: $CAREV,161346,AUV,2.1.4000*2D

2021-12-04T16:13:45.924Z,1638634425.924 [Micromodem](INFO): Nmea in: $CAREV,161346,COPROC,0.20.0.39330*7C

2021-12-04T16:13:47.167Z,1638634427.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:49.984Z,1638634429.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:52.829Z,1638634432.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:55.665Z,1638634435.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:13:56.037Z,1638634436.037 [Micromodem](INFO): Nmea in: $CAREV,161356,AUV,2.1.4000*2C

2021-12-04T16:13:56.039Z,1638634436.039 [Micromodem](INFO): Nmea in: $CAREV,161356,COPROC,0.20.0.39330*7D

2021-12-04T16:13:58.538Z,1638634438.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:01.292Z,1638634441.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:04.116Z,1638634444.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:05.730Z,1638634445.730 [Micromodem](INFO): Nmea in: $CAREV,161406,AUV,2.1.4000*2E

2021-12-04T16:14:06.128Z,1638634446.128 [Micromodem](INFO): Nmea in: $CAREV,161406,COPROC,0.20.0.39330*7F

2021-12-04T16:14:06.948Z,1638634446.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:09.785Z,1638634449.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:12.635Z,1638634452.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:15.464Z,1638634455.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:15.819Z,1638634455.819 [Micromodem](INFO): Nmea in: $CAREV,161416,AUV,2.1.4000*2F

2021-12-04T16:14:15.820Z,1638634455.820 [Micromodem](INFO): Nmea in: $CAREV,161416,COPROC,0.20.0.39330*7E

2021-12-04T16:14:18.264Z,1638634458.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:21.088Z,1638634461.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:23.937Z,1638634463.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:25.927Z,1638634465.927 [Micromodem](INFO): Nmea in: $CAREV,161426,AUV,2.1.4000*2C

2021-12-04T16:14:25.928Z,1638634465.928 [Micromodem](INFO): Nmea in: $CAREV,161426,COPROC,0.20.0.39330*7D

2021-12-04T16:14:26.785Z,1638634466.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:29.594Z,1638634469.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:32.461Z,1638634472.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:35.222Z,1638634475.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:36.019Z,1638634476.019 [Micromodem](INFO): Nmea in: $CAREV,161436,AUV,2.1.4000*2D

2021-12-04T16:14:36.020Z,1638634476.020 [Micromodem](INFO): Nmea in: $CAREV,161436,COPROC,0.20.0.39330*7C

2021-12-04T16:14:38.078Z,1638634478.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:40.893Z,1638634480.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:43.719Z,1638634483.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:46.120Z,1638634486.120 [Micromodem](INFO): Nmea in: $CAREV,161446,AUV,2.1.4000*2A

2021-12-04T16:14:46.121Z,1638634486.121 [Micromodem](INFO): Nmea in: $CAREV,161446,COPROC,0.20.0.39330*7B

2021-12-04T16:14:46.588Z,1638634486.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:49.367Z,1638634489.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:52.216Z,1638634492.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:55.020Z,1638634495.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:14:55.815Z,1638634495.815 [Micromodem](INFO): Nmea in: $CAREV,161456,AUV,2.1.4000*2B

2021-12-04T16:14:55.816Z,1638634495.816 [Micromodem](INFO): Nmea in: $CAREV,161456,COPROC,0.20.0.39330*7A

2021-12-04T16:14:57.856Z,1638634497.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:00.730Z,1638634500.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:03.528Z,1638634503.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:05.921Z,1638634505.921 [Micromodem](INFO): Nmea in: $CAREV,161506,AUV,2.1.4000*2F

2021-12-04T16:15:05.922Z,1638634505.922 [Micromodem](INFO): Nmea in: $CAREV,161506,COPROC,0.20.0.39330*7E

2021-12-04T16:15:06.383Z,1638634506.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:09.159Z,1638634509.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:12.008Z,1638634512.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:14.535Z,1638634514.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:16.020Z,1638634516.020 [Micromodem](INFO): Nmea in: $CAREV,161516,AUV,2.1.4000*2E

2021-12-04T16:15:16.021Z,1638634516.021 [Micromodem](INFO): Nmea in: $CAREV,161516,COPROC,0.20.0.39330*7F

2021-12-04T16:15:17.240Z,1638634517.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:20.072Z,1638634520.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:22.900Z,1638634522.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:25.754Z,1638634525.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:26.122Z,1638634526.122 [Micromodem](INFO): Nmea in: $CAREV,161526,AUV,2.1.4000*2D

2021-12-04T16:15:26.124Z,1638634526.124 [Micromodem](INFO): Nmea in: $CAREV,161526,COPROC,0.20.0.39330*7C

2021-12-04T16:15:28.582Z,1638634528.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:31.384Z,1638634531.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:34.211Z,1638634534.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:35.812Z,1638634535.812 [Micromodem](INFO): Nmea in: $CAREV,161536,AUV,2.1.4000*2C

2021-12-04T16:15:35.813Z,1638634535.813 [Micromodem](INFO): Nmea in: $CAREV,161536,COPROC,0.20.0.39330*7D

2021-12-04T16:15:37.045Z,1638634537.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:39.867Z,1638634539.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:42.755Z,1638634542.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:45.530Z,1638634545.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:45.929Z,1638634545.929 [Micromodem](INFO): Nmea in: $CAREV,161546,AUV,2.1.4000*2B

2021-12-04T16:15:45.931Z,1638634545.931 [Micromodem](INFO): Nmea in: $CAREV,161546,COPROC,0.20.0.39330*7A

2021-12-04T16:15:48.460Z,1638634548.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:51.174Z,1638634551.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:54.019Z,1638634554.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:56.013Z,1638634556.013 [Micromodem](INFO): Nmea in: $CAREV,161556,AUV,2.1.4000*2A

2021-12-04T16:15:56.014Z,1638634556.014 [Micromodem](INFO): Nmea in: $CAREV,161556,COPROC,0.20.0.39330*7B

2021-12-04T16:15:56.521Z,1638634556.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:15:59.276Z,1638634559.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:02.098Z,1638634562.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:04.916Z,1638634564.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:06.111Z,1638634566.111 [Micromodem](INFO): Nmea in: $CAREV,161606,AUV,2.1.4000*2C

2021-12-04T16:16:06.112Z,1638634566.112 [Micromodem](INFO): Nmea in: $CAREV,161606,COPROC,0.20.0.39330*7D

2021-12-04T16:16:07.754Z,1638634567.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:10.611Z,1638634570.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:13.409Z,1638634573.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:15.813Z,1638634575.813 [Micromodem](INFO): Nmea in: $CAREV,161616,AUV,2.1.4000*2D

2021-12-04T16:16:15.814Z,1638634575.814 [Micromodem](INFO): Nmea in: $CAREV,161616,COPROC,0.20.0.39330*7C

2021-12-04T16:16:16.224Z,1638634576.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:19.059Z,1638634579.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:21.883Z,1638634581.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:24.743Z,1638634584.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:25.925Z,1638634585.925 [Micromodem](INFO): Nmea in: $CAREV,161626,AUV,2.1.4000*2E

2021-12-04T16:16:25.926Z,1638634585.926 [Micromodem](INFO): Nmea in: $CAREV,161626,COPROC,0.20.0.39330*7F

2021-12-04T16:16:27.559Z,1638634587.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:30.477Z,1638634590.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:33.199Z,1638634593.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:36.009Z,1638634596.009 [Micromodem](INFO): Nmea in: $CAREV,161636,AUV,2.1.4000*2F

2021-12-04T16:16:36.010Z,1638634596.010 [Micromodem](INFO): Nmea in: $CAREV,161636,COPROC,0.20.0.39330*7E

2021-12-04T16:16:36.022Z,1638634596.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:38.880Z,1638634598.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:41.690Z,1638634601.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:44.572Z,1638634604.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:46.112Z,1638634606.112 [Micromodem](INFO): Nmea in: $CAREV,161646,AUV,2.1.4000*28

2021-12-04T16:16:46.114Z,1638634606.114 [Micromodem](INFO): Nmea in: $CAREV,161646,COPROC,0.20.0.39330*79

2021-12-04T16:16:47.335Z,1638634607.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:50.178Z,1638634610.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:53.002Z,1638634613.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:55.813Z,1638634615.813 [Micromodem](INFO): Nmea in: $CAREV,161656,AUV,2.1.4000*29

2021-12-04T16:16:55.814Z,1638634615.814 [Micromodem](INFO): Nmea in: $CAREV,161656,COPROC,0.20.0.39330*78

2021-12-04T16:16:55.836Z,1638634615.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:16:58.689Z,1638634618.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:01.500Z,1638634621.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:04.335Z,1638634624.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:05.908Z,1638634625.908 [Micromodem](INFO): Nmea in: $CAREV,161706,AUV,2.1.4000*2D

2021-12-04T16:17:05.909Z,1638634625.909 [Micromodem](INFO): Nmea in: $CAREV,161706,COPROC,0.20.0.39330*7C

2021-12-04T16:17:07.136Z,1638634627.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:09.955Z,1638634629.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:12.806Z,1638634632.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:15.627Z,1638634635.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:16.014Z,1638634636.014 [Micromodem](INFO): Nmea in: $CAREV,161716,AUV,2.1.4000*2C

2021-12-04T16:17:16.017Z,1638634636.017 [Micromodem](INFO): Nmea in: $CAREV,161716,COPROC,0.20.0.39330*7D

2021-12-04T16:17:18.508Z,1638634638.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:21.268Z,1638634641.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:24.096Z,1638634644.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:26.120Z,1638634646.120 [Micromodem](INFO): Nmea in: $CAREV,161726,AUV,2.1.4000*2F

2021-12-04T16:17:26.122Z,1638634646.122 [Micromodem](INFO): Nmea in: $CAREV,161726,COPROC,0.20.0.39330*7E

2021-12-04T16:17:26.957Z,1638634646.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:29.786Z,1638634649.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:32.670Z,1638634652.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:35.439Z,1638634655.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:35.805Z,1638634655.805 [Micromodem](INFO): Nmea in: $CAREV,161736,AUV,2.1.4000*2E

2021-12-04T16:17:35.807Z,1638634655.807 [Micromodem](INFO): Nmea in: $CAREV,161736,COPROC,0.20.0.39330*7F

2021-12-04T16:17:38.237Z,1638634658.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:41.068Z,1638634661.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:43.890Z,1638634663.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:45.904Z,1638634665.904 [Micromodem](INFO): Nmea in: $CAREV,161746,AUV,2.1.4000*29

2021-12-04T16:17:45.905Z,1638634665.905 [Micromodem](INFO): Nmea in: $CAREV,161746,COPROC,0.20.0.39330*78

2021-12-04T16:17:46.780Z,1638634666.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:49.563Z,1638634669.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:52.424Z,1638634672.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:55.202Z,1638634675.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:17:56.035Z,1638634676.035 [Micromodem](INFO): Nmea in: $CAREV,161756,AUV,2.1.4000*28

2021-12-04T16:17:56.036Z,1638634676.036 [Micromodem](INFO): Nmea in: $CAREV,161756,COPROC,0.20.0.39330*79

2021-12-04T16:17:58.036Z,1638634678.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:00.857Z,1638634680.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:03.709Z,1638634683.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:06.105Z,1638634686.105 [Micromodem](INFO): Nmea in: $CAREV,161806,AUV,2.1.4000*22

2021-12-04T16:18:06.106Z,1638634686.106 [Micromodem](INFO): Nmea in: $CAREV,161806,COPROC,0.20.0.39330*73

2021-12-04T16:18:06.551Z,1638634686.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:09.353Z,1638634689.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:12.180Z,1638634692.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:15.006Z,1638634695.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:15.803Z,1638634695.803 [Micromodem](INFO): Nmea in: $CAREV,161816,AUV,2.1.4000*23

2021-12-04T16:18:15.804Z,1638634695.804 [Micromodem](INFO): Nmea in: $CAREV,161816,COPROC,0.20.0.39330*72

2021-12-04T16:18:17.841Z,1638634697.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:20.696Z,1638634700.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:23.503Z,1638634703.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:25.900Z,1638634705.900 [Micromodem](INFO): Nmea in: $CAREV,161826,AUV,2.1.4000*20

2021-12-04T16:18:25.901Z,1638634705.901 [Micromodem](INFO): Nmea in: $CAREV,161826,COPROC,0.20.0.39330*71

2021-12-04T16:18:26.377Z,1638634706.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:29.164Z,1638634709.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:32.004Z,1638634712.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:34.819Z,1638634714.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:35.996Z,1638634715.996 [Micromodem](INFO): Nmea in: $CAREV,161836,AUV,2.1.4000*21

2021-12-04T16:18:35.997Z,1638634715.997 [Micromodem](INFO): Nmea in: $CAREV,161836,COPROC,0.20.0.39330*70

2021-12-04T16:18:37.646Z,1638634717.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:40.526Z,1638634720.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:43.280Z,1638634723.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:46.100Z,1638634726.100 [Micromodem](INFO): Nmea in: $CAREV,161846,AUV,2.1.4000*26

2021-12-04T16:18:46.102Z,1638634726.102 [Micromodem](INFO): Nmea in: $CAREV,161846,COPROC,0.20.0.39330*77

2021-12-04T16:18:46.114Z,1638634726.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:48.940Z,1638634728.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:51.784Z,1638634731.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:54.620Z,1638634734.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:18:55.802Z,1638634735.802 [Micromodem](INFO): Nmea in: $CAREV,161856,AUV,2.1.4000*27

2021-12-04T16:18:55.803Z,1638634735.803 [Micromodem](INFO): Nmea in: $CAREV,161856,COPROC,0.20.0.39330*76

2021-12-04T16:18:57.429Z,1638634737.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:00.245Z,1638634740.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:03.086Z,1638634743.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:05.908Z,1638634745.908 [Micromodem](INFO): Nmea in: $CAREV,161906,AUV,2.1.4000*23

2021-12-04T16:19:05.910Z,1638634745.910 [Micromodem](INFO): Nmea in: $CAREV,161906,COPROC,0.20.0.39330*72

2021-12-04T16:19:05.991Z,1638634745.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:08.753Z,1638634748.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:11.598Z,1638634751.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:14.473Z,1638634754.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:16.004Z,1638634756.004 [Micromodem](INFO): Nmea in: $CAREV,161916,AUV,2.1.4000*22

2021-12-04T16:19:16.005Z,1638634756.005 [Micromodem](INFO): Nmea in: $CAREV,161916,COPROC,0.20.0.39330*73

2021-12-04T16:19:17.231Z,1638634757.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:20.063Z,1638634760.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:22.883Z,1638634762.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:25.745Z,1638634765.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:26.108Z,1638634766.108 [Micromodem](INFO): Nmea in: $CAREV,161926,AUV,2.1.4000*21

2021-12-04T16:19:26.110Z,1638634766.110 [Micromodem](INFO): Nmea in: $CAREV,161926,COPROC,0.20.0.39330*70

2021-12-04T16:19:28.595Z,1638634768.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:31.366Z,1638634771.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:34.214Z,1638634774.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:35.812Z,1638634775.812 [Micromodem](INFO): Nmea in: $CAREV,161936,AUV,2.1.4000*20

2021-12-04T16:19:35.814Z,1638634775.814 [Micromodem](INFO): Nmea in: $CAREV,161936,COPROC,0.20.0.39330*71

2021-12-04T16:19:37.022Z,1638634777.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:39.870Z,1638634779.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:42.712Z,1638634782.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:45.525Z,1638634785.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:45.904Z,1638634785.904 [Micromodem](INFO): Nmea in: $CAREV,161946,AUV,2.1.4000*27

2021-12-04T16:19:45.905Z,1638634785.905 [Micromodem](INFO): Nmea in: $CAREV,161946,COPROC,0.20.0.39330*76

2021-12-04T16:19:48.407Z,1638634788.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:51.162Z,1638634791.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:54.012Z,1638634794.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:56.004Z,1638634796.004 [Micromodem](INFO): Nmea in: $CAREV,161956,AUV,2.1.4000*26

2021-12-04T16:19:56.005Z,1638634796.005 [Micromodem](INFO): Nmea in: $CAREV,161956,COPROC,0.20.0.39330*77

2021-12-04T16:19:56.831Z,1638634796.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:19:59.665Z,1638634799.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:02.527Z,1638634802.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:05.308Z,1638634805.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:06.101Z,1638634806.101 [Micromodem](INFO): Nmea in: $CAREV,162006,AUV,2.1.4000*29

2021-12-04T16:20:06.102Z,1638634806.102 [Micromodem](INFO): Nmea in: $CAREV,162006,COPROC,0.20.0.39330*78

2021-12-04T16:20:08.147Z,1638634808.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:10.968Z,1638634810.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:13.822Z,1638634813.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:15.814Z,1638634815.814 [Micromodem](INFO): Nmea in: $CAREV,162016,AUV,2.1.4000*28

2021-12-04T16:20:15.816Z,1638634815.816 [Micromodem](INFO): Nmea in: $CAREV,162016,COPROC,0.20.0.39330*79

2021-12-04T16:20:16.654Z,1638634816.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:19.510Z,1638634819.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:22.280Z,1638634822.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:25.105Z,1638634825.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:25.900Z,1638634825.900 [Micromodem](INFO): Nmea in: $CAREV,162026,AUV,2.1.4000*2B

2021-12-04T16:20:25.902Z,1638634825.902 [Micromodem](INFO): Nmea in: $CAREV,162026,COPROC,0.20.0.39330*7A

2021-12-04T16:20:27.938Z,1638634827.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:30.766Z,1638634830.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:33.594Z,1638634833.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:35.995Z,1638634835.995 [Micromodem](INFO): Nmea in: $CAREV,162036,AUV,2.1.4000*2A

2021-12-04T16:20:35.996Z,1638634835.996 [Micromodem](INFO): Nmea in: $CAREV,162036,COPROC,0.20.0.39330*7B

2021-12-04T16:20:36.505Z,1638634836.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:39.268Z,1638634839.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:42.082Z,1638634842.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:44.896Z,1638634844.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:46.100Z,1638634846.100 [Micromodem](INFO): Nmea in: $CAREV,162046,AUV,2.1.4000*2D

2021-12-04T16:20:46.102Z,1638634846.102 [Micromodem](INFO): Nmea in: $CAREV,162046,COPROC,0.20.0.39330*7C

2021-12-04T16:20:47.737Z,1638634847.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:50.590Z,1638634850.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:53.379Z,1638634853.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:55.801Z,1638634855.801 [Micromodem](INFO): Nmea in: $CAREV,162056,AUV,2.1.4000*2C

2021-12-04T16:20:56.205Z,1638634856.205 [Micromodem](INFO): Nmea in: $CAREV,162056,COPROC,0.20.0.39330*7D

2021-12-04T16:20:56.219Z,1638634856.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:20:59.041Z,1638634859.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:01.863Z,1638634861.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:04.729Z,1638634864.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:05.894Z,1638634865.894 [Micromodem](INFO): Nmea in: $CAREV,162106,AUV,2.1.4000*28

2021-12-04T16:21:05.895Z,1638634865.895 [Micromodem](INFO): Nmea in: $CAREV,162106,COPROC,0.20.0.39330*79

2021-12-04T16:21:07.534Z,1638634867.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:10.410Z,1638634870.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:13.190Z,1638634873.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:15.990Z,1638634875.990 [Micromodem](INFO): Nmea in: $CAREV,162116,AUV,2.1.4000*29

2021-12-04T16:21:15.991Z,1638634875.991 [Micromodem](INFO): Nmea in: $CAREV,162116,COPROC,0.20.0.39330*78

2021-12-04T16:21:16.003Z,1638634876.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:18.848Z,1638634878.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:21.676Z,1638634881.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:24.533Z,1638634884.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:26.097Z,1638634886.097 [Micromodem](INFO): Nmea in: $CAREV,162126,AUV,2.1.4000*2A

2021-12-04T16:21:26.098Z,1638634886.098 [Micromodem](INFO): Nmea in: $CAREV,162126,COPROC,0.20.0.39330*7B

2021-12-04T16:21:27.343Z,1638634887.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:30.152Z,1638634890.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:32.982Z,1638634892.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:35.838Z,1638634895.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:36.192Z,1638634896.192 [Micromodem](INFO): Nmea in: $CAREV,162136,AUV,2.1.4000*2B

2021-12-04T16:21:36.193Z,1638634896.193 [Micromodem](INFO): Nmea in: $CAREV,162136,COPROC,0.20.0.39330*7A

2021-12-04T16:21:38.691Z,1638634898.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:41.494Z,1638634901.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:44.379Z,1638634904.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:45.892Z,1638634905.892 [Micromodem](INFO): Nmea in: $CAREV,162146,AUV,2.1.4000*2C

2021-12-04T16:21:45.893Z,1638634905.893 [Micromodem](INFO): Nmea in: $CAREV,162146,COPROC,0.20.0.39330*7D

2021-12-04T16:21:47.110Z,1638634907.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:49.951Z,1638634909.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:52.789Z,1638634912.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:55.604Z,1638634915.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:21:55.997Z,1638634915.997 [Micromodem](INFO): Nmea in: $CAREV,162156,AUV,2.1.4000*2D

2021-12-04T16:21:55.998Z,1638634915.998 [Micromodem](INFO): Nmea in: $CAREV,162156,COPROC,0.20.0.39330*7C

2021-12-04T16:21:58.501Z,1638634918.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:01.265Z,1638634921.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:04.080Z,1638634924.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:06.093Z,1638634926.093 [Micromodem](INFO): Nmea in: $CAREV,162206,AUV,2.1.4000*2B

2021-12-04T16:22:06.108Z,1638634926.108 [Micromodem](INFO): Nmea in: $CAREV,162206,COPROC,0.20.0.39330*7A

2021-12-04T16:22:06.917Z,1638634926.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:09.758Z,1638634929.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:12.635Z,1638634932.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:15.396Z,1638634935.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:16.187Z,1638634936.187 [Micromodem](INFO): Nmea in: $CAREV,162216,AUV,2.1.4000*2A

2021-12-04T16:22:16.188Z,1638634936.188 [Micromodem](INFO): Nmea in: $CAREV,162216,COPROC,0.20.0.39330*7B

2021-12-04T16:22:18.218Z,1638634938.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:21.055Z,1638634941.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:23.879Z,1638634943.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:25.893Z,1638634945.893 [Micromodem](INFO): Nmea in: $CAREV,162226,AUV,2.1.4000*29

2021-12-04T16:22:25.894Z,1638634945.894 [Micromodem](INFO): Nmea in: $CAREV,162226,COPROC,0.20.0.39330*78

2021-12-04T16:22:26.753Z,1638634946.753 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:29.680Z,1638634949.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:32.439Z,1638634952.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:35.188Z,1638634955.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:36.035Z,1638634956.035 [Micromodem](INFO): Nmea in: $CAREV,162236,AUV,2.1.4000*28

2021-12-04T16:22:36.036Z,1638634956.036 [Micromodem](INFO): Nmea in: $CAREV,162236,COPROC,0.20.0.39330*79

2021-12-04T16:22:38.014Z,1638634958.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:40.841Z,1638634960.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:43.693Z,1638634963.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:46.083Z,1638634966.083 [Micromodem](INFO): Nmea in: $CAREV,162246,AUV,2.1.4000*2F

2021-12-04T16:22:46.084Z,1638634966.084 [Micromodem](INFO): Nmea in: $CAREV,162246,COPROC,0.20.0.39330*7E

2021-12-04T16:22:46.558Z,1638634966.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:49.368Z,1638634969.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:52.167Z,1638634972.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:54.985Z,1638634974.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:22:56.188Z,1638634976.188 [Micromodem](INFO): Nmea in: $CAREV,162256,AUV,2.1.4000*2E

2021-12-04T16:22:56.189Z,1638634976.189 [Micromodem](INFO): Nmea in: $CAREV,162256,COPROC,0.20.0.39330*7F

2021-12-04T16:22:57.825Z,1638634977.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:00.689Z,1638634980.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:03.491Z,1638634983.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:05.878Z,1638634985.878 [Micromodem](INFO): Nmea in: $CAREV,162306,AUV,2.1.4000*2A

2021-12-04T16:23:05.879Z,1638634985.879 [Micromodem](INFO): Nmea in: $CAREV,162306,COPROC,0.20.0.39330*7B

2021-12-04T16:23:06.336Z,1638634986.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:09.144Z,1638634989.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:11.964Z,1638634991.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:14.791Z,1638634994.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:15.979Z,1638634995.979 [Micromodem](INFO): Nmea in: $CAREV,162316,AUV,2.1.4000*2B

2021-12-04T16:23:15.980Z,1638634995.980 [Micromodem](INFO): Nmea in: $CAREV,162316,COPROC,0.20.0.39330*7A

2021-12-04T16:23:17.616Z,1638634997.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:20.501Z,1638635000.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:23.261Z,1638635003.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:26.080Z,1638635006.080 [Micromodem](INFO): Nmea in: $CAREV,162326,AUV,2.1.4000*28

2021-12-04T16:23:26.082Z,1638635006.082 [Micromodem](INFO): Nmea in: $CAREV,162326,COPROC,0.20.0.39330*79

2021-12-04T16:23:26.104Z,1638635006.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:28.931Z,1638635008.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:31.744Z,1638635011.744 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T16:23:31.755Z,1638635011.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:34.616Z,1638635014.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:36.195Z,1638635016.195 [Micromodem](INFO): Nmea in: $CAREV,162336,AUV,2.1.4000*29

2021-12-04T16:23:36.196Z,1638635016.196 [Micromodem](INFO): Nmea in: $CAREV,162336,COPROC,0.20.0.39330*78

2021-12-04T16:23:37.422Z,1638635017.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:40.232Z,1638635020.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:43.064Z,1638635023.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:45.875Z,1638635025.875 [Micromodem](INFO): Nmea in: $CAREV,162346,AUV,2.1.4000*2E

2021-12-04T16:23:45.876Z,1638635025.876 [Micromodem](INFO): Nmea in: $CAREV,162346,COPROC,0.20.0.39330*7F

2021-12-04T16:23:45.912Z,1638635025.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:48.751Z,1638635028.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:51.569Z,1638635031.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:54.433Z,1638635034.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:23:55.981Z,1638635035.981 [Micromodem](INFO): Nmea in: $CAREV,162356,AUV,2.1.4000*2F

2021-12-04T16:23:55.983Z,1638635035.983 [Micromodem](INFO): Nmea in: $CAREV,162356,COPROC,0.20.0.39330*7E

2021-12-04T16:23:57.219Z,1638635037.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:00.056Z,1638635040.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:02.856Z,1638635042.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:05.712Z,1638635045.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:06.075Z,1638635046.075 [Micromodem](INFO): Nmea in: $CAREV,162406,AUV,2.1.4000*2D

2021-12-04T16:24:06.076Z,1638635046.076 [Micromodem](INFO): Nmea in: $CAREV,162406,COPROC,0.20.0.39330*7C

2021-12-04T16:24:08.548Z,1638635048.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:11.349Z,1638635051.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:14.165Z,1638635054.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:16.185Z,1638635056.185 [Micromodem](INFO): Nmea in: $CAREV,162416,AUV,2.1.4000*2C

2021-12-04T16:24:16.186Z,1638635056.186 [Micromodem](INFO): Nmea in: $CAREV,162416,COPROC,0.20.0.39330*7D

2021-12-04T16:24:16.000Z,1638635057.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:19.845Z,1638635059.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:22.708Z,1638635062.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:25.493Z,1638635065.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:25.892Z,1638635065.892 [Micromodem](INFO): Nmea in: $CAREV,162426,AUV,2.1.4000*2F

2021-12-04T16:24:25.893Z,1638635065.893 [Micromodem](INFO): Nmea in: $CAREV,162426,COPROC,0.20.0.39330*7E

2021-12-04T16:24:28.376Z,1638635068.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:31.145Z,1638635071.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:33.966Z,1638635073.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:35.971Z,1638635075.971 [Micromodem](INFO): Nmea in: $CAREV,162436,AUV,2.1.4000*2E

2021-12-04T16:24:35.972Z,1638635075.972 [Micromodem](INFO): Nmea in: $CAREV,162436,COPROC,0.20.0.39330*7F

2021-12-04T16:24:36.469Z,1638635076.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:39.226Z,1638635079.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:42.044Z,1638635082.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:44.875Z,1638635084.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:46.072Z,1638635086.072 [Micromodem](INFO): Nmea in: $CAREV,162446,AUV,2.1.4000*29

2021-12-04T16:24:46.074Z,1638635086.074 [Micromodem](INFO): Nmea in: $CAREV,162446,COPROC,0.20.0.39330*78

2021-12-04T16:24:47.723Z,1638635087.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:50.581Z,1638635090.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:53.371Z,1638635093.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:56.173Z,1638635096.173 [Micromodem](INFO): Nmea in: $CAREV,162456,AUV,2.1.4000*28

2021-12-04T16:24:56.194Z,1638635096.194 [Micromodem](INFO): Nmea in: $CAREV,162456,COPROC,0.20.0.39330*79

2021-12-04T16:24:56.260Z,1638635096.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:59.010Z,1638635099.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:24:59.483Z,1638635099.483 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T16:25:01.847Z,1638635101.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:04.710Z,1638635104.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:05.873Z,1638635105.873 [Micromodem](INFO): Nmea in: $CAREV,162506,AUV,2.1.4000*2C

2021-12-04T16:25:05.874Z,1638635105.874 [Micromodem](INFO): Nmea in: $CAREV,162506,COPROC,0.20.0.39330*7D

2021-12-04T16:25:07.516Z,1638635107.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:09.515Z,1638635109.515 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T16:25:10.397Z,1638635110.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:13.152Z,1638635113.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:14.765Z,1638635114.765 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:25:15.972Z,1638635115.972 [Micromodem](INFO): Nmea in: $CAREV,162516,AUV,2.1.4000*2D

2021-12-04T16:25:15.973Z,1638635115.973 [Micromodem](INFO): Nmea in: $CAREV,162516,COPROC,0.20.0.39330*7C

2021-12-04T16:25:15.985Z,1638635115.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:18.489Z,1638635118.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:21.235Z,1638635121.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:24.063Z,1638635124.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:24.520Z,1638635124.520 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:25:26.074Z,1638635126.074 [Micromodem](INFO): Nmea in: $CAREV,162526,AUV,2.1.4000*2E

2021-12-04T16:25:26.075Z,1638635126.075 [Micromodem](INFO): Nmea in: $CAREV,162526,COPROC,0.20.0.39330*7F

2021-12-04T16:25:26.891Z,1638635126.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:29.733Z,1638635129.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:32.573Z,1638635132.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:35.375Z,1638635135.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:36.167Z,1638635136.167 [Micromodem](INFO): Nmea in: $CAREV,162536,AUV,2.1.4000*2F

2021-12-04T16:25:36.168Z,1638635136.168 [Micromodem](INFO): Nmea in: $CAREV,162536,COPROC,0.20.0.39330*7E

2021-12-04T16:25:38.204Z,1638635138.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:41.050Z,1638635141.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:43.866Z,1638635143.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:44.695Z,1638635144.695 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T16:25:44.696Z,1638635144.696 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T16:25:44.696Z,1638635144.696 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T16:25:44.769Z,1638635144.769 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T16:25:45.142Z,1638635145.142 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T16:25:45.876Z,1638635145.876 [Micromodem](INFO): Nmea in: $CAREV,162546,AUV,2.1.4000*28

2021-12-04T16:25:45.877Z,1638635145.877 [Micromodem](INFO): Nmea in: $CAREV,162546,COPROC,0.20.0.39330*79

2021-12-04T16:25:45.949Z,1638635145.949 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T16:25:45.949Z,1638635145.949 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T16:25:46.742Z,1638635146.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:49.509Z,1638635149.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:52.429Z,1638635152.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:55.191Z,1638635155.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:25:55.964Z,1638635155.964 [Micromodem](INFO): Nmea in: $CAREV,162556,AUV,2.1.4000*29

2021-12-04T16:25:55.965Z,1638635155.965 [Micromodem](INFO): Nmea in: $CAREV,162556,COPROC,0.20.0.39330*78

2021-12-04T16:25:58.011Z,1638635158.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:00.836Z,1638635160.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:03.660Z,1638635163.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:06.085Z,1638635166.085 [Micromodem](INFO): Nmea in: $CAREV,162606,AUV,2.1.4000*2F

2021-12-04T16:26:06.088Z,1638635166.088 [Micromodem](INFO): Nmea in: $CAREV,162606,COPROC,0.20.0.39330*7E

2021-12-04T16:26:06.161Z,1638635166.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:08.911Z,1638635168.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:11.740Z,1638635171.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:14.620Z,1638635174.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:16.180Z,1638635176.180 [Micromodem](INFO): Nmea in: $CAREV,162616,AUV,2.1.4000*2E

2021-12-04T16:26:16.181Z,1638635176.181 [Micromodem](INFO): Nmea in: $CAREV,162616,COPROC,0.20.0.39330*7F

2021-12-04T16:26:17.426Z,1638635177.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:20.213Z,1638635180.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:23.057Z,1638635183.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:25.880Z,1638635185.880 [Micromodem](INFO): Nmea in: $CAREV,162626,AUV,2.1.4000*2D

2021-12-04T16:26:25.882Z,1638635185.882 [Micromodem](INFO): Nmea in: $CAREV,162626,COPROC,0.20.0.39330*7C

2021-12-04T16:26:25.894Z,1638635185.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:28.750Z,1638635188.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:31.537Z,1638635191.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:32.412Z,1638635192.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T16:26:34.419Z,1638635194.419 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T16:26:34.440Z,1638635194.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:35.968Z,1638635195.968 [Micromodem](INFO): Nmea in: $CAREV,162636,AUV,2.1.4000*2C

2021-12-04T16:26:35.969Z,1638635195.969 [Micromodem](INFO): Nmea in: $CAREV,162636,COPROC,0.20.0.39330*7D

2021-12-04T16:26:37.202Z,1638635197.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:40.028Z,1638635200.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:42.854Z,1638635202.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:45.681Z,1638635205.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:46.069Z,1638635206.069 [Micromodem](INFO): Nmea in: $CAREV,162646,AUV,2.1.4000*2B

2021-12-04T16:26:46.070Z,1638635206.070 [Micromodem](INFO): Nmea in: $CAREV,162646,COPROC,0.20.0.39330*7A

2021-12-04T16:26:47.289Z,1638635207.289 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](INFO): Timed out from 2021-12-04T15:26:47.2Z
2021-12-04T16:26:47.289Z,1638635207.289 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout] Running Loop=1
2021-12-04T16:26:47.289Z,1638635207.289 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2021-12-04T16:26:47.290Z,1638635207.290 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Running Loop=1
2021-12-04T16:26:47.290Z,1638635207.290 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A](IMPORTANT): Timed out while executing search pattern around dock waypoint.
2021-12-04T16:26:47.290Z,1638635207.290 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Stopped
2021-12-04T16:26:47.290Z,1638635207.290 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2021-12-04T16:26:47.290Z,1638635207.290 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped
2021-12-04T16:26:47.291Z,1638635207.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T16:26:47.291Z,1638635207.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped
2021-12-04T16:26:47.291Z,1638635207.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize.
2021-12-04T16:26:47.291Z,1638635207.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped
2021-12-04T16:26:47.291Z,1638635207.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T16:26:47.291Z,1638635207.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Running Loop=1
2021-12-04T16:26:47.726Z,1638635207.726 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H](IMPORTANT): Homing sequence timed out prior to docking.
2021-12-04T16:26:47.727Z,1638635207.727 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Stopped
2021-12-04T16:26:47.727Z,1638635207.727 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Running Loop=1
2021-12-04T16:26:48.096Z,1638635208.096 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Stopped
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T16:26:48.097Z,1638635208.097 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T16:26:48.553Z,1638635208.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:48.559Z,1638635208.559 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T16:26:48.559Z,1638635208.559 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T16:26:48.559Z,1638635208.559 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T16:26:48.559Z,1638635208.559 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T16:26:48.559Z,1638635208.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T16:26:48.559Z,1638635208.559 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T16:26:48.560Z,1638635208.560 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T16:26:48.560Z,1638635208.560 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T16:26:51.332Z,1638635211.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:52.153Z,1638635212.153 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T16:26:52.153Z,1638635212.153 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T16:26:52.153Z,1638635212.153 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T16:26:52.153Z,1638635212.153 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T16:26:52.583Z,1638635212.583 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode -1.000000 count 
2021-12-04T16:26:52.583Z,1638635212.583 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T16:26:52.585Z,1638635212.585 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T16:26:52.586Z,1638635212.586 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T16:26:52.587Z,1638635212.587 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T16:26:52.939Z,1638635212.939 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T16:26:52.939Z,1638635212.939 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T16:26:52.940Z,1638635212.940 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T16:26:52.940Z,1638635212.940 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T16:26:53.398Z,1638635213.398 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T16:26:53.398Z,1638635213.398 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T16:26:53.762Z,1638635213.762 [lineCaptureDepth:Lap:D](INFO): Mode -1.000000 count 
2021-12-04T16:26:53.762Z,1638635213.762 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T16:26:53.762Z,1638635213.762 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T16:26:53.762Z,1638635213.762 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T16:26:53.762Z,1638635213.762 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T16:26:54.155Z,1638635214.155 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap] Stopped
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap] Running Loop=2
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T16:26:54.156Z,1638635214.156 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T16:26:54.157Z,1638635214.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:54.608Z,1638635214.608 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T16:26:54.608Z,1638635214.608 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T16:26:54.609Z,1638635214.609 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T16:26:54.967Z,1638635214.967 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T16:26:54.967Z,1638635214.967 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T16:26:54.967Z,1638635214.967 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T16:26:54.967Z,1638635214.967 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T16:26:54.968Z,1638635214.968 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T16:26:54.969Z,1638635214.969 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T16:26:54.969Z,1638635214.969 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T16:26:54.969Z,1638635214.969 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T16:26:54.969Z,1638635214.969 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T16:26:54.971Z,1638635214.971 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T16:26:54.971Z,1638635214.971 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T16:26:55.403Z,1638635215.403 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T16:26:55.403Z,1638635215.403 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T16:26:55.774Z,1638635215.774 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T16:26:55.774Z,1638635215.774 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T16:26:56.164Z,1638635216.164 [Micromodem](INFO): Nmea in: $CAREV,162656,AUV,2.1.4000*2A

2021-12-04T16:26:56.165Z,1638635216.165 [Micromodem](INFO): Nmea in: $CAREV,162656,COPROC,0.20.0.39330*7B

2021-12-04T16:26:56.179Z,1638635216.179 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T16:26:56.179Z,1638635216.179 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T16:26:56.605Z,1638635216.605 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T16:26:56.605Z,1638635216.605 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T16:26:56.605Z,1638635216.605 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T16:26:56.605Z,1638635216.605 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T16:26:56.605Z,1638635216.605 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T16:26:56.606Z,1638635216.606 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T16:26:56.606Z,1638635216.606 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T16:26:56.606Z,1638635216.606 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T16:26:56.606Z,1638635216.606 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T16:26:56.606Z,1638635216.606 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T16:26:56.606Z,1638635216.606 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T16:26:56.607Z,1638635216.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T16:26:56.608Z,1638635216.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T16:26:56.989Z,1638635216.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T16:26:56.990Z,1638635216.990 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T16:26:56.991Z,1638635216.991 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T16:26:59.486Z,1638635219.486 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T16:26:59.855Z,1638635219.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:26:59.857Z,1638635219.857 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T16:27:00.670Z,1638635220.670 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 0.50 m/s, pitch 20.00 deg, mass-position -3.15 mm.
2021-12-04T16:27:02.725Z,1638635222.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:05.511Z,1638635225.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:05.896Z,1638635225.896 [Micromodem](INFO): Nmea in: $CAREV,162706,AUV,2.1.4000*2E

2021-12-04T16:27:05.900Z,1638635225.900 [Micromodem](INFO): Nmea in: $CAREV,162706,COPROC,0.20.0.39330*7F

2021-12-04T16:27:08.382Z,1638635228.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:09.949Z,1638635229.949 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T16:27:10.423Z,1638635230.423 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T16:27:11.151Z,1638635231.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:13.979Z,1638635233.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:15.988Z,1638635235.988 [Micromodem](INFO): Nmea in: $CAREV,162716,AUV,2.1.4000*2F

2021-12-04T16:27:15.990Z,1638635235.990 [Micromodem](INFO): Nmea in: $CAREV,162716,COPROC,0.20.0.39330*7E

2021-12-04T16:27:16.816Z,1638635236.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:19.647Z,1638635239.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:22.500Z,1638635242.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:25.292Z,1638635245.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:26.088Z,1638635246.088 [Micromodem](INFO): Nmea in: $CAREV,162726,AUV,2.1.4000*2C

2021-12-04T16:27:26.090Z,1638635246.090 [Micromodem](INFO): Nmea in: $CAREV,162726,COPROC,0.20.0.39330*7D

2021-12-04T16:27:28.131Z,1638635248.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:30.583Z,1638635250.583 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.18 m. Transitioning DDM to standby.
2021-12-04T16:27:30.956Z,1638635250.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:32.632Z,1638635252.632 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T16:27:32.968Z,1638635252.968 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T16:27:32.968Z,1638635252.968 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T16:27:32.968Z,1638635252.968 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T16:27:33.406Z,1638635253.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T16:27:33.406Z,1638635253.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T16:27:33.406Z,1638635253.406 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T16:27:33.775Z,1638635253.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:33.776Z,1638635253.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T16:27:33.776Z,1638635253.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T16:27:33.776Z,1638635253.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T16:27:33.776Z,1638635253.776 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T16:27:33.777Z,1638635253.777 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T16:27:34.190Z,1638635254.190 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T16:27:34.190Z,1638635254.190 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T16:27:34.191Z,1638635254.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T16:27:34.193Z,1638635254.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T16:27:34.193Z,1638635254.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T16:27:34.193Z,1638635254.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T16:27:34.193Z,1638635254.193 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T16:27:34.608Z,1638635254.608 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -3.15 mm (1 active estimators).
2021-12-04T16:27:34.617Z,1638635254.617 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T16:27:34.617Z,1638635254.617 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T16:27:34.617Z,1638635254.617 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T16:27:34.617Z,1638635254.617 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T16:27:34.617Z,1638635254.617 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T16:27:34.618Z,1638635254.618 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T16:27:34.618Z,1638635254.618 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T16:27:36.156Z,1638635256.156 [Micromodem](INFO): Nmea in: $CAREV,162736,AUV,2.1.4000*2D

2021-12-04T16:27:36.157Z,1638635256.157 [Micromodem](INFO): Nmea in: $CAREV,162736,COPROC,0.20.0.39330*7C

2021-12-04T16:27:36.640Z,1638635256.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:39.417Z,1638635259.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:42.231Z,1638635262.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:45.059Z,1638635265.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:46.255Z,1638635266.255 [Micromodem](INFO): Nmea in: $CAREV,162746,AUV,2.1.4000*2A

2021-12-04T16:27:46.256Z,1638635266.256 [Micromodem](INFO): Nmea in: $CAREV,162746,COPROC,0.20.0.39330*7B

2021-12-04T16:27:47.898Z,1638635267.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:50.739Z,1638635270.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:53.550Z,1638635273.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:55.956Z,1638635275.956 [Micromodem](INFO): Nmea in: $CAREV,162756,AUV,2.1.4000*2B

2021-12-04T16:27:55.958Z,1638635275.958 [Micromodem](INFO): Nmea in: $CAREV,162756,COPROC,0.20.0.39330*7A

2021-12-04T16:27:56.429Z,1638635276.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:27:59.209Z,1638635279.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:02.028Z,1638635282.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:04.849Z,1638635284.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:06.051Z,1638635286.051 [Micromodem](INFO): Nmea in: $CAREV,162806,AUV,2.1.4000*21

2021-12-04T16:28:06.052Z,1638635286.052 [Micromodem](INFO): Nmea in: $CAREV,162806,COPROC,0.20.0.39330*70

2021-12-04T16:28:07.688Z,1638635287.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:10.544Z,1638635290.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:13.363Z,1638635293.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:16.159Z,1638635296.159 [Micromodem](INFO): Nmea in: $CAREV,162816,AUV,2.1.4000*20

2021-12-04T16:28:16.160Z,1638635296.160 [Micromodem](INFO): Nmea in: $CAREV,162816,COPROC,0.20.0.39330*71

2021-12-04T16:28:16.172Z,1638635296.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:19.020Z,1638635299.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:21.839Z,1638635301.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:24.691Z,1638635304.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:26.257Z,1638635306.257 [Micromodem](INFO): Nmea in: $CAREV,162826,AUV,2.1.4000*23

2021-12-04T16:28:26.276Z,1638635306.276 [Micromodem](INFO): Nmea in: $CAREV,162826,COPROC,0.20.0.39330*72

2021-12-04T16:28:27.505Z,1638635307.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:30.376Z,1638635310.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:33.133Z,1638635313.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:35.634Z,1638635315.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:35.965Z,1638635315.965 [Micromodem](INFO): Nmea in: $CAREV,162836,AUV,2.1.4000*22

2021-12-04T16:28:35.995Z,1638635315.995 [Micromodem](INFO): Nmea in: $CAREV,162836,COPROC,0.20.0.39330*73

2021-12-04T16:28:38.425Z,1638635318.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:41.228Z,1638635321.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:44.038Z,1638635324.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:46.054Z,1638635326.054 [Micromodem](INFO): Nmea in: $CAREV,162846,AUV,2.1.4000*25

2021-12-04T16:28:46.055Z,1638635326.055 [Micromodem](INFO): Nmea in: $CAREV,162846,COPROC,0.20.0.39330*74

2021-12-04T16:28:46.866Z,1638635326.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:49.710Z,1638635329.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:52.576Z,1638635332.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:55.389Z,1638635335.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:56.163Z,1638635336.163 [Micromodem](INFO): Nmea in: $CAREV,162856,AUV,2.1.4000*24

2021-12-04T16:28:56.164Z,1638635336.164 [Micromodem](INFO): Nmea in: $CAREV,162856,COPROC,0.20.0.39330*75

2021-12-04T16:28:58.185Z,1638635338.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:28:58.634Z,1638635338.634 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached Waypoint: 41.552317,-70.708600
2021-12-04T16:28:58.634Z,1638635338.634 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T16:28:58.634Z,1638635338.634 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T16:28:58.634Z,1638635338.634 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1
2021-12-04T16:28:58.993Z,1638635338.993 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern.
2021-12-04T16:28:58.993Z,1638635338.993 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped
2021-12-04T16:28:58.993Z,1638635338.993 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1
2021-12-04T16:28:58.994Z,1638635338.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T16:28:58.994Z,1638635338.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2021-12-04T16:28:58.994Z,1638635338.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent.
2021-12-04T16:28:58.995Z,1638635338.995 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1
2021-12-04T16:28:58.995Z,1638635338.995 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component.
2021-12-04T16:29:01.007Z,1638635341.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:03.834Z,1638635343.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:06.253Z,1638635346.253 [Micromodem](INFO): Nmea in: $CAREV,162906,AUV,2.1.4000*20

2021-12-04T16:29:06.267Z,1638635346.267 [Micromodem](INFO): Nmea in: $CAREV,162906,COPROC,0.20.0.39330*71

2021-12-04T16:29:06.705Z,1638635346.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:09.499Z,1638635349.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:12.416Z,1638635352.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:15.161Z,1638635355.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:15.949Z,1638635355.949 [Micromodem](INFO): Nmea in: $CAREV,162916,AUV,2.1.4000*21

2021-12-04T16:29:15.960Z,1638635355.960 [Micromodem](INFO): Nmea in: $CAREV,162916,COPROC,0.20.0.39330*70

2021-12-04T16:29:17.979Z,1638635357.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:20.815Z,1638635360.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:23.652Z,1638635363.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:26.053Z,1638635366.053 [Micromodem](INFO): Nmea in: $CAREV,162926,AUV,2.1.4000*22

2021-12-04T16:29:26.054Z,1638635366.054 [Micromodem](INFO): Nmea in: $CAREV,162926,COPROC,0.20.0.39330*73

2021-12-04T16:29:26.535Z,1638635366.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:29.292Z,1638635369.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:32.114Z,1638635372.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:34.947Z,1638635374.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:36.144Z,1638635376.144 [Micromodem](INFO): Nmea in: $CAREV,162936,AUV,2.1.4000*23

2021-12-04T16:29:36.145Z,1638635376.145 [Micromodem](INFO): Nmea in: $CAREV,162936,COPROC,0.20.0.39330*72

2021-12-04T16:29:37.785Z,1638635377.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:40.632Z,1638635380.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:43.436Z,1638635383.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:46.248Z,1638635386.248 [Micromodem](INFO): Nmea in: $CAREV,162946,AUV,2.1.4000*24

2021-12-04T16:29:46.249Z,1638635386.249 [Micromodem](INFO): Nmea in: $CAREV,162946,COPROC,0.20.0.39330*75

2021-12-04T16:29:46.262Z,1638635386.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:49.087Z,1638635389.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:51.922Z,1638635391.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:54.445Z,1638635394.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:55.941Z,1638635395.941 [Micromodem](INFO): Nmea in: $CAREV,162956,AUV,2.1.4000*25

2021-12-04T16:29:55.942Z,1638635395.942 [Micromodem](INFO): Nmea in: $CAREV,162956,COPROC,0.20.0.39330*74

2021-12-04T16:29:57.165Z,1638635397.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:29:59.991Z,1638635399.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:02.823Z,1638635402.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:05.671Z,1638635405.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:06.048Z,1638635406.048 [Micromodem](INFO): Nmea in: $CAREV,163006,AUV,2.1.4000*28

2021-12-04T16:30:06.050Z,1638635406.050 [Micromodem](INFO): Nmea in: $CAREV,163006,COPROC,0.20.0.39330*79

2021-12-04T16:30:08.508Z,1638635408.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:11.356Z,1638635411.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:14.130Z,1638635414.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:16.147Z,1638635416.147 [Micromodem](INFO): Nmea in: $CAREV,163016,AUV,2.1.4000*29

2021-12-04T16:30:16.149Z,1638635416.149 [Micromodem](INFO): Nmea in: $CAREV,163016,COPROC,0.20.0.39330*78

2021-12-04T16:30:16.995Z,1638635416.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:19.505Z,1638635419.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:22.210Z,1638635422.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:24.718Z,1638635424.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:26.241Z,1638635426.241 [Micromodem](INFO): Nmea in: $CAREV,163026,AUV,2.1.4000*2A

2021-12-04T16:30:26.242Z,1638635426.242 [Micromodem](INFO): Nmea in: $CAREV,163026,COPROC,0.20.0.39330*7B

2021-12-04T16:30:27.484Z,1638635427.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:30.377Z,1638635430.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:33.124Z,1638635433.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:35.938Z,1638635435.938 [Micromodem](INFO): Nmea in: $CAREV,163036,AUV,2.1.4000*2B

2021-12-04T16:30:35.939Z,1638635435.939 [Micromodem](INFO): Nmea in: $CAREV,163036,COPROC,0.20.0.39330*7A

2021-12-04T16:30:35.958Z,1638635435.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:38.459Z,1638635438.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:41.200Z,1638635441.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:44.025Z,1638635444.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:46.037Z,1638635446.037 [Micromodem](INFO): Nmea in: $CAREV,163046,AUV,2.1.4000*2C

2021-12-04T16:30:46.039Z,1638635446.039 [Micromodem](INFO): Nmea in: $CAREV,163046,COPROC,0.20.0.39330*7D

2021-12-04T16:30:46.860Z,1638635446.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:49.720Z,1638635449.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:52.653Z,1638635452.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:55.371Z,1638635455.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:30:56.137Z,1638635456.137 [Micromodem](INFO): Nmea in: $CAREV,163056,AUV,2.1.4000*2D

2021-12-04T16:30:56.138Z,1638635456.138 [Micromodem](INFO): Nmea in: $CAREV,163056,COPROC,0.20.0.39330*7C

2021-12-04T16:30:58.167Z,1638635458.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:00.995Z,1638635460.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:03.824Z,1638635463.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:06.236Z,1638635466.236 [Micromodem](INFO): Nmea in: $CAREV,163106,AUV,2.1.4000*29

2021-12-04T16:31:06.251Z,1638635466.251 [Micromodem](INFO): Nmea in: $CAREV,163106,COPROC,0.20.0.39330*78

2021-12-04T16:31:06.701Z,1638635466.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:09.510Z,1638635469.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:12.411Z,1638635472.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:15.140Z,1638635475.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:15.939Z,1638635475.939 [Micromodem](INFO): Nmea in: $CAREV,163116,AUV,2.1.4000*28

2021-12-04T16:31:15.941Z,1638635475.941 [Micromodem](INFO): Nmea in: $CAREV,163116,COPROC,0.20.0.39330*79

2021-12-04T16:31:17.970Z,1638635477.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:20.796Z,1638635480.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:23.640Z,1638635483.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:26.032Z,1638635486.032 [Micromodem](INFO): Nmea in: $CAREV,163126,AUV,2.1.4000*2B

2021-12-04T16:31:26.033Z,1638635486.033 [Micromodem](INFO): Nmea in: $CAREV,163126,COPROC,0.20.0.39330*7A

2021-12-04T16:31:26.482Z,1638635486.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:29.276Z,1638635489.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:32.119Z,1638635492.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:34.935Z,1638635494.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:36.130Z,1638635496.130 [Micromodem](INFO): Nmea in: $CAREV,163136,AUV,2.1.4000*2A

2021-12-04T16:31:36.131Z,1638635496.131 [Micromodem](INFO): Nmea in: $CAREV,163136,COPROC,0.20.0.39330*7B

2021-12-04T16:31:37.773Z,1638635497.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:40.617Z,1638635500.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:43.429Z,1638635503.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:46.236Z,1638635506.236 [Micromodem](INFO): Nmea in: $CAREV,163146,AUV,2.1.4000*2D

2021-12-04T16:31:46.238Z,1638635506.238 [Micromodem](INFO): Nmea in: $CAREV,163146,COPROC,0.20.0.39330*7C

2021-12-04T16:31:46.275Z,1638635506.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:49.085Z,1638635509.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:51.900Z,1638635511.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:54.412Z,1638635514.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:55.939Z,1638635515.939 [Micromodem](INFO): Nmea in: $CAREV,163156,AUV,2.1.4000*2C

2021-12-04T16:31:55.941Z,1638635515.941 [Micromodem](INFO): Nmea in: $CAREV,163156,COPROC,0.20.0.39330*7D

2021-12-04T16:31:57.164Z,1638635517.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:31:59.984Z,1638635519.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:02.821Z,1638635522.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:05.662Z,1638635525.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:06.035Z,1638635526.035 [Micromodem](INFO): Nmea in: $CAREV,163206,AUV,2.1.4000*2A

2021-12-04T16:32:06.036Z,1638635526.036 [Micromodem](INFO): Nmea in: $CAREV,163206,COPROC,0.20.0.39330*7B

2021-12-04T16:32:08.541Z,1638635528.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:11.296Z,1638635531.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:14.124Z,1638635534.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:16.126Z,1638635536.126 [Micromodem](INFO): Nmea in: $CAREV,163216,AUV,2.1.4000*2B

2021-12-04T16:32:16.127Z,1638635536.127 [Micromodem](INFO): Nmea in: $CAREV,163216,COPROC,0.20.0.39330*7A

2021-12-04T16:32:16.952Z,1638635536.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:19.826Z,1638635539.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:22.651Z,1638635542.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:25.446Z,1638635545.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:26.239Z,1638635546.239 [Micromodem](INFO): Nmea in: $CAREV,163226,AUV,2.1.4000*28

2021-12-04T16:32:26.240Z,1638635546.240 [Micromodem](INFO): Nmea in: $CAREV,163226,COPROC,0.20.0.39330*79

2021-12-04T16:32:28.275Z,1638635548.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:31.089Z,1638635551.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:33.919Z,1638635553.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:35.942Z,1638635555.942 [Micromodem](INFO): Nmea in: $CAREV,163236,AUV,2.1.4000*29

2021-12-04T16:32:36.373Z,1638635556.373 [Micromodem](INFO): Nmea in: $CAREV,163236,COPROC,0.20.0.39330*78

2021-12-04T16:32:36.431Z,1638635556.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:39.172Z,1638635559.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:41.995Z,1638635561.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:44.859Z,1638635564.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:46.028Z,1638635566.028 [Micromodem](INFO): Nmea in: $CAREV,163246,AUV,2.1.4000*2E

2021-12-04T16:32:46.029Z,1638635566.029 [Micromodem](INFO): Nmea in: $CAREV,163246,COPROC,0.20.0.39330*7F

2021-12-04T16:32:47.671Z,1638635567.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:50.514Z,1638635570.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:53.315Z,1638635573.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:56.153Z,1638635576.153 [Micromodem](INFO): Nmea in: $CAREV,163256,AUV,2.1.4000*2F

2021-12-04T16:32:56.162Z,1638635576.162 [Micromodem](INFO): Nmea in: $CAREV,163256,COPROC,0.20.0.39330*7E

2021-12-04T16:32:56.174Z,1638635576.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:32:58.996Z,1638635578.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:01.801Z,1638635581.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:04.690Z,1638635584.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:06.222Z,1638635586.222 [Micromodem](INFO): Nmea in: $CAREV,163306,AUV,2.1.4000*2B

2021-12-04T16:33:06.223Z,1638635586.223 [Micromodem](INFO): Nmea in: $CAREV,163306,COPROC,0.20.0.39330*7A

2021-12-04T16:33:07.465Z,1638635587.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:10.281Z,1638635590.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:13.103Z,1638635593.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:15.967Z,1638635595.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:16.368Z,1638635596.368 [Micromodem](INFO): Nmea in: $CAREV,163316,AUV,2.1.4000*2A

2021-12-04T16:33:16.369Z,1638635596.369 [Micromodem](INFO): Nmea in: $CAREV,163316,COPROC,0.20.0.39330*7B

2021-12-04T16:33:18.763Z,1638635598.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:21.616Z,1638635601.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:24.450Z,1638635604.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:26.019Z,1638635606.019 [Micromodem](INFO): Nmea in: $CAREV,163326,AUV,2.1.4000*29

2021-12-04T16:33:26.020Z,1638635606.020 [Micromodem](INFO): Nmea in: $CAREV,163326,COPROC,0.20.0.39330*78

2021-12-04T16:33:27.259Z,1638635607.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:30.076Z,1638635610.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:32.898Z,1638635612.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:35.756Z,1638635615.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:36.128Z,1638635616.128 [Micromodem](INFO): Nmea in: $CAREV,163336,AUV,2.1.4000*28

2021-12-04T16:33:36.130Z,1638635616.130 [Micromodem](INFO): Nmea in: $CAREV,163336,COPROC,0.20.0.39330*79

2021-12-04T16:33:38.594Z,1638635618.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:41.404Z,1638635621.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:44.210Z,1638635624.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:46.228Z,1638635626.228 [Micromodem](INFO): Nmea in: $CAREV,163346,AUV,2.1.4000*2F

2021-12-04T16:33:46.230Z,1638635626.230 [Micromodem](INFO): Nmea in: $CAREV,163346,COPROC,0.20.0.39330*7E

2021-12-04T16:33:47.042Z,1638635627.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:49.901Z,1638635629.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:52.756Z,1638635632.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:55.537Z,1638635635.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:33:56.376Z,1638635636.376 [Micromodem](INFO): Nmea in: $CAREV,163356,AUV,2.1.4000*2E

2021-12-04T16:33:56.377Z,1638635636.377 [Micromodem](INFO): Nmea in: $CAREV,163356,COPROC,0.20.0.39330*7F

2021-12-04T16:33:58.451Z,1638635638.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:01.190Z,1638635641.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:04.023Z,1638635644.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:06.020Z,1638635646.020 [Micromodem](INFO): Nmea in: $CAREV,163406,AUV,2.1.4000*2C

2021-12-04T16:34:06.021Z,1638635646.021 [Micromodem](INFO): Nmea in: $CAREV,163406,COPROC,0.20.0.39330*7D

2021-12-04T16:34:06.841Z,1638635646.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:09.673Z,1638635649.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:12.543Z,1638635652.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:15.355Z,1638635655.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:16.127Z,1638635656.127 [Micromodem](INFO): Nmea in: $CAREV,163416,AUV,2.1.4000*2D

2021-12-04T16:34:16.128Z,1638635656.128 [Micromodem](INFO): Nmea in: $CAREV,163416,COPROC,0.20.0.39330*7C

2021-12-04T16:34:18.154Z,1638635658.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:20.979Z,1638635660.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:23.808Z,1638635663.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:26.220Z,1638635666.220 [Micromodem](INFO): Nmea in: $CAREV,163426,AUV,2.1.4000*2E

2021-12-04T16:34:26.230Z,1638635666.230 [Micromodem](INFO): Nmea in: $CAREV,163426,COPROC,0.20.0.39330*7F

2021-12-04T16:34:26.667Z,1638635666.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:29.480Z,1638635669.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:32.330Z,1638635672.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:35.119Z,1638635675.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:36.388Z,1638635676.388 [Micromodem](INFO): Nmea in: $CAREV,163436,AUV,2.1.4000*2F

2021-12-04T16:34:36.389Z,1638635676.389 [Micromodem](INFO): Nmea in: $CAREV,163436,COPROC,0.20.0.39330*7E

2021-12-04T16:34:37.953Z,1638635677.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:40.777Z,1638635680.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:43.608Z,1638635683.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:44.428Z,1638635684.428 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T16:34:46.010Z,1638635686.010 [Micromodem](INFO): Nmea in: $CAREV,163446,AUV,2.1.4000*28

2021-12-04T16:34:46.012Z,1638635686.012 [Micromodem](INFO): Nmea in: $CAREV,163446,COPROC,0.20.0.39330*79

2021-12-04T16:34:46.458Z,1638635686.458 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T16:34:46.479Z,1638635686.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:49.273Z,1638635689.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:52.099Z,1638635692.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:54.934Z,1638635694.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:34:56.116Z,1638635696.116 [Micromodem](INFO): Nmea in: $CAREV,163456,AUV,2.1.4000*29

2021-12-04T16:34:56.117Z,1638635696.117 [Micromodem](INFO): Nmea in: $CAREV,163456,COPROC,0.20.0.39330*78

2021-12-04T16:34:57.748Z,1638635697.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:00.615Z,1638635700.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:03.418Z,1638635703.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:06.222Z,1638635706.222 [Micromodem](INFO): Nmea in: $CAREV,163506,AUV,2.1.4000*2D

2021-12-04T16:35:06.223Z,1638635706.223 [Micromodem](INFO): Nmea in: $CAREV,163506,COPROC,0.20.0.39330*7C

2021-12-04T16:35:06.235Z,1638635706.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:09.058Z,1638635709.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:10.279Z,1638635710.279 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2021-12-04T16:35:10.279Z,1638635710.279 [ThrusterHE](INFO): Powering down
2021-12-04T16:35:11.108Z,1638635711.108 [ThrusterHE](DEBUG): Initializing EZServoServo.
2021-12-04T16:35:11.227Z,1638635711.227 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2021-12-04T16:35:11.878Z,1638635711.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:14.749Z,1638635714.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:16.364Z,1638635716.364 [Micromodem](INFO): Nmea in: $CAREV,163516,AUV,2.1.4000*2C

2021-12-04T16:35:16.367Z,1638635716.367 [Micromodem](INFO): Nmea in: $CAREV,163516,COPROC,0.20.0.39330*7D

2021-12-04T16:35:17.550Z,1638635717.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:20.430Z,1638635720.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:23.193Z,1638635723.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:26.012Z,1638635726.012 [Micromodem](INFO): Nmea in: $CAREV,163526,AUV,2.1.4000*2F

2021-12-04T16:35:26.013Z,1638635726.013 [Micromodem](INFO): Nmea in: $CAREV,163526,COPROC,0.20.0.39330*7E

2021-12-04T16:35:26.025Z,1638635726.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:28.851Z,1638635728.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:31.694Z,1638635731.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:34.550Z,1638635734.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:36.113Z,1638635736.113 [Micromodem](INFO): Nmea in: $CAREV,163536,AUV,2.1.4000*2E

2021-12-04T16:35:36.115Z,1638635736.115 [Micromodem](INFO): Nmea in: $CAREV,163536,COPROC,0.20.0.39330*7F

2021-12-04T16:35:37.371Z,1638635737.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:40.181Z,1638635740.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:43.004Z,1638635743.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:45.838Z,1638635745.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:46.206Z,1638635746.206 [Micromodem](INFO): Nmea in: $CAREV,163546,AUV,2.1.4000*29

2021-12-04T16:35:46.208Z,1638635746.208 [Micromodem](INFO): Nmea in: $CAREV,163546,COPROC,0.20.0.39330*78

2021-12-04T16:35:48.684Z,1638635748.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:51.490Z,1638635751.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:54.375Z,1638635754.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:56.370Z,1638635756.370 [Micromodem](INFO): Nmea in: $CAREV,163556,AUV,2.1.4000*28

2021-12-04T16:35:56.371Z,1638635756.371 [Micromodem](INFO): Nmea in: $CAREV,163556,COPROC,0.20.0.39330*79

2021-12-04T16:35:57.132Z,1638635757.132 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:35:59.989Z,1638635759.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:02.784Z,1638635762.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:05.642Z,1638635765.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:06.004Z,1638635766.004 [Micromodem](INFO): Nmea in: $CAREV,163606,AUV,2.1.4000*2E

2021-12-04T16:36:06.005Z,1638635766.005 [Micromodem](INFO): Nmea in: $CAREV,163606,COPROC,0.20.0.39330*7F

2021-12-04T16:36:08.472Z,1638635768.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:11.277Z,1638635771.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:14.096Z,1638635774.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:16.108Z,1638635776.108 [Micromodem](INFO): Nmea in: $CAREV,163616,AUV,2.1.4000*2F

2021-12-04T16:36:16.109Z,1638635776.109 [Micromodem](INFO): Nmea in: $CAREV,163616,COPROC,0.20.0.39330*7E

2021-12-04T16:36:16.922Z,1638635776.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:19.761Z,1638635779.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:22.613Z,1638635782.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:25.421Z,1638635785.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:26.205Z,1638635786.205 [Micromodem](INFO): Nmea in: $CAREV,163626,AUV,2.1.4000*2C

2021-12-04T16:36:26.206Z,1638635786.206 [Micromodem](INFO): Nmea in: $CAREV,163626,COPROC,0.20.0.39330*7D

2021-12-04T16:36:28.239Z,1638635788.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:31.062Z,1638635791.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:33.918Z,1638635793.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:36.359Z,1638635796.359 [Micromodem](INFO): Nmea in: $CAREV,163636,AUV,2.1.4000*2D

2021-12-04T16:36:36.364Z,1638635796.364 [Micromodem](INFO): Nmea in: $CAREV,163636,COPROC,0.20.0.39330*7C

2021-12-04T16:36:36.443Z,1638635796.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:39.153Z,1638635799.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:41.972Z,1638635801.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:44.803Z,1638635804.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:46.005Z,1638635806.005 [Micromodem](INFO): Nmea in: $CAREV,163646,AUV,2.1.4000*2A

2021-12-04T16:36:46.007Z,1638635806.007 [Micromodem](INFO): Nmea in: $CAREV,163646,COPROC,0.20.0.39330*7B

2021-12-04T16:36:47.658Z,1638635807.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:50.493Z,1638635810.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:53.283Z,1638635813.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:56.121Z,1638635816.121 [Micromodem](INFO): Nmea in: $CAREV,163656,AUV,2.1.4000*2B

2021-12-04T16:36:56.123Z,1638635816.123 [Micromodem](INFO): Nmea in: $CAREV,163656,COPROC,0.20.0.39330*7A

2021-12-04T16:36:56.134Z,1638635816.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:36:58.949Z,1638635818.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:01.766Z,1638635821.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:04.633Z,1638635824.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:06.204Z,1638635826.204 [Micromodem](INFO): Nmea in: $CAREV,163706,AUV,2.1.4000*2F

2021-12-04T16:37:06.219Z,1638635826.219 [Micromodem](INFO): Nmea in: $CAREV,163706,COPROC,0.20.0.39330*7E

2021-12-04T16:37:07.442Z,1638635827.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:10.249Z,1638635830.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:13.089Z,1638635833.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:15.924Z,1638635835.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:16.353Z,1638635836.353 [Micromodem](INFO): Nmea in: $CAREV,163716,AUV,2.1.4000*2E

2021-12-04T16:37:16.374Z,1638635836.374 [Micromodem](INFO): Nmea in: $CAREV,163716,COPROC,0.20.0.39330*7F

2021-12-04T16:37:18.739Z,1638635838.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:21.591Z,1638635841.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:24.426Z,1638635844.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:26.011Z,1638635846.011 [Micromodem](INFO): Nmea in: $CAREV,163726,AUV,2.1.4000*2D

2021-12-04T16:37:26.012Z,1638635846.012 [Micromodem](INFO): Nmea in: $CAREV,163726,COPROC,0.20.0.39330*7C

2021-12-04T16:37:27.219Z,1638635847.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:30.104Z,1638635850.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:32.609Z,1638635852.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:35.304Z,1638635855.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:36.100Z,1638635856.100 [Micromodem](INFO): Nmea in: $CAREV,163736,AUV,2.1.4000*2C

2021-12-04T16:37:36.101Z,1638635856.101 [Micromodem](INFO): Nmea in: $CAREV,163736,COPROC,0.20.0.39330*7D

2021-12-04T16:37:38.131Z,1638635858.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:40.652Z,1638635860.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:43.412Z,1638635863.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:46.195Z,1638635866.195 [Micromodem](INFO): Nmea in: $CAREV,163746,AUV,2.1.4000*2B

2021-12-04T16:37:46.196Z,1638635866.196 [Micromodem](INFO): Nmea in: $CAREV,163746,COPROC,0.20.0.39330*7A

2021-12-04T16:37:46.208Z,1638635866.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:49.041Z,1638635869.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:51.867Z,1638635871.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:54.740Z,1638635874.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:37:56.351Z,1638635876.351 [Micromodem](INFO): Nmea in: $CAREV,163756,AUV,2.1.4000*2A

2021-12-04T16:37:56.359Z,1638635876.359 [Micromodem](INFO): Nmea in: $CAREV,163756,COPROC,0.20.0.39330*7B

2021-12-04T16:37:57.553Z,1638635877.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:00.424Z,1638635880.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:03.175Z,1638635883.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:06.014Z,1638635886.014 [Micromodem](INFO): Nmea in: $CAREV,163806,AUV,2.1.4000*20

2021-12-04T16:38:06.015Z,1638635886.015 [Micromodem](INFO): Nmea in: $CAREV,163806,COPROC,0.20.0.39330*71

2021-12-04T16:38:06.027Z,1638635886.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:08.841Z,1638635888.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:11.670Z,1638635891.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:14.534Z,1638635894.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:16.090Z,1638635896.090 [Micromodem](INFO): Nmea in: $CAREV,163816,AUV,2.1.4000*21

2021-12-04T16:38:16.091Z,1638635896.091 [Micromodem](INFO): Nmea in: $CAREV,163816,COPROC,0.20.0.39330*70

2021-12-04T16:38:17.320Z,1638635897.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:20.157Z,1638635900.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:22.985Z,1638635902.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:25.803Z,1638635905.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:26.197Z,1638635906.197 [Micromodem](INFO): Nmea in: $CAREV,163826,AUV,2.1.4000*22

2021-12-04T16:38:26.199Z,1638635906.199 [Micromodem](INFO): Nmea in: $CAREV,163826,COPROC,0.20.0.39330*73

2021-12-04T16:38:28.700Z,1638635908.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:31.473Z,1638635911.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:34.376Z,1638635914.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:36.320Z,1638635916.320 [Micromodem](INFO): Nmea in: $CAREV,163836,AUV,2.1.4000*23

2021-12-04T16:38:36.344Z,1638635916.344 [Micromodem](INFO): Nmea in: $CAREV,163836,COPROC,0.20.0.39330*72

2021-12-04T16:38:37.133Z,1638635917.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:39.956Z,1638635919.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:42.771Z,1638635922.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:45.609Z,1638635925.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:46.060Z,1638635926.060 [Micromodem](INFO): Nmea in: $CAREV,163846,AUV,2.1.4000*24

2021-12-04T16:38:46.061Z,1638635926.061 [Micromodem](INFO): Nmea in: $CAREV,163846,COPROC,0.20.0.39330*75

2021-12-04T16:38:48.459Z,1638635928.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:51.262Z,1638635931.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:54.088Z,1638635934.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:56.086Z,1638635936.086 [Micromodem](INFO): Nmea in: $CAREV,163856,AUV,2.1.4000*25

2021-12-04T16:38:56.087Z,1638635936.087 [Micromodem](INFO): Nmea in: $CAREV,163856,COPROC,0.20.0.39330*74

2021-12-04T16:38:56.907Z,1638635936.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:38:59.759Z,1638635939.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:02.609Z,1638635942.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:05.404Z,1638635945.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:06.187Z,1638635946.187 [Micromodem](INFO): Nmea in: $CAREV,163906,AUV,2.1.4000*21

2021-12-04T16:39:06.188Z,1638635946.188 [Micromodem](INFO): Nmea in: $CAREV,163906,COPROC,0.20.0.39330*70

2021-12-04T16:39:08.218Z,1638635948.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:11.048Z,1638635951.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:13.888Z,1638635953.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:16.321Z,1638635956.321 [Micromodem](INFO): Nmea in: $CAREV,163916,AUV,2.1.4000*20

2021-12-04T16:39:16.325Z,1638635956.325 [Micromodem](INFO): Nmea in: $CAREV,163916,COPROC,0.20.0.39330*71

2021-12-04T16:39:16.752Z,1638635956.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:19.546Z,1638635959.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:22.454Z,1638635962.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:25.191Z,1638635965.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:26.388Z,1638635966.388 [Micromodem](INFO): Nmea in: $CAREV,163926,AUV,2.1.4000*23

2021-12-04T16:39:26.389Z,1638635966.389 [Micromodem](INFO): Nmea in: $CAREV,163926,COPROC,0.20.0.39330*72

2021-12-04T16:39:28.028Z,1638635968.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:30.850Z,1638635970.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:33.682Z,1638635973.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:36.083Z,1638635976.083 [Micromodem](INFO): Nmea in: $CAREV,163936,AUV,2.1.4000*22

2021-12-04T16:39:36.084Z,1638635976.084 [Micromodem](INFO): Nmea in: $CAREV,163936,COPROC,0.20.0.39330*73

2021-12-04T16:39:36.549Z,1638635976.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:39.375Z,1638635979.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:42.164Z,1638635982.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:45.000Z,1638635985.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:46.200Z,1638635986.200 [Micromodem](INFO): Nmea in: $CAREV,163946,AUV,2.1.4000*25

2021-12-04T16:39:46.202Z,1638635986.202 [Micromodem](INFO): Nmea in: $CAREV,163946,COPROC,0.20.0.39330*74

2021-12-04T16:39:47.812Z,1638635987.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:50.687Z,1638635990.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:53.498Z,1638635993.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:56.319Z,1638635996.319 [Micromodem](INFO): Nmea in: $CAREV,163956,AUV,2.1.4000*24

2021-12-04T16:39:56.327Z,1638635996.327 [Micromodem](INFO): Nmea in: $CAREV,163956,COPROC,0.20.0.39330*75

2021-12-04T16:39:56.413Z,1638635996.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:39:59.122Z,1638635999.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:01.957Z,1638636001.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:04.786Z,1638636004.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:06.393Z,1638636006.393 [Micromodem](INFO): Nmea in: $CAREV,164006,AUV,2.1.4000*2F

2021-12-04T16:40:06.395Z,1638636006.395 [Micromodem](INFO): Nmea in: $CAREV,164006,COPROC,0.20.0.39330*7E

2021-12-04T16:40:07.616Z,1638636007.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:10.484Z,1638636010.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:13.273Z,1638636013.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:16.081Z,1638636016.081 [Micromodem](INFO): Nmea in: $CAREV,164016,AUV,2.1.4000*2E

2021-12-04T16:40:16.083Z,1638636016.083 [Micromodem](INFO): Nmea in: $CAREV,164016,COPROC,0.20.0.39330*7F

2021-12-04T16:40:16.101Z,1638636016.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:18.924Z,1638636018.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:21.756Z,1638636021.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:24.619Z,1638636024.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:26.184Z,1638636026.184 [Micromodem](INFO): Nmea in: $CAREV,164026,AUV,2.1.4000*2D

2021-12-04T16:40:26.186Z,1638636026.186 [Micromodem](INFO): Nmea in: $CAREV,164026,COPROC,0.20.0.39330*7C

2021-12-04T16:40:27.438Z,1638636027.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:30.241Z,1638636030.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:33.069Z,1638636033.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:35.898Z,1638636035.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:36.292Z,1638636036.292 [Micromodem](INFO): Nmea in: $CAREV,164036,AUV,2.1.4000*2C

2021-12-04T16:40:36.296Z,1638636036.296 [Micromodem](INFO): Nmea in: $CAREV,164036,COPROC,0.20.0.39330*7D

2021-12-04T16:40:38.409Z,1638636038.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:41.138Z,1638636041.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:43.977Z,1638636043.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:46.388Z,1638636046.388 [Micromodem](INFO): Nmea in: $CAREV,164046,AUV,2.1.4000*2B

2021-12-04T16:40:46.389Z,1638636046.389 [Micromodem](INFO): Nmea in: $CAREV,164046,COPROC,0.20.0.39330*7A

2021-12-04T16:40:46.797Z,1638636046.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:49.632Z,1638636049.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:52.488Z,1638636052.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:55.290Z,1638636055.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:40:56.080Z,1638636056.080 [Micromodem](INFO): Nmea in: $CAREV,164056,AUV,2.1.4000*2A

2021-12-04T16:40:56.082Z,1638636056.082 [Micromodem](INFO): Nmea in: $CAREV,164056,COPROC,0.20.0.39330*7B

2021-12-04T16:40:58.109Z,1638636058.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:00.941Z,1638636060.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:03.762Z,1638636063.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:06.176Z,1638636066.176 [Micromodem](INFO): Nmea in: $CAREV,164106,AUV,2.1.4000*2E

2021-12-04T16:41:06.178Z,1638636066.178 [Micromodem](INFO): Nmea in: $CAREV,164106,COPROC,0.20.0.39330*7F

2021-12-04T16:41:06.655Z,1638636066.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:09.440Z,1638636069.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:12.275Z,1638636072.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:15.074Z,1638636075.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:16.289Z,1638636076.289 [Micromodem](INFO): Nmea in: $CAREV,164116,AUV,2.1.4000*2F

2021-12-04T16:41:16.293Z,1638636076.293 [Micromodem](INFO): Nmea in: $CAREV,164116,COPROC,0.20.0.39330*7E

2021-12-04T16:41:17.902Z,1638636077.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:20.423Z,1638636080.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:23.156Z,1638636083.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:25.982Z,1638636085.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:26.380Z,1638636086.380 [Micromodem](INFO): Nmea in: $CAREV,164126,AUV,2.1.4000*2C

2021-12-04T16:41:26.382Z,1638636086.382 [Micromodem](INFO): Nmea in: $CAREV,164126,COPROC,0.20.0.39330*7D

2021-12-04T16:41:28.815Z,1638636088.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:31.658Z,1638636091.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:34.525Z,1638636094.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:36.073Z,1638636096.073 [Micromodem](INFO): Nmea in: $CAREV,164136,AUV,2.1.4000*2D

2021-12-04T16:41:36.075Z,1638636096.075 [Micromodem](INFO): Nmea in: $CAREV,164136,COPROC,0.20.0.39330*7C

2021-12-04T16:41:37.293Z,1638636097.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:40.122Z,1638636100.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:42.950Z,1638636102.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:45.783Z,1638636105.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:46.179Z,1638636106.179 [Micromodem](INFO): Nmea in: $CAREV,164146,AUV,2.1.4000*2A

2021-12-04T16:41:46.195Z,1638636106.195 [Micromodem](INFO): Nmea in: $CAREV,164146,COPROC,0.20.0.39330*7B

2021-12-04T16:41:48.637Z,1638636108.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:51.443Z,1638636111.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:54.272Z,1638636114.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:56.297Z,1638636116.297 [Micromodem](INFO): Nmea in: $CAREV,164156,AUV,2.1.4000*2B

2021-12-04T16:41:56.301Z,1638636116.301 [Micromodem](INFO): Nmea in: $CAREV,164156,COPROC,0.20.0.39330*7A

2021-12-04T16:41:57.105Z,1638636117.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:41:59.917Z,1638636119.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:02.423Z,1638636122.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:05.182Z,1638636125.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:06.378Z,1638636126.378 [Micromodem](INFO): Nmea in: $CAREV,164206,AUV,2.1.4000*2D

2021-12-04T16:42:06.379Z,1638636126.379 [Micromodem](INFO): Nmea in: $CAREV,164206,COPROC,0.20.0.39330*7C

2021-12-04T16:42:08.028Z,1638636128.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:10.846Z,1638636130.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:13.671Z,1638636133.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:16.072Z,1638636136.072 [Micromodem](INFO): Nmea in: $CAREV,164216,AUV,2.1.4000*2C

2021-12-04T16:42:16.073Z,1638636136.073 [Micromodem](INFO): Nmea in: $CAREV,164216,COPROC,0.20.0.39330*7D

2021-12-04T16:42:16.540Z,1638636136.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:19.320Z,1638636139.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:20.517Z,1638636140.517 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:42:22.137Z,1638636142.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:24.984Z,1638636144.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:26.168Z,1638636146.168 [Micromodem](INFO): Nmea in: $CAREV,164226,AUV,2.1.4000*2F

2021-12-04T16:42:26.170Z,1638636146.170 [Micromodem](INFO): Nmea in: $CAREV,164226,COPROC,0.20.0.39330*7E

2021-12-04T16:42:27.796Z,1638636147.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:30.671Z,1638636150.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:32.659Z,1638636152.659 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-12-04T16:42:33.480Z,1638636153.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:36.271Z,1638636156.271 [Micromodem](INFO): Nmea in: $CAREV,164236,AUV,2.1.4000*2E

2021-12-04T16:42:36.272Z,1638636156.272 [Micromodem](INFO): Nmea in: $CAREV,164236,COPROC,0.20.0.39330*7F

2021-12-04T16:42:36.375Z,1638636156.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:39.105Z,1638636159.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:40.398Z,1638636160.398 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T16:42:41.935Z,1638636161.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:44.436Z,1638636164.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:46.390Z,1638636166.390 [Micromodem](INFO): Nmea in: $CAREV,164246,AUV,2.1.4000*29

2021-12-04T16:42:46.391Z,1638636166.391 [Micromodem](INFO): Nmea in: $CAREV,164246,COPROC,0.20.0.39330*78

2021-12-04T16:42:47.187Z,1638636167.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:50.019Z,1638636170.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:52.842Z,1638636172.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:55.689Z,1638636175.689 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T16:42:55.705Z,1638636175.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:42:56.072Z,1638636176.072 [Micromodem](INFO): Nmea in: $CAREV,164256,AUV,2.1.4000*28

2021-12-04T16:42:56.073Z,1638636176.073 [Micromodem](INFO): Nmea in: $CAREV,164256,COPROC,0.20.0.39330*79

2021-12-04T16:42:58.535Z,1638636178.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:01.384Z,1638636181.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:04.154Z,1638636184.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:06.164Z,1638636186.164 [Micromodem](INFO): Nmea in: $CAREV,164306,AUV,2.1.4000*2C

2021-12-04T16:43:06.166Z,1638636186.166 [Micromodem](INFO): Nmea in: $CAREV,164306,COPROC,0.20.0.39330*7D

2021-12-04T16:43:07.012Z,1638636187.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:09.818Z,1638636189.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:10.655Z,1638636190.655 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T16:43:12.718Z,1638636192.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:15.464Z,1638636195.464 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:43:15.479Z,1638636195.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:16.313Z,1638636196.313 [Micromodem](INFO): Nmea in: $CAREV,164316,AUV,2.1.4000*2D

2021-12-04T16:43:16.316Z,1638636196.316 [Micromodem](INFO): Nmea in: $CAREV,164316,COPROC,0.20.0.39330*7C

2021-12-04T16:43:16.674Z,1638636196.674 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T16:43:18.402Z,1638636198.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:20.402Z,1638636200.402 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T16:43:20.402Z,1638636200.402 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T16:43:20.402Z,1638636200.402 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T16:43:20.405Z,1638636200.405 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:43:20.502Z,1638636200.502 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T16:43:20.778Z,1638636200.778 [RDI_Pathfinder](INFO): Powering down
2021-12-04T16:43:21.127Z,1638636201.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:21.555Z,1638636201.555 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T16:43:21.555Z,1638636201.555 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T16:43:23.979Z,1638636203.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:25.564Z,1638636205.564 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:43:26.161Z,1638636206.161 [Micromodem](INFO): Nmea in: $CAREV,164326,AUV,2.1.4000*2E

2021-12-04T16:43:26.162Z,1638636206.162 [Micromodem](INFO): Nmea in: $CAREV,164326,COPROC,0.20.0.39330*7F

2021-12-04T16:43:26.811Z,1638636206.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:29.618Z,1638636209.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:32.449Z,1638636212.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:35.262Z,1638636215.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:36.071Z,1638636216.071 [Micromodem](INFO): Nmea in: $CAREV,164336,AUV,2.1.4000*2F

2021-12-04T16:43:36.072Z,1638636216.072 [Micromodem](INFO): Nmea in: $CAREV,164336,COPROC,0.20.0.39330*7E

2021-12-04T16:43:38.118Z,1638636218.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:40.939Z,1638636220.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:43.751Z,1638636223.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:45.410Z,1638636225.410 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T16:43:46.174Z,1638636226.174 [Micromodem](INFO): Nmea in: $CAREV,164346,AUV,2.1.4000*28

2021-12-04T16:43:46.176Z,1638636226.176 [Micromodem](INFO): Nmea in: $CAREV,164346,COPROC,0.20.0.39330*79

2021-12-04T16:43:46.599Z,1638636226.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:49.439Z,1638636229.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:50.613Z,1638636230.613 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T16:43:52.256Z,1638636232.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:55.063Z,1638636235.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:43:56.261Z,1638636236.261 [Micromodem](INFO): Nmea in: $CAREV,164356,AUV,2.1.4000*29

2021-12-04T16:43:56.262Z,1638636236.262 [Micromodem](INFO): Nmea in: $CAREV,164356,COPROC,0.20.0.39330*78

2021-12-04T16:43:57.891Z,1638636237.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:00.399Z,1638636240.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:03.141Z,1638636243.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:06.084Z,1638636246.084 [Micromodem](INFO): Nmea in: $CAREV,164406,AUV,2.1.4000*2B

2021-12-04T16:44:06.085Z,1638636246.085 [Micromodem](INFO): Nmea in: $CAREV,164406,COPROC,0.20.0.39330*7A

2021-12-04T16:44:06.131Z,1638636246.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:08.795Z,1638636248.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:11.639Z,1638636251.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:14.461Z,1638636254.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:16.072Z,1638636256.072 [Micromodem](INFO): Nmea in: $CAREV,164416,AUV,2.1.4000*2A

2021-12-04T16:44:16.073Z,1638636256.073 [Micromodem](INFO): Nmea in: $CAREV,164416,COPROC,0.20.0.39330*7B

2021-12-04T16:44:17.280Z,1638636257.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:20.208Z,1638636260.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:22.937Z,1638636262.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:25.767Z,1638636265.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:26.171Z,1638636266.171 [Micromodem](INFO): Nmea in: $CAREV,164426,AUV,2.1.4000*29

2021-12-04T16:44:26.175Z,1638636266.175 [Micromodem](INFO): Nmea in: $CAREV,164426,COPROC,0.20.0.39330*78

2021-12-04T16:44:28.618Z,1638636268.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:31.435Z,1638636271.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:34.375Z,1638636274.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:36.257Z,1638636276.257 [Micromodem](INFO): Nmea in: $CAREV,164436,AUV,2.1.4000*28

2021-12-04T16:44:36.258Z,1638636276.258 [Micromodem](INFO): Nmea in: $CAREV,164436,COPROC,0.20.0.39330*79

2021-12-04T16:44:37.076Z,1638636277.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:39.913Z,1638636279.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:42.730Z,1638636282.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:45.598Z,1638636285.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:46.080Z,1638636286.080 [Micromodem](INFO): Nmea in: $CAREV,164446,AUV,2.1.4000*2F

2021-12-04T16:44:46.081Z,1638636286.081 [Micromodem](INFO): Nmea in: $CAREV,164446,COPROC,0.20.0.39330*7E

2021-12-04T16:44:48.409Z,1638636288.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:51.222Z,1638636291.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:54.070Z,1638636294.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:56.078Z,1638636296.078 [Micromodem](INFO): Nmea in: $CAREV,164456,AUV,2.1.4000*2E

2021-12-04T16:44:56.079Z,1638636296.079 [Micromodem](INFO): Nmea in: $CAREV,164456,COPROC,0.20.0.39330*7F

2021-12-04T16:44:56.880Z,1638636296.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:44:59.790Z,1638636299.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:02.574Z,1638636302.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:05.395Z,1638636305.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:06.171Z,1638636306.171 [Micromodem](INFO): Nmea in: $CAREV,164506,AUV,2.1.4000*2A

2021-12-04T16:45:06.172Z,1638636306.172 [Micromodem](INFO): Nmea in: $CAREV,164506,COPROC,0.20.0.39330*7B

2021-12-04T16:45:08.211Z,1638636308.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:11.024Z,1638636311.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:13.870Z,1638636313.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:16.266Z,1638636316.266 [Micromodem](INFO): Nmea in: $CAREV,164516,AUV,2.1.4000*2B

2021-12-04T16:45:16.267Z,1638636316.267 [Micromodem](INFO): Nmea in: $CAREV,164516,COPROC,0.20.0.39330*7A

2021-12-04T16:45:16.685Z,1638636316.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:19.512Z,1638636319.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:22.419Z,1638636322.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:25.170Z,1638636325.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:26.438Z,1638636326.438 [Micromodem](INFO): Nmea in: $CAREV,164526,AUV,2.1.4000*28

2021-12-04T16:45:26.439Z,1638636326.439 [Micromodem](INFO): Nmea in: $CAREV,164526,COPROC,0.20.0.39330*79

2021-12-04T16:45:28.055Z,1638636328.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:30.814Z,1638636330.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:33.672Z,1638636333.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:36.080Z,1638636336.080 [Micromodem](INFO): Nmea in: $CAREV,164536,AUV,2.1.4000*29

2021-12-04T16:45:36.463Z,1638636336.463 [Micromodem](INFO): Nmea in: $CAREV,164536,COPROC,0.20.0.39330*78

2021-12-04T16:45:36.502Z,1638636336.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:39.315Z,1638636339.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:42.211Z,1638636342.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:44.972Z,1638636344.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:46.160Z,1638636346.160 [Micromodem](INFO): Nmea in: $CAREV,164546,AUV,2.1.4000*2E

2021-12-04T16:45:46.162Z,1638636346.162 [Micromodem](INFO): Nmea in: $CAREV,164546,COPROC,0.20.0.39330*7F

2021-12-04T16:45:47.787Z,1638636347.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:50.620Z,1638636350.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:53.526Z,1638636353.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:56.265Z,1638636356.265 [Micromodem](INFO): Nmea in: $CAREV,164556,AUV,2.1.4000*2F

2021-12-04T16:45:56.266Z,1638636356.266 [Micromodem](INFO): Nmea in: $CAREV,164556,COPROC,0.20.0.39330*7E

2021-12-04T16:45:56.346Z,1638636356.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:45:59.099Z,1638636359.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:01.949Z,1638636361.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:04.758Z,1638636364.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:06.377Z,1638636366.377 [Micromodem](INFO): Nmea in: $CAREV,164606,AUV,2.1.4000*29

2021-12-04T16:46:06.379Z,1638636366.379 [Micromodem](INFO): Nmea in: $CAREV,164606,COPROC,0.20.0.39330*78

2021-12-04T16:46:07.612Z,1638636367.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:10.480Z,1638636370.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:13.234Z,1638636373.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:16.077Z,1638636376.077 [Micromodem](INFO): Nmea in: $CAREV,164616,AUV,2.1.4000*28

2021-12-04T16:46:16.114Z,1638636376.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:16.467Z,1638636376.467 [Micromodem](INFO): Nmea in: $CAREV,164616,COPROC,0.20.0.39330*79

2021-12-04T16:46:18.903Z,1638636378.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:21.749Z,1638636381.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:24.559Z,1638636384.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:26.156Z,1638636386.156 [Micromodem](INFO): Nmea in: $CAREV,164626,AUV,2.1.4000*2B

2021-12-04T16:46:26.171Z,1638636386.171 [Micromodem](INFO): Nmea in: $CAREV,164626,COPROC,0.20.0.39330*7A

2021-12-04T16:46:27.403Z,1638636387.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:30.243Z,1638636390.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:33.063Z,1638636393.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:35.927Z,1638636395.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:36.263Z,1638636396.263 [Micromodem](INFO): Nmea in: $CAREV,164636,AUV,2.1.4000*2A

2021-12-04T16:46:36.265Z,1638636396.265 [Micromodem](INFO): Nmea in: $CAREV,164636,COPROC,0.20.0.39330*7B

2021-12-04T16:46:38.704Z,1638636398.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:41.529Z,1638636401.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:44.439Z,1638636404.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:46.371Z,1638636406.371 [Micromodem](INFO): Nmea in: $CAREV,164646,AUV,2.1.4000*2D

2021-12-04T16:46:46.372Z,1638636406.372 [Micromodem](INFO): Nmea in: $CAREV,164646,COPROC,0.20.0.39330*7C

2021-12-04T16:46:47.235Z,1638636407.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:50.073Z,1638636410.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:52.828Z,1638636412.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:55.685Z,1638636415.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:46:56.467Z,1638636416.467 [Micromodem](INFO): Nmea in: $CAREV,164656,AUV,2.1.4000*2C

2021-12-04T16:46:56.468Z,1638636416.468 [Micromodem](INFO): Nmea in: $CAREV,164656,COPROC,0.20.0.39330*7D

2021-12-04T16:46:58.505Z,1638636418.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:01.375Z,1638636421.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:04.180Z,1638636424.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:06.149Z,1638636426.149 [Micromodem](INFO): Nmea in: $CAREV,164706,AUV,2.1.4000*28

2021-12-04T16:47:06.151Z,1638636426.151 [Micromodem](INFO): Nmea in: $CAREV,164706,COPROC,0.20.0.39330*79

2021-12-04T16:47:06.971Z,1638636426.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:09.805Z,1638636429.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:12.634Z,1638636432.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:15.462Z,1638636435.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:16.249Z,1638636436.249 [Micromodem](INFO): Nmea in: $CAREV,164716,AUV,2.1.4000*29

2021-12-04T16:47:16.250Z,1638636436.250 [Micromodem](INFO): Nmea in: $CAREV,164716,COPROC,0.20.0.39330*78

2021-12-04T16:47:18.320Z,1638636438.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:21.112Z,1638636441.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:23.940Z,1638636443.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:26.369Z,1638636446.369 [Micromodem](INFO): Nmea in: $CAREV,164726,AUV,2.1.4000*2A

2021-12-04T16:47:26.371Z,1638636446.371 [Micromodem](INFO): Nmea in: $CAREV,164726,COPROC,0.20.0.39330*7B

2021-12-04T16:47:26.783Z,1638636446.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:29.665Z,1638636449.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:32.435Z,1638636452.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:35.252Z,1638636455.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:36.452Z,1638636456.452 [Micromodem](INFO): Nmea in: $CAREV,164736,AUV,2.1.4000*2B

2021-12-04T16:47:36.468Z,1638636456.468 [Micromodem](INFO): Nmea in: $CAREV,164736,COPROC,0.20.0.39330*7A

2021-12-04T16:47:38.100Z,1638636458.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:40.976Z,1638636460.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:43.752Z,1638636463.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:46.148Z,1638636466.148 [Micromodem](INFO): Nmea in: $CAREV,164746,AUV,2.1.4000*2C

2021-12-04T16:47:46.150Z,1638636466.150 [Micromodem](INFO): Nmea in: $CAREV,164746,COPROC,0.20.0.39330*7D

2021-12-04T16:47:46.573Z,1638636466.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:49.398Z,1638636469.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:52.259Z,1638636472.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:55.072Z,1638636475.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:47:56.243Z,1638636476.243 [Micromodem](INFO): Nmea in: $CAREV,164756,AUV,2.1.4000*2D

2021-12-04T16:47:56.244Z,1638636476.244 [Micromodem](INFO): Nmea in: $CAREV,164756,COPROC,0.20.0.39330*7C

2021-12-04T16:47:57.892Z,1638636477.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:00.711Z,1638636480.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:03.536Z,1638636483.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:06.376Z,1638636486.376 [Micromodem](INFO): Nmea in: $CAREV,164806,AUV,2.1.4000*27

2021-12-04T16:48:06.378Z,1638636486.378 [Micromodem](INFO): Nmea in: $CAREV,164806,COPROC,0.20.0.39330*76

2021-12-04T16:48:06.417Z,1638636486.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:09.205Z,1638636489.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:12.047Z,1638636492.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:14.852Z,1638636494.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:16.451Z,1638636496.451 [Micromodem](INFO): Nmea in: $CAREV,164816,AUV,2.1.4000*26

2021-12-04T16:48:16.452Z,1638636496.452 [Micromodem](INFO): Nmea in: $CAREV,164816,COPROC,0.20.0.39330*77

2021-12-04T16:48:17.678Z,1638636497.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:20.539Z,1638636500.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:23.400Z,1638636503.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:26.140Z,1638636506.140 [Micromodem](INFO): Nmea in: $CAREV,164826,AUV,2.1.4000*25

2021-12-04T16:48:26.142Z,1638636506.142 [Micromodem](INFO): Nmea in: $CAREV,164826,COPROC,0.20.0.39330*74

2021-12-04T16:48:26.219Z,1638636506.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:28.994Z,1638636508.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:31.823Z,1638636511.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:34.709Z,1638636514.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:36.246Z,1638636516.246 [Micromodem](INFO): Nmea in: $CAREV,164836,AUV,2.1.4000*24

2021-12-04T16:48:36.247Z,1638636516.247 [Micromodem](INFO): Nmea in: $CAREV,164836,COPROC,0.20.0.39330*75

2021-12-04T16:48:37.479Z,1638636517.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:40.320Z,1638636520.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:43.128Z,1638636523.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:46.009Z,1638636526.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:46.366Z,1638636526.366 [Micromodem](INFO): Nmea in: $CAREV,164846,AUV,2.1.4000*23

2021-12-04T16:48:46.367Z,1638636526.367 [Micromodem](INFO): Nmea in: $CAREV,164846,COPROC,0.20.0.39330*72

2021-12-04T16:48:48.801Z,1638636528.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:51.630Z,1638636531.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:54.442Z,1638636534.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:48:56.441Z,1638636536.441 [Micromodem](INFO): Nmea in: $CAREV,164856,AUV,2.1.4000*22

2021-12-04T16:48:56.442Z,1638636536.442 [Micromodem](INFO): Nmea in: $CAREV,164856,COPROC,0.20.0.39330*73

2021-12-04T16:48:57.263Z,1638636537.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:00.135Z,1638636540.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:02.952Z,1638636542.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:05.756Z,1638636545.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:06.161Z,1638636546.161 [Micromodem](INFO): Nmea in: $CAREV,164906,AUV,2.1.4000*26

2021-12-04T16:49:06.164Z,1638636546.164 [Micromodem](INFO): Nmea in: $CAREV,164906,COPROC,0.20.0.39330*77

2021-12-04T16:49:08.594Z,1638636548.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:11.408Z,1638636551.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:14.263Z,1638636554.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:16.252Z,1638636556.252 [Micromodem](INFO): Nmea in: $CAREV,164916,AUV,2.1.4000*27

2021-12-04T16:49:16.253Z,1638636556.253 [Micromodem](INFO): Nmea in: $CAREV,164916,COPROC,0.20.0.39330*76

2021-12-04T16:49:17.060Z,1638636557.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:19.902Z,1638636559.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:22.723Z,1638636562.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:25.550Z,1638636565.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:26.364Z,1638636566.364 [Micromodem](INFO): Nmea in: $CAREV,164926,AUV,2.1.4000*24

2021-12-04T16:49:26.365Z,1638636566.365 [Micromodem](INFO): Nmea in: $CAREV,164926,COPROC,0.20.0.39330*75

2021-12-04T16:49:28.003Z,1638636568.003 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T16:49:28.005Z,1638636568.005 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T16:49:28.103Z,1638636568.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:30.801Z,1638636570.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:33.633Z,1638636573.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:36.441Z,1638636576.441 [Micromodem](INFO): Nmea in: $CAREV,164936,AUV,2.1.4000*25

2021-12-04T16:49:36.442Z,1638636576.442 [Micromodem](INFO): Nmea in: $CAREV,164936,COPROC,0.20.0.39330*74

2021-12-04T16:49:36.496Z,1638636576.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:39.279Z,1638636579.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:42.138Z,1638636582.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:44.947Z,1638636584.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:46.140Z,1638636586.140 [Micromodem](INFO): Nmea in: $CAREV,164946,AUV,2.1.4000*22

2021-12-04T16:49:46.141Z,1638636586.141 [Micromodem](INFO): Nmea in: $CAREV,164946,COPROC,0.20.0.39330*73

2021-12-04T16:49:47.764Z,1638636587.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:50.601Z,1638636590.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:53.442Z,1638636593.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:56.233Z,1638636596.233 [Micromodem](INFO): Nmea in: $CAREV,164956,AUV,2.1.4000*23

2021-12-04T16:49:56.234Z,1638636596.234 [Micromodem](INFO): Nmea in: $CAREV,164956,COPROC,0.20.0.39330*72

2021-12-04T16:49:56.285Z,1638636596.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:49:59.073Z,1638636599.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:01.899Z,1638636601.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:04.414Z,1638636604.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:06.377Z,1638636606.377 [Micromodem](INFO): Nmea in: $CAREV,165006,AUV,2.1.4000*2E

2021-12-04T16:50:06.378Z,1638636606.378 [Micromodem](INFO): Nmea in: $CAREV,165006,COPROC,0.20.0.39330*7F

2021-12-04T16:50:07.170Z,1638636607.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:10.041Z,1638636610.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:12.823Z,1638636612.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:15.677Z,1638636615.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:16.437Z,1638636616.437 [Micromodem](INFO): Nmea in: $CAREV,165016,AUV,2.1.4000*2F

2021-12-04T16:50:16.439Z,1638636616.439 [Micromodem](INFO): Nmea in: $CAREV,165016,COPROC,0.20.0.39330*7E

2021-12-04T16:50:18.496Z,1638636618.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:21.308Z,1638636621.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:24.146Z,1638636624.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:26.156Z,1638636626.156 [Micromodem](INFO): Nmea in: $CAREV,165026,AUV,2.1.4000*2C

2021-12-04T16:50:26.158Z,1638636626.158 [Micromodem](INFO): Nmea in: $CAREV,165026,COPROC,0.20.0.39330*7D

2021-12-04T16:50:26.946Z,1638636626.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:29.774Z,1638636629.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:32.624Z,1638636632.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:35.441Z,1638636635.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:36.259Z,1638636636.259 [Micromodem](INFO): Nmea in: $CAREV,165036,AUV,2.1.4000*2D

2021-12-04T16:50:36.260Z,1638636636.260 [Micromodem](INFO): Nmea in: $CAREV,165036,COPROC,0.20.0.39330*7C

2021-12-04T16:50:38.276Z,1638636638.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:41.091Z,1638636641.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:43.952Z,1638636643.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:46.359Z,1638636646.359 [Micromodem](INFO): Nmea in: $CAREV,165046,AUV,2.1.4000*2A

2021-12-04T16:50:46.360Z,1638636646.360 [Micromodem](INFO): Nmea in: $CAREV,165046,COPROC,0.20.0.39330*7B

2021-12-04T16:50:46.367Z,1638636646.367 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:50:46.766Z,1638636646.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:49.592Z,1638636649.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:52.410Z,1638636652.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:55.232Z,1638636655.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:50:56.428Z,1638636656.428 [Micromodem](INFO): Nmea in: $CAREV,165056,AUV,2.1.4000*2B

2021-12-04T16:50:56.430Z,1638636656.430 [Micromodem](INFO): Nmea in: $CAREV,165056,COPROC,0.20.0.39330*7A

2021-12-04T16:50:58.073Z,1638636658.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:00.915Z,1638636660.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:03.736Z,1638636663.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:06.144Z,1638636666.144 [Micromodem](INFO): Nmea in: $CAREV,165106,AUV,2.1.4000*2F

2021-12-04T16:51:06.145Z,1638636666.145 [Micromodem](INFO): Nmea in: $CAREV,165106,COPROC,0.20.0.39330*7E

2021-12-04T16:51:06.580Z,1638636666.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:09.391Z,1638636669.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:12.216Z,1638636672.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:15.022Z,1638636675.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:16.228Z,1638636676.228 [Micromodem](INFO): Nmea in: $CAREV,165116,AUV,2.1.4000*2E

2021-12-04T16:51:16.229Z,1638636676.229 [Micromodem](INFO): Nmea in: $CAREV,165116,COPROC,0.20.0.39330*7F

2021-12-04T16:51:17.867Z,1638636677.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:20.737Z,1638636680.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:23.527Z,1638636683.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:26.343Z,1638636686.343 [Micromodem](INFO): Nmea in: $CAREV,165126,AUV,2.1.4000*2D

2021-12-04T16:51:26.346Z,1638636686.346 [Micromodem](INFO): Nmea in: $CAREV,165126,COPROC,0.20.0.39330*7C

2021-12-04T16:51:26.413Z,1638636686.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:29.162Z,1638636689.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:32.036Z,1638636692.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:34.836Z,1638636694.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:36.422Z,1638636696.422 [Micromodem](INFO): Nmea in: $CAREV,165136,AUV,2.1.4000*2C

2021-12-04T16:51:36.424Z,1638636696.424 [Micromodem](INFO): Nmea in: $CAREV,165136,COPROC,0.20.0.39330*7D

2021-12-04T16:51:37.669Z,1638636697.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:40.490Z,1638636700.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:43.308Z,1638636703.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:46.188Z,1638636706.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:46.547Z,1638636706.547 [Micromodem](INFO): Nmea in: $CAREV,165146,AUV,2.1.4000*2B

2021-12-04T16:51:46.551Z,1638636706.551 [Micromodem](INFO): Nmea in: $CAREV,165146,COPROC,0.20.0.39330*7A

2021-12-04T16:51:48.959Z,1638636708.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:51.791Z,1638636711.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:54.645Z,1638636714.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:51:56.241Z,1638636716.241 [Micromodem](INFO): Nmea in: $CAREV,165156,AUV,2.1.4000*2A

2021-12-04T16:51:56.243Z,1638636716.243 [Micromodem](INFO): Nmea in: $CAREV,165156,COPROC,0.20.0.39330*7B

2021-12-04T16:51:57.462Z,1638636717.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:00.329Z,1638636720.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:03.103Z,1638636723.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:06.010Z,1638636726.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:06.331Z,1638636726.331 [Micromodem](INFO): Nmea in: $CAREV,165206,AUV,2.1.4000*2C

2021-12-04T16:52:06.334Z,1638636726.334 [Micromodem](INFO): Nmea in: $CAREV,165206,COPROC,0.20.0.39330*7D

2021-12-04T16:52:08.767Z,1638636728.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:11.598Z,1638636731.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:14.422Z,1638636734.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:16.420Z,1638636736.420 [Micromodem](INFO): Nmea in: $CAREV,165216,AUV,2.1.4000*2D

2021-12-04T16:52:16.422Z,1638636736.422 [Micromodem](INFO): Nmea in: $CAREV,165216,COPROC,0.20.0.39330*7C

2021-12-04T16:52:17.237Z,1638636737.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:20.094Z,1638636740.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:22.899Z,1638636742.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:25.732Z,1638636745.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:26.543Z,1638636746.543 [Micromodem](INFO): Nmea in: $CAREV,165226,AUV,2.1.4000*2E

2021-12-04T16:52:26.544Z,1638636746.544 [Micromodem](INFO): Nmea in: $CAREV,165226,COPROC,0.20.0.39330*7F

2021-12-04T16:52:28.576Z,1638636748.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:31.399Z,1638636751.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:34.255Z,1638636754.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:36.220Z,1638636756.220 [Micromodem](INFO): Nmea in: $CAREV,165236,AUV,2.1.4000*2F

2021-12-04T16:52:36.221Z,1638636756.221 [Micromodem](INFO): Nmea in: $CAREV,165236,COPROC,0.20.0.39330*7E

2021-12-04T16:52:37.037Z,1638636757.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:39.870Z,1638636759.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:42.700Z,1638636762.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:43.571Z,1638636763.571 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-04T16:52:45.530Z,1638636765.530 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T16:52:45.530Z,1638636765.530 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T16:52:45.530Z,1638636765.530 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T16:52:45.567Z,1638636765.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:45.610Z,1638636765.610 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T16:52:46.013Z,1638636766.013 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T16:52:46.320Z,1638636766.320 [Micromodem](INFO): Nmea in: $CAREV,165246,AUV,2.1.4000*28

2021-12-04T16:52:46.336Z,1638636766.336 [Micromodem](INFO): Nmea in: $CAREV,165246,COPROC,0.20.0.39330*79

2021-12-04T16:52:46.782Z,1638636766.782 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T16:52:46.782Z,1638636766.782 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T16:52:48.386Z,1638636768.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:51.179Z,1638636771.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:54.067Z,1638636774.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:54.461Z,1638636774.461 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005330
CHAN A1 (24V): -0.021781
CHAN A2 (12V): -0.005270
CHAN A3 (5V): -0.001171
CHAN B0 (3.3V): 0.000761
CHAN B1 (3.15aV): 0.000243
CHAN B2 (3.15bV): 0.000625
CHAN B3 (GND): 0.001754
OPEN: 0.006532
Full Scale: +/- 1 mA
2021-12-04T16:52:56.422Z,1638636776.422 [Micromodem](INFO): Nmea in: $CAREV,165256,AUV,2.1.4000*29

2021-12-04T16:52:56.424Z,1638636776.424 [Micromodem](INFO): Nmea in: $CAREV,165256,COPROC,0.20.0.39330*78

2021-12-04T16:52:56.832Z,1638636776.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:52:59.663Z,1638636779.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:02.521Z,1638636782.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:05.340Z,1638636785.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:06.522Z,1638636786.522 [Micromodem](INFO): Nmea in: $CAREV,165306,AUV,2.1.4000*2D

2021-12-04T16:53:06.523Z,1638636786.523 [Micromodem](INFO): Nmea in: $CAREV,165306,COPROC,0.20.0.39330*7C

2021-12-04T16:53:08.170Z,1638636788.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:10.974Z,1638636790.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:13.804Z,1638636793.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:16.240Z,1638636796.240 [Micromodem](INFO): Nmea in: $CAREV,165316,AUV,2.1.4000*2C

2021-12-04T16:53:16.241Z,1638636796.241 [Micromodem](INFO): Nmea in: $CAREV,165316,COPROC,0.20.0.39330*7D

2021-12-04T16:53:16.635Z,1638636796.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:19.471Z,1638636799.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:22.318Z,1638636802.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:25.123Z,1638636805.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:26.313Z,1638636806.313 [Micromodem](INFO): Nmea in: $CAREV,165326,AUV,2.1.4000*2F

2021-12-04T16:53:26.315Z,1638636806.315 [Micromodem](INFO): Nmea in: $CAREV,165326,COPROC,0.20.0.39330*7E

2021-12-04T16:53:28.002Z,1638636808.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:30.775Z,1638636810.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:33.603Z,1638636813.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:36.410Z,1638636816.410 [Micromodem](INFO): Nmea in: $CAREV,165336,AUV,2.1.4000*2E

2021-12-04T16:53:36.411Z,1638636816.411 [Micromodem](INFO): Nmea in: $CAREV,165336,COPROC,0.20.0.39330*7F

2021-12-04T16:53:36.464Z,1638636816.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:39.284Z,1638636819.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:42.103Z,1638636822.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:44.912Z,1638636824.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:46.511Z,1638636826.511 [Micromodem](INFO): Nmea in: $CAREV,165346,AUV,2.1.4000*29

2021-12-04T16:53:46.512Z,1638636826.512 [Micromodem](INFO): Nmea in: $CAREV,165346,COPROC,0.20.0.39330*78

2021-12-04T16:53:47.759Z,1638636827.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:50.583Z,1638636830.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:53.408Z,1638636833.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:56.235Z,1638636836.235 [Micromodem](INFO): Nmea in: $CAREV,165356,AUV,2.1.4000*28

2021-12-04T16:53:56.236Z,1638636836.236 [Micromodem](INFO): Nmea in: $CAREV,165356,COPROC,0.20.0.39330*79

2021-12-04T16:53:56.312Z,1638636836.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:53:59.067Z,1638636839.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:01.887Z,1638636841.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:04.704Z,1638636844.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:06.309Z,1638636846.309 [Micromodem](INFO): Nmea in: $CAREV,165406,AUV,2.1.4000*2A

2021-12-04T16:54:06.310Z,1638636846.310 [Micromodem](INFO): Nmea in: $CAREV,165406,COPROC,0.20.0.39330*7B

2021-12-04T16:54:07.548Z,1638636847.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:10.406Z,1638636850.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:13.218Z,1638636853.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:16.043Z,1638636856.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:16.417Z,1638636856.417 [Micromodem](INFO): Nmea in: $CAREV,165416,AUV,2.1.4000*2B

2021-12-04T16:54:16.418Z,1638636856.418 [Micromodem](INFO): Nmea in: $CAREV,165416,COPROC,0.20.0.39330*7A

2021-12-04T16:54:18.848Z,1638636858.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:21.679Z,1638636861.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:24.514Z,1638636864.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:26.509Z,1638636866.509 [Micromodem](INFO): Nmea in: $CAREV,165426,AUV,2.1.4000*28

2021-12-04T16:54:26.510Z,1638636866.510 [Micromodem](INFO): Nmea in: $CAREV,165426,COPROC,0.20.0.39330*79

2021-12-04T16:54:27.342Z,1638636867.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:30.189Z,1638636870.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:32.983Z,1638636872.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:35.813Z,1638636875.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:36.231Z,1638636876.231 [Micromodem](INFO): Nmea in: $CAREV,165436,AUV,2.1.4000*29

2021-12-04T16:54:36.236Z,1638636876.236 [Micromodem](INFO): Nmea in: $CAREV,165436,COPROC,0.20.0.39330*78

2021-12-04T16:54:38.638Z,1638636878.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:41.499Z,1638636881.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:44.339Z,1638636884.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:46.321Z,1638636886.321 [Micromodem](INFO): Nmea in: $CAREV,165446,AUV,2.1.4000*2E

2021-12-04T16:54:46.323Z,1638636886.323 [Micromodem](INFO): Nmea in: $CAREV,165446,COPROC,0.20.0.39330*7F

2021-12-04T16:54:47.121Z,1638636887.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:50.003Z,1638636890.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:52.788Z,1638636892.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:55.621Z,1638636895.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:54:56.402Z,1638636896.402 [Micromodem](INFO): Nmea in: $CAREV,165456,AUV,2.1.4000*2F

2021-12-04T16:54:56.403Z,1638636896.403 [Micromodem](INFO): Nmea in: $CAREV,165456,COPROC,0.20.0.39330*7E

2021-12-04T16:54:58.449Z,1638636898.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:01.293Z,1638636901.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:04.117Z,1638636904.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:06.503Z,1638636906.503 [Micromodem](INFO): Nmea in: $CAREV,165506,AUV,2.1.4000*2B

2021-12-04T16:55:06.504Z,1638636906.504 [Micromodem](INFO): Nmea in: $CAREV,165506,COPROC,0.20.0.39330*7A

2021-12-04T16:55:06.924Z,1638636906.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:09.752Z,1638636909.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:12.596Z,1638636912.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:15.415Z,1638636915.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:16.244Z,1638636916.244 [Micromodem](INFO): Nmea in: $CAREV,165516,AUV,2.1.4000*2A

2021-12-04T16:55:16.245Z,1638636916.245 [Micromodem](INFO): Nmea in: $CAREV,165516,COPROC,0.20.0.39330*7B

2021-12-04T16:55:18.294Z,1638636918.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:21.060Z,1638636921.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:23.901Z,1638636923.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:26.298Z,1638636926.298 [Micromodem](INFO): Nmea in: $CAREV,165526,AUV,2.1.4000*29

2021-12-04T16:55:26.299Z,1638636926.299 [Micromodem](INFO): Nmea in: $CAREV,165526,COPROC,0.20.0.39330*78

2021-12-04T16:55:26.720Z,1638636926.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:29.553Z,1638636929.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:32.401Z,1638636932.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:35.259Z,1638636935.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:36.400Z,1638636936.400 [Micromodem](INFO): Nmea in: $CAREV,165536,AUV,2.1.4000*28

2021-12-04T16:55:36.401Z,1638636936.401 [Micromodem](INFO): Nmea in: $CAREV,165536,COPROC,0.20.0.39330*79

2021-12-04T16:55:38.053Z,1638636938.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:40.878Z,1638636940.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:43.688Z,1638636943.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:46.501Z,1638636946.501 [Micromodem](INFO): Nmea in: $CAREV,165546,AUV,2.1.4000*2F

2021-12-04T16:55:46.502Z,1638636946.502 [Micromodem](INFO): Nmea in: $CAREV,165546,COPROC,0.20.0.39330*7E

2021-12-04T16:55:46.548Z,1638636946.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:49.350Z,1638636949.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:52.225Z,1638636952.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:55.009Z,1638636955.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:55:56.232Z,1638636956.232 [Micromodem](INFO): Nmea in: $CAREV,165556,AUV,2.1.4000*2E

2021-12-04T16:55:56.235Z,1638636956.235 [Micromodem](INFO): Nmea in: $CAREV,165556,COPROC,0.20.0.39330*7F

2021-12-04T16:55:56.259Z,1638636956.259 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T16:55:57.829Z,1638636957.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:00.656Z,1638636960.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:03.493Z,1638636963.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:06.296Z,1638636966.296 [Micromodem](INFO): Nmea in: $CAREV,165606,AUV,2.1.4000*28

2021-12-04T16:56:06.297Z,1638636966.297 [Micromodem](INFO): Nmea in: $CAREV,165606,COPROC,0.20.0.39330*79

2021-12-04T16:56:06.357Z,1638636966.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:09.148Z,1638636969.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:12.030Z,1638636972.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:14.790Z,1638636974.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:16.401Z,1638636976.401 [Micromodem](INFO): Nmea in: $CAREV,165616,AUV,2.1.4000*29

2021-12-04T16:56:16.402Z,1638636976.402 [Micromodem](INFO): Nmea in: $CAREV,165616,COPROC,0.20.0.39330*78

2021-12-04T16:56:17.618Z,1638636977.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:20.475Z,1638636980.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:23.291Z,1638636983.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:26.126Z,1638636986.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:26.516Z,1638636986.516 [Micromodem](INFO): Nmea in: $CAREV,165626,AUV,2.1.4000*2A

2021-12-04T16:56:26.517Z,1638636986.517 [Micromodem](INFO): Nmea in: $CAREV,165626,COPROC,0.20.0.39330*7B

2021-12-04T16:56:28.944Z,1638636988.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:31.757Z,1638636991.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:34.625Z,1638636994.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:36.230Z,1638636996.230 [Micromodem](INFO): Nmea in: $CAREV,165636,AUV,2.1.4000*2B

2021-12-04T16:56:36.234Z,1638636996.234 [Micromodem](INFO): Nmea in: $CAREV,165636,COPROC,0.20.0.39330*7A

2021-12-04T16:56:37.496Z,1638636997.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:40.301Z,1638637000.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:43.076Z,1638637003.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:45.919Z,1638637005.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:46.292Z,1638637006.292 [Micromodem](INFO): Nmea in: $CAREV,165646,AUV,2.1.4000*2C

2021-12-04T16:56:46.293Z,1638637006.293 [Micromodem](INFO): Nmea in: $CAREV,165646,COPROC,0.20.0.39330*7D

2021-12-04T16:56:48.739Z,1638637008.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:51.567Z,1638637011.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:54.403Z,1638637014.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:56:56.390Z,1638637016.390 [Micromodem](INFO): Nmea in: $CAREV,165656,AUV,2.1.4000*2D

2021-12-04T16:56:56.391Z,1638637016.391 [Micromodem](INFO): Nmea in: $CAREV,165656,COPROC,0.20.0.39330*7C

2021-12-04T16:56:57.256Z,1638637017.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:00.064Z,1638637020.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:02.871Z,1638637022.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:05.693Z,1638637025.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:06.511Z,1638637026.511 [Micromodem](INFO): Nmea in: $CAREV,165706,AUV,2.1.4000*29

2021-12-04T16:57:06.513Z,1638637026.513 [Micromodem](INFO): Nmea in: $CAREV,165706,COPROC,0.20.0.39330*78

2021-12-04T16:57:08.558Z,1638637028.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:11.367Z,1638637031.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:14.258Z,1638637034.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:16.229Z,1638637036.229 [Micromodem](INFO): Nmea in: $CAREV,165716,AUV,2.1.4000*28

2021-12-04T16:57:16.235Z,1638637036.235 [Micromodem](INFO): Nmea in: $CAREV,165716,COPROC,0.20.0.39330*79

2021-12-04T16:57:17.008Z,1638637037.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:19.836Z,1638637039.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:22.685Z,1638637042.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:25.511Z,1638637045.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:26.288Z,1638637046.288 [Micromodem](INFO): Nmea in: $CAREV,165726,AUV,2.1.4000*2B

2021-12-04T16:57:26.289Z,1638637046.289 [Micromodem](INFO): Nmea in: $CAREV,165726,COPROC,0.20.0.39330*7A

2021-12-04T16:57:28.387Z,1638637048.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:31.163Z,1638637051.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:34.052Z,1638637054.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:36.396Z,1638637056.396 [Micromodem](INFO): Nmea in: $CAREV,165736,AUV,2.1.4000*2A

2021-12-04T16:57:36.398Z,1638637056.398 [Micromodem](INFO): Nmea in: $CAREV,165736,COPROC,0.20.0.39330*7B

2021-12-04T16:57:36.815Z,1638637056.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:39.637Z,1638637059.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:42.486Z,1638637062.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:45.297Z,1638637065.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:46.493Z,1638637066.493 [Micromodem](INFO): Nmea in: $CAREV,165746,AUV,2.1.4000*2D

2021-12-04T16:57:46.494Z,1638637066.494 [Micromodem](INFO): Nmea in: $CAREV,165746,COPROC,0.20.0.39330*7C

2021-12-04T16:57:48.167Z,1638637068.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:50.961Z,1638637070.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:53.776Z,1638637073.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:56.219Z,1638637076.219 [Micromodem](INFO): Nmea in: $CAREV,165756,AUV,2.1.4000*2C

2021-12-04T16:57:56.227Z,1638637076.227 [Micromodem](INFO): Nmea in: $CAREV,165756,COPROC,0.20.0.39330*7D

2021-12-04T16:57:56.290Z,1638637076.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:57:59.040Z,1638637079.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:01.852Z,1638637081.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:04.684Z,1638637084.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:06.285Z,1638637086.285 [Micromodem](INFO): Nmea in: $CAREV,165806,AUV,2.1.4000*26

2021-12-04T16:58:06.286Z,1638637086.286 [Micromodem](INFO): Nmea in: $CAREV,165806,COPROC,0.20.0.39330*77

2021-12-04T16:58:07.538Z,1638637087.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:10.375Z,1638637090.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:13.166Z,1638637093.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:16.056Z,1638637096.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:16.407Z,1638637096.407 [Micromodem](INFO): Nmea in: $CAREV,165816,AUV,2.1.4000*27

2021-12-04T16:58:16.410Z,1638637096.410 [Micromodem](INFO): Nmea in: $CAREV,165816,COPROC,0.20.0.39330*76

2021-12-04T16:58:18.846Z,1638637098.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:21.658Z,1638637101.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:24.492Z,1638637104.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:26.493Z,1638637106.493 [Micromodem](INFO): Nmea in: $CAREV,165826,AUV,2.1.4000*24

2021-12-04T16:58:26.494Z,1638637106.494 [Micromodem](INFO): Nmea in: $CAREV,165826,COPROC,0.20.0.39330*75

2021-12-04T16:58:27.334Z,1638637107.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:30.154Z,1638637110.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:32.964Z,1638637112.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:35.811Z,1638637115.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:36.209Z,1638637116.209 [Micromodem](INFO): Nmea in: $CAREV,165836,AUV,2.1.4000*25

2021-12-04T16:58:36.246Z,1638637116.246 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T16:58:36.584Z,1638637116.584 [Micromodem](INFO): Nmea in: $CAREV,165836,COPROC,0.20.0.39330*74

2021-12-04T16:58:38.624Z,1638637118.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:41.462Z,1638637121.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:44.300Z,1638637124.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:46.296Z,1638637126.296 [Micromodem](INFO): Nmea in: $CAREV,165846,AUV,2.1.4000*22

2021-12-04T16:58:46.297Z,1638637126.297 [Micromodem](INFO): Nmea in: $CAREV,165846,COPROC,0.20.0.39330*73

2021-12-04T16:58:47.098Z,1638637127.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:49.971Z,1638637129.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:52.759Z,1638637132.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:55.604Z,1638637135.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:58:56.395Z,1638637136.395 [Micromodem](INFO): Nmea in: $CAREV,165856,AUV,2.1.4000*23

2021-12-04T16:58:56.396Z,1638637136.396 [Micromodem](INFO): Nmea in: $CAREV,165856,COPROC,0.20.0.39330*72

2021-12-04T16:58:58.431Z,1638637138.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:01.265Z,1638637141.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:04.111Z,1638637144.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:06.478Z,1638637146.478 [Micromodem](INFO): Nmea in: $CAREV,165906,AUV,2.1.4000*27

2021-12-04T16:59:06.479Z,1638637146.479 [Micromodem](INFO): Nmea in: $CAREV,165906,COPROC,0.20.0.39330*76

2021-12-04T16:59:06.900Z,1638637146.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:09.736Z,1638637149.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:12.602Z,1638637152.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:15.388Z,1638637155.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:16.584Z,1638637156.584 [Micromodem](INFO): Nmea in: $CAREV,165916,AUV,2.1.4000*26

2021-12-04T16:59:16.586Z,1638637156.586 [Micromodem](INFO): Nmea in: $CAREV,165916,COPROC,0.20.0.39330*77

2021-12-04T16:59:18.311Z,1638637158.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:21.039Z,1638637161.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:23.867Z,1638637163.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:26.274Z,1638637166.274 [Micromodem](INFO): Nmea in: $CAREV,165926,AUV,2.1.4000*25

2021-12-04T16:59:26.279Z,1638637166.279 [Micromodem](INFO): Nmea in: $CAREV,165926,COPROC,0.20.0.39330*74

2021-12-04T16:59:26.695Z,1638637166.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:29.547Z,1638637169.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:32.380Z,1638637172.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:35.207Z,1638637175.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:36.381Z,1638637176.381 [Micromodem](INFO): Nmea in: $CAREV,165936,AUV,2.1.4000*24

2021-12-04T16:59:36.382Z,1638637176.382 [Micromodem](INFO): Nmea in: $CAREV,165936,COPROC,0.20.0.39330*75

2021-12-04T16:59:38.033Z,1638637178.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:40.832Z,1638637180.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:43.676Z,1638637183.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:46.261Z,1638637186.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:46.480Z,1638637186.480 [Micromodem](INFO): Nmea in: $CAREV,165946,AUV,2.1.4000*23

2021-12-04T16:59:46.481Z,1638637186.481 [Micromodem](INFO): Nmea in: $CAREV,165946,COPROC,0.20.0.39330*72

2021-12-04T16:59:48.915Z,1638637188.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:51.744Z,1638637191.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:54.587Z,1638637194.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T16:59:56.576Z,1638637196.576 [Micromodem](INFO): Nmea in: $CAREV,165956,AUV,2.1.4000*22

2021-12-04T16:59:56.577Z,1638637196.577 [Micromodem](INFO): Nmea in: $CAREV,165956,COPROC,0.20.0.39330*73

2021-12-04T16:59:57.421Z,1638637197.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:00.280Z,1638637200.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:03.074Z,1638637203.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:05.889Z,1638637205.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:06.299Z,1638637206.299 [Micromodem](INFO): Nmea in: $CAREV,170006,AUV,2.1.4000*2A

2021-12-04T17:00:06.301Z,1638637206.301 [Micromodem](INFO): Nmea in: $CAREV,170006,COPROC,0.20.0.39330*7B

2021-12-04T17:00:08.728Z,1638637208.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:11.555Z,1638637211.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:14.378Z,1638637214.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:16.376Z,1638637216.376 [Micromodem](INFO): Nmea in: $CAREV,170016,AUV,2.1.4000*2B

2021-12-04T17:00:16.392Z,1638637216.392 [Micromodem](INFO): Nmea in: $CAREV,170016,COPROC,0.20.0.39330*7A

2021-12-04T17:00:17.204Z,1638637217.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:20.050Z,1638637220.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:22.864Z,1638637222.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:25.676Z,1638637225.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:26.473Z,1638637226.473 [Micromodem](INFO): Nmea in: $CAREV,170026,AUV,2.1.4000*28

2021-12-04T17:00:26.475Z,1638637226.475 [Micromodem](INFO): Nmea in: $CAREV,170026,COPROC,0.20.0.39330*79

2021-12-04T17:00:28.522Z,1638637228.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:31.339Z,1638637231.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:34.200Z,1638637234.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:36.241Z,1638637236.241 [Micromodem](INFO): Nmea in: $CAREV,170036,AUV,2.1.4000*29

2021-12-04T17:00:36.577Z,1638637236.577 [Micromodem](INFO): Nmea in: $CAREV,170036,COPROC,0.20.0.39330*78

2021-12-04T17:00:37.004Z,1638637237.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:39.828Z,1638637239.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:41.425Z,1638637241.425 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:00:42.648Z,1638637242.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:45.484Z,1638637245.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:46.279Z,1638637246.279 [Micromodem](INFO): Nmea in: $CAREV,170046,AUV,2.1.4000*2E

2021-12-04T17:00:46.280Z,1638637246.280 [Micromodem](INFO): Nmea in: $CAREV,170046,COPROC,0.20.0.39330*7F

2021-12-04T17:00:48.336Z,1638637248.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:51.141Z,1638637251.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:51.526Z,1638637251.526 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:00:54.026Z,1638637254.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:56.303Z,1638637256.303 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T17:00:56.426Z,1638637256.426 [Micromodem](INFO): Nmea in: $CAREV,170056,AUV,2.1.4000*2F

2021-12-04T17:00:56.428Z,1638637256.428 [Micromodem](INFO): Nmea in: $CAREV,170056,COPROC,0.20.0.39330*7E

2021-12-04T17:00:56.834Z,1638637256.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:00:59.668Z,1638637259.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:02.496Z,1638637262.496 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T17:01:02.507Z,1638637262.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:05.349Z,1638637265.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:06.537Z,1638637266.537 [Micromodem](INFO): Nmea in: $CAREV,170106,AUV,2.1.4000*2B

2021-12-04T17:01:06.539Z,1638637266.539 [Micromodem](INFO): Nmea in: $CAREV,170106,COPROC,0.20.0.39330*7A

2021-12-04T17:01:06.543Z,1638637266.543 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:01:08.209Z,1638637268.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:10.979Z,1638637270.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:13.825Z,1638637273.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:16.275Z,1638637276.275 [Micromodem](INFO): Nmea in: $CAREV,170116,AUV,2.1.4000*2A

2021-12-04T17:01:16.276Z,1638637276.276 [Micromodem](INFO): Nmea in: $CAREV,170116,COPROC,0.20.0.39330*7B

2021-12-04T17:01:16.335Z,1638637276.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:19.060Z,1638637279.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:21.894Z,1638637281.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:22.329Z,1638637282.329 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T17:01:24.722Z,1638637284.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:26.316Z,1638637286.316 [Micromodem](INFO): Nmea in: $CAREV,170126,AUV,2.1.4000*29

2021-12-04T17:01:26.318Z,1638637286.318 [Micromodem](INFO): Nmea in: $CAREV,170126,COPROC,0.20.0.39330*78

2021-12-04T17:01:27.554Z,1638637287.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:30.381Z,1638637290.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:33.220Z,1638637293.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:36.051Z,1638637296.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:36.414Z,1638637296.414 [Micromodem](INFO): Nmea in: $CAREV,170136,AUV,2.1.4000*28

2021-12-04T17:01:36.416Z,1638637296.416 [Micromodem](INFO): Nmea in: $CAREV,170136,COPROC,0.20.0.39330*79

2021-12-04T17:01:36.425Z,1638637296.425 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:01:38.861Z,1638637298.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:41.684Z,1638637301.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:44.524Z,1638637304.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:46.516Z,1638637306.516 [Micromodem](INFO): Nmea in: $CAREV,170146,AUV,2.1.4000*2F

2021-12-04T17:01:46.517Z,1638637306.517 [Micromodem](INFO): Nmea in: $CAREV,170146,COPROC,0.20.0.39330*7E

2021-12-04T17:01:47.346Z,1638637307.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:50.237Z,1638637310.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:52.990Z,1638637312.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:55.830Z,1638637315.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:01:56.279Z,1638637316.279 [Micromodem](INFO): Nmea in: $CAREV,170156,AUV,2.1.4000*2E

2021-12-04T17:01:56.300Z,1638637316.300 [Micromodem](INFO): Nmea in: $CAREV,170156,COPROC,0.20.0.39330*7F

2021-12-04T17:01:58.653Z,1638637318.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:01.509Z,1638637321.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:04.355Z,1638637324.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:06.316Z,1638637326.316 [Micromodem](INFO): Nmea in: $CAREV,170206,AUV,2.1.4000*28

2021-12-04T17:02:06.318Z,1638637326.318 [Micromodem](INFO): Nmea in: $CAREV,170206,COPROC,0.20.0.39330*79

2021-12-04T17:02:07.142Z,1638637327.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:10.044Z,1638637330.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:12.787Z,1638637332.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:15.649Z,1638637335.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:16.414Z,1638637336.414 [Micromodem](INFO): Nmea in: $CAREV,170216,AUV,2.1.4000*29

2021-12-04T17:02:16.415Z,1638637336.415 [Micromodem](INFO): Nmea in: $CAREV,170216,COPROC,0.20.0.39330*78

2021-12-04T17:02:18.473Z,1638637338.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:21.313Z,1638637341.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:24.122Z,1638637344.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:26.512Z,1638637346.512 [Micromodem](INFO): Nmea in: $CAREV,170226,AUV,2.1.4000*2A

2021-12-04T17:02:26.513Z,1638637346.513 [Micromodem](INFO): Nmea in: $CAREV,170226,COPROC,0.20.0.39330*7B

2021-12-04T17:02:26.927Z,1638637346.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:29.759Z,1638637349.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:32.604Z,1638637352.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:35.430Z,1638637355.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:36.257Z,1638637356.257 [Micromodem](INFO): Nmea in: $CAREV,170236,AUV,2.1.4000*2B

2021-12-04T17:02:36.613Z,1638637356.613 [Micromodem](INFO): Nmea in: $CAREV,170236,COPROC,0.20.0.39330*7A

2021-12-04T17:02:38.311Z,1638637358.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:41.071Z,1638637361.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:43.910Z,1638637363.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:46.351Z,1638637366.351 [Micromodem](INFO): Nmea in: $CAREV,170246,AUV,2.1.4000*2C

2021-12-04T17:02:46.352Z,1638637366.352 [Micromodem](INFO): Nmea in: $CAREV,170246,COPROC,0.20.0.39330*7D

2021-12-04T17:02:46.429Z,1638637366.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:49.151Z,1638637369.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:52.023Z,1638637372.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:54.821Z,1638637374.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:02:56.420Z,1638637376.420 [Micromodem](INFO): Nmea in: $CAREV,170256,AUV,2.1.4000*2D

2021-12-04T17:02:56.423Z,1638637376.423 [Micromodem](INFO): Nmea in: $CAREV,170256,COPROC,0.20.0.39330*7C

2021-12-04T17:02:57.640Z,1638637377.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:00.503Z,1638637380.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:03.318Z,1638637383.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:06.149Z,1638637386.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:06.509Z,1638637386.509 [Micromodem](INFO): Nmea in: $CAREV,170306,AUV,2.1.4000*29

2021-12-04T17:03:06.510Z,1638637386.510 [Micromodem](INFO): Nmea in: $CAREV,170306,COPROC,0.20.0.39330*78

2021-12-04T17:03:08.962Z,1638637388.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:11.789Z,1638637391.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:14.607Z,1638637394.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:16.607Z,1638637396.607 [Micromodem](INFO): Nmea in: $CAREV,170316,AUV,2.1.4000*28

2021-12-04T17:03:16.608Z,1638637396.608 [Micromodem](INFO): Nmea in: $CAREV,170316,COPROC,0.20.0.39330*79

2021-12-04T17:03:17.444Z,1638637397.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:20.313Z,1638637400.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:23.097Z,1638637403.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:25.927Z,1638637405.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:26.336Z,1638637406.336 [Micromodem](INFO): Nmea in: $CAREV,170326,AUV,2.1.4000*2B

2021-12-04T17:03:26.342Z,1638637406.342 [Micromodem](INFO): Nmea in: $CAREV,170326,COPROC,0.20.0.39330*7A

2021-12-04T17:03:28.740Z,1638637408.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:31.578Z,1638637411.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:34.424Z,1638637414.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:36.413Z,1638637416.413 [Micromodem](INFO): Nmea in: $CAREV,170336,AUV,2.1.4000*2A

2021-12-04T17:03:36.414Z,1638637416.414 [Micromodem](INFO): Nmea in: $CAREV,170336,COPROC,0.20.0.39330*7B

2021-12-04T17:03:37.258Z,1638637417.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:40.084Z,1638637420.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:42.884Z,1638637422.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:45.717Z,1638637425.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:46.504Z,1638637426.504 [Micromodem](INFO): Nmea in: $CAREV,170346,AUV,2.1.4000*2D

2021-12-04T17:03:46.506Z,1638637426.506 [Micromodem](INFO): Nmea in: $CAREV,170346,COPROC,0.20.0.39330*7C

2021-12-04T17:03:48.558Z,1638637428.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:51.400Z,1638637431.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:54.273Z,1638637434.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:56.612Z,1638637436.612 [Micromodem](INFO): Nmea in: $CAREV,170356,AUV,2.1.4000*2C

2021-12-04T17:03:56.614Z,1638637436.614 [Micromodem](INFO): Nmea in: $CAREV,170356,COPROC,0.20.0.39330*7D

2021-12-04T17:03:57.039Z,1638637437.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:03:59.857Z,1638637439.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:02.676Z,1638637442.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:05.517Z,1638637445.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:06.300Z,1638637446.300 [Micromodem](INFO): Nmea in: $CAREV,170406,AUV,2.1.4000*2E

2021-12-04T17:04:06.302Z,1638637446.302 [Micromodem](INFO): Nmea in: $CAREV,170406,COPROC,0.20.0.39330*7F

2021-12-04T17:04:08.370Z,1638637448.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:11.161Z,1638637451.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:14.030Z,1638637454.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:16.416Z,1638637456.416 [Micromodem](INFO): Nmea in: $CAREV,170416,AUV,2.1.4000*2F

2021-12-04T17:04:16.417Z,1638637456.417 [Micromodem](INFO): Nmea in: $CAREV,170416,COPROC,0.20.0.39330*7E

2021-12-04T17:04:16.833Z,1638637456.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:19.644Z,1638637459.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:22.513Z,1638637462.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:25.330Z,1638637465.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:26.499Z,1638637466.499 [Micromodem](INFO): Nmea in: $CAREV,170426,AUV,2.1.4000*2C

2021-12-04T17:04:26.500Z,1638637466.500 [Micromodem](INFO): Nmea in: $CAREV,170426,COPROC,0.20.0.39330*7D

2021-12-04T17:04:28.154Z,1638637468.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:30.960Z,1638637470.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:33.786Z,1638637473.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:36.288Z,1638637476.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:36.621Z,1638637476.621 [Micromodem](INFO): Nmea in: $CAREV,170436,AUV,2.1.4000*2D

2021-12-04T17:04:36.623Z,1638637476.623 [Micromodem](INFO): Nmea in: $CAREV,170436,COPROC,0.20.0.39330*7C

2021-12-04T17:04:39.040Z,1638637479.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:41.867Z,1638637481.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:44.708Z,1638637484.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:46.315Z,1638637486.315 [Micromodem](INFO): Nmea in: $CAREV,170446,AUV,2.1.4000*2A

2021-12-04T17:04:46.316Z,1638637486.316 [Micromodem](INFO): Nmea in: $CAREV,170446,COPROC,0.20.0.39330*7B

2021-12-04T17:04:47.540Z,1638637487.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:50.369Z,1638637490.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:53.174Z,1638637493.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:56.035Z,1638637496.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:04:56.418Z,1638637496.418 [Micromodem](INFO): Nmea in: $CAREV,170456,AUV,2.1.4000*2B

2021-12-04T17:04:56.419Z,1638637496.419 [Micromodem](INFO): Nmea in: $CAREV,170456,COPROC,0.20.0.39330*7A

2021-12-04T17:04:58.845Z,1638637498.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:01.672Z,1638637501.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:04.502Z,1638637504.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:06.500Z,1638637506.500 [Micromodem](INFO): Nmea in: $CAREV,170506,AUV,2.1.4000*2F

2021-12-04T17:05:06.501Z,1638637506.501 [Micromodem](INFO): Nmea in: $CAREV,170506,COPROC,0.20.0.39330*7E

2021-12-04T17:05:07.328Z,1638637507.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:10.195Z,1638637510.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:12.984Z,1638637512.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:15.800Z,1638637515.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:16.611Z,1638637516.611 [Micromodem](INFO): Nmea in: $CAREV,170516,AUV,2.1.4000*2E

2021-12-04T17:05:16.612Z,1638637516.612 [Micromodem](INFO): Nmea in: $CAREV,170516,COPROC,0.20.0.39330*7F

2021-12-04T17:05:18.626Z,1638637518.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:21.486Z,1638637521.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:24.319Z,1638637524.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:26.302Z,1638637526.302 [Micromodem](INFO): Nmea in: $CAREV,170526,AUV,2.1.4000*2D

2021-12-04T17:05:26.303Z,1638637526.303 [Micromodem](INFO): Nmea in: $CAREV,170526,COPROC,0.20.0.39330*7C

2021-12-04T17:05:27.112Z,1638637527.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:29.992Z,1638637529.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:32.766Z,1638637532.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:35.615Z,1638637535.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:36.391Z,1638637536.391 [Micromodem](INFO): Nmea in: $CAREV,170536,AUV,2.1.4000*2C

2021-12-04T17:05:36.392Z,1638637536.392 [Micromodem](INFO): Nmea in: $CAREV,170536,COPROC,0.20.0.39330*7D

2021-12-04T17:05:38.443Z,1638637538.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:41.275Z,1638637541.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:44.126Z,1638637544.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:46.514Z,1638637546.514 [Micromodem](INFO): Nmea in: $CAREV,170546,AUV,2.1.4000*2B

2021-12-04T17:05:46.515Z,1638637546.515 [Micromodem](INFO): Nmea in: $CAREV,170546,COPROC,0.20.0.39330*7A

2021-12-04T17:05:46.906Z,1638637546.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:49.739Z,1638637549.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:52.592Z,1638637552.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:55.411Z,1638637555.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:05:56.597Z,1638637556.597 [Micromodem](INFO): Nmea in: $CAREV,170556,AUV,2.1.4000*2A

2021-12-04T17:05:56.598Z,1638637556.598 [Micromodem](INFO): Nmea in: $CAREV,170556,COPROC,0.20.0.39330*7B

2021-12-04T17:05:58.286Z,1638637558.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:01.047Z,1638637561.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:03.874Z,1638637563.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:06.308Z,1638637566.308 [Micromodem](INFO): Nmea in: $CAREV,170606,AUV,2.1.4000*2C

2021-12-04T17:06:06.309Z,1638637566.309 [Micromodem](INFO): Nmea in: $CAREV,170606,COPROC,0.20.0.39330*7D

2021-12-04T17:06:06.378Z,1638637566.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:09.127Z,1638637569.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:12.035Z,1638637572.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:14.795Z,1638637574.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:16.386Z,1638637576.386 [Micromodem](INFO): Nmea in: $CAREV,170616,AUV,2.1.4000*2D

2021-12-04T17:06:16.387Z,1638637576.387 [Micromodem](INFO): Nmea in: $CAREV,170616,COPROC,0.20.0.39330*7C

2021-12-04T17:06:17.235Z,1638637577.235 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:06:17.624Z,1638637577.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:20.470Z,1638637580.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:23.296Z,1638637583.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:26.120Z,1638637586.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:26.524Z,1638637586.524 [Micromodem](INFO): Nmea in: $CAREV,170626,AUV,2.1.4000*2E

2021-12-04T17:06:26.525Z,1638637586.525 [Micromodem](INFO): Nmea in: $CAREV,170626,COPROC,0.20.0.39330*7F

2021-12-04T17:06:28.925Z,1638637588.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:31.756Z,1638637591.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:34.609Z,1638637594.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:36.589Z,1638637596.589 [Micromodem](INFO): Nmea in: $CAREV,170636,AUV,2.1.4000*2F

2021-12-04T17:06:36.590Z,1638637596.590 [Micromodem](INFO): Nmea in: $CAREV,170636,COPROC,0.20.0.39330*7E

2021-12-04T17:06:37.429Z,1638637597.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:40.309Z,1638637600.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:43.067Z,1638637603.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:45.895Z,1638637605.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:46.706Z,1638637606.706 [Micromodem](INFO): Nmea in: $CAREV,170646,AUV,2.1.4000*28

2021-12-04T17:06:46.707Z,1638637606.707 [Micromodem](INFO): Nmea in: $CAREV,170646,COPROC,0.20.0.39330*79

2021-12-04T17:06:48.723Z,1638637608.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:51.580Z,1638637611.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:54.398Z,1638637614.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:06:56.392Z,1638637616.392 [Micromodem](INFO): Nmea in: $CAREV,170656,AUV,2.1.4000*29

2021-12-04T17:06:56.393Z,1638637616.393 [Micromodem](INFO): Nmea in: $CAREV,170656,COPROC,0.20.0.39330*78

2021-12-04T17:06:57.263Z,1638637617.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:00.079Z,1638637620.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:02.864Z,1638637622.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:05.704Z,1638637625.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:06.507Z,1638637626.507 [Micromodem](INFO): Nmea in: $CAREV,170706,AUV,2.1.4000*2D

2021-12-04T17:07:06.508Z,1638637626.508 [Micromodem](INFO): Nmea in: $CAREV,170706,COPROC,0.20.0.39330*7C

2021-12-04T17:07:08.534Z,1638637628.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:11.377Z,1638637631.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:14.258Z,1638637634.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:16.588Z,1638637636.588 [Micromodem](INFO): Nmea in: $CAREV,170716,AUV,2.1.4000*2C

2021-12-04T17:07:16.598Z,1638637636.598 [Micromodem](INFO): Nmea in: $CAREV,170716,COPROC,0.20.0.39330*7D

2021-12-04T17:07:17.024Z,1638637637.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:19.842Z,1638637639.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:22.664Z,1638637642.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:25.513Z,1638637645.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:26.309Z,1638637646.309 [Micromodem](INFO): Nmea in: $CAREV,170726,AUV,2.1.4000*2F

2021-12-04T17:07:26.700Z,1638637646.700 [Micromodem](INFO): Nmea in: $CAREV,170726,COPROC,0.20.0.39330*7E

2021-12-04T17:07:28.360Z,1638637648.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:31.148Z,1638637651.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:34.054Z,1638637654.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:36.388Z,1638637656.388 [Micromodem](INFO): Nmea in: $CAREV,170736,AUV,2.1.4000*2E

2021-12-04T17:07:36.389Z,1638637656.389 [Micromodem](INFO): Nmea in: $CAREV,170736,COPROC,0.20.0.39330*7F

2021-12-04T17:07:36.811Z,1638637656.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:39.632Z,1638637659.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:42.484Z,1638637662.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:45.298Z,1638637665.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:46.484Z,1638637666.484 [Micromodem](INFO): Nmea in: $CAREV,170746,AUV,2.1.4000*29

2021-12-04T17:07:46.485Z,1638637666.485 [Micromodem](INFO): Nmea in: $CAREV,170746,COPROC,0.20.0.39330*78

2021-12-04T17:07:48.143Z,1638637668.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:50.941Z,1638637670.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:53.771Z,1638637673.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:56.592Z,1638637676.592 [Micromodem](INFO): Nmea in: $CAREV,170756,AUV,2.1.4000*28

2021-12-04T17:07:56.594Z,1638637676.594 [Micromodem](INFO): Nmea in: $CAREV,170756,COPROC,0.20.0.39330*79

2021-12-04T17:07:56.639Z,1638637676.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:07:59.448Z,1638637679.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:02.299Z,1638637682.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:05.084Z,1638637685.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:06.685Z,1638637686.685 [Micromodem](INFO): Nmea in: $CAREV,170806,AUV,2.1.4000*22

2021-12-04T17:08:06.686Z,1638637686.686 [Micromodem](INFO): Nmea in: $CAREV,170806,COPROC,0.20.0.39330*73

2021-12-04T17:08:07.938Z,1638637687.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:10.747Z,1638637690.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:13.574Z,1638637693.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:16.379Z,1638637696.379 [Micromodem](INFO): Nmea in: $CAREV,170816,AUV,2.1.4000*23

2021-12-04T17:08:16.380Z,1638637696.380 [Micromodem](INFO): Nmea in: $CAREV,170816,COPROC,0.20.0.39330*72

2021-12-04T17:08:16.401Z,1638637696.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:19.253Z,1638637699.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:22.082Z,1638637702.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:24.876Z,1638637704.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:26.485Z,1638637706.485 [Micromodem](INFO): Nmea in: $CAREV,170826,AUV,2.1.4000*20

2021-12-04T17:08:26.486Z,1638637706.486 [Micromodem](INFO): Nmea in: $CAREV,170826,COPROC,0.20.0.39330*71

2021-12-04T17:08:27.715Z,1638637707.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:30.559Z,1638637710.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:33.367Z,1638637713.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:36.267Z,1638637716.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:36.607Z,1638637716.607 [Micromodem](INFO): Nmea in: $CAREV,170836,AUV,2.1.4000*21

2021-12-04T17:08:36.608Z,1638637716.608 [Micromodem](INFO): Nmea in: $CAREV,170836,COPROC,0.20.0.39330*70

2021-12-04T17:08:39.025Z,1638637719.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:41.856Z,1638637721.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:44.672Z,1638637724.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:46.684Z,1638637726.684 [Micromodem](INFO): Nmea in: $CAREV,170846,AUV,2.1.4000*26

2021-12-04T17:08:46.685Z,1638637726.685 [Micromodem](INFO): Nmea in: $CAREV,170846,COPROC,0.20.0.39330*77

2021-12-04T17:08:47.511Z,1638637727.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:50.383Z,1638637730.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:53.159Z,1638637733.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:56.027Z,1638637736.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:08:56.380Z,1638637736.380 [Micromodem](INFO): Nmea in: $CAREV,170856,AUV,2.1.4000*27

2021-12-04T17:08:56.381Z,1638637736.381 [Micromodem](INFO): Nmea in: $CAREV,170856,COPROC,0.20.0.39330*76

2021-12-04T17:08:58.823Z,1638637738.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:01.651Z,1638637741.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:04.498Z,1638637744.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:06.477Z,1638637746.477 [Micromodem](INFO): Nmea in: $CAREV,170906,AUV,2.1.4000*23

2021-12-04T17:09:06.478Z,1638637746.478 [Micromodem](INFO): Nmea in: $CAREV,170906,COPROC,0.20.0.39330*72

2021-12-04T17:09:07.325Z,1638637747.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:10.151Z,1638637750.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:12.953Z,1638637752.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:15.788Z,1638637755.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:16.595Z,1638637756.595 [Micromodem](INFO): Nmea in: $CAREV,170916,AUV,2.1.4000*22

2021-12-04T17:09:16.597Z,1638637756.597 [Micromodem](INFO): Nmea in: $CAREV,170916,COPROC,0.20.0.39330*73

2021-12-04T17:09:18.606Z,1638637758.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:21.473Z,1638637761.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:24.292Z,1638637764.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:26.675Z,1638637766.675 [Micromodem](INFO): Nmea in: $CAREV,170926,AUV,2.1.4000*21

2021-12-04T17:09:26.676Z,1638637766.676 [Micromodem](INFO): Nmea in: $CAREV,170926,COPROC,0.20.0.39330*70

2021-12-04T17:09:27.107Z,1638637767.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:29.984Z,1638637769.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:32.812Z,1638637772.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:35.587Z,1638637775.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:36.376Z,1638637776.376 [Micromodem](INFO): Nmea in: $CAREV,170936,AUV,2.1.4000*20

2021-12-04T17:09:36.377Z,1638637776.377 [Micromodem](INFO): Nmea in: $CAREV,170936,COPROC,0.20.0.39330*71

2021-12-04T17:09:38.412Z,1638637778.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:41.270Z,1638637781.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:44.093Z,1638637784.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:46.476Z,1638637786.476 [Micromodem](INFO): Nmea in: $CAREV,170946,AUV,2.1.4000*27

2021-12-04T17:09:46.477Z,1638637786.477 [Micromodem](INFO): Nmea in: $CAREV,170946,COPROC,0.20.0.39330*76

2021-12-04T17:09:46.898Z,1638637786.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:49.716Z,1638637789.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:52.557Z,1638637792.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:55.404Z,1638637795.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:09:56.573Z,1638637796.573 [Micromodem](INFO): Nmea in: $CAREV,170956,AUV,2.1.4000*26

2021-12-04T17:09:56.574Z,1638637796.574 [Micromodem](INFO): Nmea in: $CAREV,170956,COPROC,0.20.0.39330*77

2021-12-04T17:09:58.269Z,1638637798.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:01.032Z,1638637801.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:03.855Z,1638637803.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:06.699Z,1638637806.699 [Micromodem](INFO): Nmea in: $CAREV,171006,AUV,2.1.4000*2B

2021-12-04T17:10:06.700Z,1638637806.700 [Micromodem](INFO): Nmea in: $CAREV,171006,COPROC,0.20.0.39330*7A

2021-12-04T17:10:06.713Z,1638637806.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:09.536Z,1638637809.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:12.355Z,1638637812.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:15.199Z,1638637815.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:16.424Z,1638637816.424 [Micromodem](INFO): Nmea in: $CAREV,171016,AUV,2.1.4000*2A

2021-12-04T17:10:16.426Z,1638637816.426 [Micromodem](INFO): Nmea in: $CAREV,171016,COPROC,0.20.0.39330*7B

2021-12-04T17:10:18.077Z,1638637818.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:20.890Z,1638637820.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:23.708Z,1638637823.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:26.524Z,1638637826.524 [Micromodem](INFO): Nmea in: $CAREV,171026,AUV,2.1.4000*29

2021-12-04T17:10:26.525Z,1638637826.525 [Micromodem](INFO): Nmea in: $CAREV,171026,COPROC,0.20.0.39330*78

2021-12-04T17:10:26.596Z,1638637826.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:29.375Z,1638637829.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:32.274Z,1638637832.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:35.036Z,1638637835.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:36.621Z,1638637836.621 [Micromodem](INFO): Nmea in: $CAREV,171036,AUV,2.1.4000*28

2021-12-04T17:10:36.622Z,1638637836.622 [Micromodem](INFO): Nmea in: $CAREV,171036,COPROC,0.20.0.39330*79

2021-12-04T17:10:37.842Z,1638637837.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:40.266Z,1638637840.266 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:10:40.686Z,1638637840.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:43.517Z,1638637843.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:46.388Z,1638637846.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:46.741Z,1638637846.741 [Micromodem](INFO): Nmea in: $CAREV,171046,AUV,2.1.4000*2F

2021-12-04T17:10:46.742Z,1638637846.742 [Micromodem](INFO): Nmea in: $CAREV,171046,COPROC,0.20.0.39330*7E

2021-12-04T17:10:49.161Z,1638637849.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:52.023Z,1638637852.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:54.811Z,1638637854.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:10:56.414Z,1638637856.414 [Micromodem](INFO): Nmea in: $CAREV,171056,AUV,2.1.4000*2E

2021-12-04T17:10:56.415Z,1638637856.415 [Micromodem](INFO): Nmea in: $CAREV,171056,COPROC,0.20.0.39330*7F

2021-12-04T17:10:57.647Z,1638637857.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:00.489Z,1638637860.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:03.307Z,1638637863.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:06.147Z,1638637866.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:06.528Z,1638637866.528 [Micromodem](INFO): Nmea in: $CAREV,171106,AUV,2.1.4000*2A

2021-12-04T17:11:06.547Z,1638637866.547 [Micromodem](INFO): Nmea in: $CAREV,171106,COPROC,0.20.0.39330*7B

2021-12-04T17:11:08.957Z,1638637868.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:11.784Z,1638637871.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:14.630Z,1638637874.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:16.620Z,1638637876.620 [Micromodem](INFO): Nmea in: $CAREV,171116,AUV,2.1.4000*2B

2021-12-04T17:11:16.622Z,1638637876.622 [Micromodem](INFO): Nmea in: $CAREV,171116,COPROC,0.20.0.39330*7A

2021-12-04T17:11:17.451Z,1638637877.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:20.330Z,1638637880.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:23.095Z,1638637883.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:26.032Z,1638637886.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:26.721Z,1638637886.721 [Micromodem](INFO): Nmea in: $CAREV,171126,AUV,2.1.4000*28

2021-12-04T17:11:26.729Z,1638637886.729 [Micromodem](INFO): Nmea in: $CAREV,171126,COPROC,0.20.0.39330*79

2021-12-04T17:11:28.749Z,1638637888.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:31.584Z,1638637891.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:34.427Z,1638637894.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:36.411Z,1638637896.411 [Micromodem](INFO): Nmea in: $CAREV,171136,AUV,2.1.4000*29

2021-12-04T17:11:36.412Z,1638637896.412 [Micromodem](INFO): Nmea in: $CAREV,171136,COPROC,0.20.0.39330*78

2021-12-04T17:11:37.258Z,1638637897.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:40.086Z,1638637900.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:42.891Z,1638637902.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:45.736Z,1638637905.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:46.527Z,1638637906.527 [Micromodem](INFO): Nmea in: $CAREV,171146,AUV,2.1.4000*2E

2021-12-04T17:11:46.528Z,1638637906.528 [Micromodem](INFO): Nmea in: $CAREV,171146,COPROC,0.20.0.39330*7F

2021-12-04T17:11:48.558Z,1638637908.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:51.386Z,1638637911.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:54.284Z,1638637914.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:56.610Z,1638637916.610 [Micromodem](INFO): Nmea in: $CAREV,171156,AUV,2.1.4000*2F

2021-12-04T17:11:56.611Z,1638637916.611 [Micromodem](INFO): Nmea in: $CAREV,171156,COPROC,0.20.0.39330*7E

2021-12-04T17:11:57.025Z,1638637917.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:11:59.869Z,1638637919.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:02.697Z,1638637922.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:05.521Z,1638637925.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:06.717Z,1638637926.717 [Micromodem](INFO): Nmea in: $CAREV,171206,AUV,2.1.4000*29

2021-12-04T17:12:06.719Z,1638637926.719 [Micromodem](INFO): Nmea in: $CAREV,171206,COPROC,0.20.0.39330*78

2021-12-04T17:12:08.382Z,1638637928.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:11.210Z,1638637931.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:14.040Z,1638637934.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:16.412Z,1638637936.412 [Micromodem](INFO): Nmea in: $CAREV,171216,AUV,2.1.4000*28

2021-12-04T17:12:16.414Z,1638637936.414 [Micromodem](INFO): Nmea in: $CAREV,171216,COPROC,0.20.0.39330*79

2021-12-04T17:12:16.833Z,1638637936.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:19.656Z,1638637939.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:22.508Z,1638637942.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:25.328Z,1638637945.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:26.508Z,1638637946.508 [Micromodem](INFO): Nmea in: $CAREV,171226,AUV,2.1.4000*2B

2021-12-04T17:12:26.509Z,1638637946.509 [Micromodem](INFO): Nmea in: $CAREV,171226,COPROC,0.20.0.39330*7A

2021-12-04T17:12:28.171Z,1638637948.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:30.964Z,1638637950.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:33.799Z,1638637953.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:36.606Z,1638637956.606 [Micromodem](INFO): Nmea in: $CAREV,171236,AUV,2.1.4000*2A

2021-12-04T17:12:36.608Z,1638637956.608 [Micromodem](INFO): Nmea in: $CAREV,171236,COPROC,0.20.0.39330*7B

2021-12-04T17:12:36.620Z,1638637956.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:39.464Z,1638637959.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:42.310Z,1638637962.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:45.108Z,1638637965.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:46.724Z,1638637966.724 [Micromodem](INFO): Nmea in: $CAREV,171246,AUV,2.1.4000*2D

2021-12-04T17:12:46.725Z,1638637966.725 [Micromodem](INFO): Nmea in: $CAREV,171246,COPROC,0.20.0.39330*7C

2021-12-04T17:12:47.990Z,1638637967.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:50.763Z,1638637970.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:53.615Z,1638637973.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:56.408Z,1638637976.408 [Micromodem](INFO): Nmea in: $CAREV,171256,AUV,2.1.4000*2C

2021-12-04T17:12:56.409Z,1638637976.409 [Micromodem](INFO): Nmea in: $CAREV,171256,COPROC,0.20.0.39330*7D

2021-12-04T17:12:56.452Z,1638637976.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:12:59.259Z,1638637979.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:02.112Z,1638637982.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:04.903Z,1638637984.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:06.508Z,1638637986.508 [Micromodem](INFO): Nmea in: $CAREV,171306,AUV,2.1.4000*28

2021-12-04T17:13:06.509Z,1638637986.509 [Micromodem](INFO): Nmea in: $CAREV,171306,COPROC,0.20.0.39330*79

2021-12-04T17:13:07.764Z,1638637987.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:10.572Z,1638637990.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:13.394Z,1638637993.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:16.272Z,1638637996.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:16.604Z,1638637996.604 [Micromodem](INFO): Nmea in: $CAREV,171316,AUV,2.1.4000*29

2021-12-04T17:13:16.606Z,1638637996.606 [Micromodem](INFO): Nmea in: $CAREV,171316,COPROC,0.20.0.39330*78

2021-12-04T17:13:19.044Z,1638637999.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:21.886Z,1638638001.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:24.700Z,1638638004.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:26.702Z,1638638006.702 [Micromodem](INFO): Nmea in: $CAREV,171326,AUV,2.1.4000*2A

2021-12-04T17:13:26.704Z,1638638006.704 [Micromodem](INFO): Nmea in: $CAREV,171326,COPROC,0.20.0.39330*7B

2021-12-04T17:13:27.533Z,1638638007.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:30.386Z,1638638010.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:33.182Z,1638638013.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:36.038Z,1638638016.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:36.400Z,1638638016.400 [Micromodem](INFO): Nmea in: $CAREV,171336,AUV,2.1.4000*2B

2021-12-04T17:13:36.402Z,1638638016.402 [Micromodem](INFO): Nmea in: $CAREV,171336,COPROC,0.20.0.39330*7A

2021-12-04T17:13:38.847Z,1638638018.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:41.702Z,1638638021.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:44.519Z,1638638024.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:46.504Z,1638638026.504 [Micromodem](INFO): Nmea in: $CAREV,171346,AUV,2.1.4000*2C

2021-12-04T17:13:46.505Z,1638638026.505 [Micromodem](INFO): Nmea in: $CAREV,171346,COPROC,0.20.0.39330*7D

2021-12-04T17:13:47.334Z,1638638027.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:50.174Z,1638638030.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:52.984Z,1638638032.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:55.831Z,1638638035.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:13:56.609Z,1638638036.609 [Micromodem](INFO): Nmea in: $CAREV,171356,AUV,2.1.4000*2D

2021-12-04T17:13:56.610Z,1638638036.610 [Micromodem](INFO): Nmea in: $CAREV,171356,COPROC,0.20.0.39330*7C

2021-12-04T17:13:58.648Z,1638638038.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:01.480Z,1638638041.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:04.338Z,1638638044.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:06.700Z,1638638046.700 [Micromodem](INFO): Nmea in: $CAREV,171406,AUV,2.1.4000*2F

2021-12-04T17:14:06.702Z,1638638046.702 [Micromodem](INFO): Nmea in: $CAREV,171406,COPROC,0.20.0.39330*7E

2021-12-04T17:14:07.115Z,1638638047.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:10.016Z,1638638050.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:12.772Z,1638638052.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:15.612Z,1638638055.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:16.413Z,1638638056.413 [Micromodem](INFO): Nmea in: $CAREV,171416,AUV,2.1.4000*2E

2021-12-04T17:14:16.414Z,1638638056.414 [Micromodem](INFO): Nmea in: $CAREV,171416,COPROC,0.20.0.39330*7F

2021-12-04T17:14:18.459Z,1638638058.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:21.275Z,1638638061.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:24.110Z,1638638064.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:26.496Z,1638638066.496 [Micromodem](INFO): Nmea in: $CAREV,171426,AUV,2.1.4000*2D

2021-12-04T17:14:26.497Z,1638638066.497 [Micromodem](INFO): Nmea in: $CAREV,171426,COPROC,0.20.0.39330*7C

2021-12-04T17:14:26.924Z,1638638066.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:29.738Z,1638638069.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:32.239Z,1638638072.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:34.995Z,1638638074.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:36.600Z,1638638076.600 [Micromodem](INFO): Nmea in: $CAREV,171436,AUV,2.1.4000*2C

2021-12-04T17:14:36.602Z,1638638076.602 [Micromodem](INFO): Nmea in: $CAREV,171436,COPROC,0.20.0.39330*7D

2021-12-04T17:14:37.832Z,1638638077.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:40.648Z,1638638080.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:43.489Z,1638638083.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:46.343Z,1638638086.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:46.706Z,1638638086.706 [Micromodem](INFO): Nmea in: $CAREV,171446,AUV,2.1.4000*2B

2021-12-04T17:14:46.709Z,1638638086.709 [Micromodem](INFO): Nmea in: $CAREV,171446,COPROC,0.20.0.39330*7A

2021-12-04T17:14:49.139Z,1638638089.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:52.026Z,1638638092.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:54.792Z,1638638094.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:14:56.404Z,1638638096.404 [Micromodem](INFO): Nmea in: $CAREV,171456,AUV,2.1.4000*2A

2021-12-04T17:14:56.405Z,1638638096.405 [Micromodem](INFO): Nmea in: $CAREV,171456,COPROC,0.20.0.39330*7B

2021-12-04T17:14:57.620Z,1638638097.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:00.465Z,1638638100.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:03.286Z,1638638103.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:06.123Z,1638638106.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:06.490Z,1638638106.490 [Micromodem](INFO): Nmea in: $CAREV,171506,AUV,2.1.4000*2E

2021-12-04T17:15:06.491Z,1638638106.491 [Micromodem](INFO): Nmea in: $CAREV,171506,COPROC,0.20.0.39330*7F

2021-12-04T17:15:08.931Z,1638638108.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:11.760Z,1638638111.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:12.176Z,1638638112.176 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:15:14.588Z,1638638114.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:16.593Z,1638638116.593 [Micromodem](INFO): Nmea in: $CAREV,171516,AUV,2.1.4000*2F

2021-12-04T17:15:16.595Z,1638638116.595 [Micromodem](INFO): Nmea in: $CAREV,171516,COPROC,0.20.0.39330*7E

2021-12-04T17:15:17.445Z,1638638117.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:20.280Z,1638638120.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:22.262Z,1638638122.262 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T17:15:23.079Z,1638638123.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:25.938Z,1638638125.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:26.711Z,1638638126.711 [Micromodem](INFO): Nmea in: $CAREV,171526,AUV,2.1.4000*2C

2021-12-04T17:15:26.712Z,1638638126.712 [Micromodem](INFO): Nmea in: $CAREV,171526,COPROC,0.20.0.39330*7D

2021-12-04T17:15:28.728Z,1638638128.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:31.568Z,1638638131.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:34.393Z,1638638134.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:36.410Z,1638638136.410 [Micromodem](INFO): Nmea in: $CAREV,171536,AUV,2.1.4000*2D

2021-12-04T17:15:36.412Z,1638638136.412 [Micromodem](INFO): Nmea in: $CAREV,171536,COPROC,0.20.0.39330*7C

2021-12-04T17:15:37.253Z,1638638137.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:40.070Z,1638638140.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:42.875Z,1638638142.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:45.707Z,1638638145.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:46.494Z,1638638146.494 [Micromodem](INFO): Nmea in: $CAREV,171546,AUV,2.1.4000*2A

2021-12-04T17:15:46.495Z,1638638146.495 [Micromodem](INFO): Nmea in: $CAREV,171546,COPROC,0.20.0.39330*7B

2021-12-04T17:15:48.528Z,1638638148.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:51.381Z,1638638151.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:54.260Z,1638638154.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:56.589Z,1638638156.589 [Micromodem](INFO): Nmea in: $CAREV,171556,AUV,2.1.4000*2B

2021-12-04T17:15:56.590Z,1638638156.590 [Micromodem](INFO): Nmea in: $CAREV,171556,COPROC,0.20.0.39330*7A

2021-12-04T17:15:57.021Z,1638638157.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:15:59.842Z,1638638159.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:02.268Z,1638638162.268 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T17:16:02.660Z,1638638162.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:05.502Z,1638638165.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:06.445Z,1638638166.445 [Micromodem](INFO): Nmea in: $CAREV,171606,AUV,2.1.4000*2D

2021-12-04T17:16:06.466Z,1638638166.466 [Micromodem](INFO): Nmea in: $CAREV,171606,COPROC,0.20.0.39330*7C

2021-12-04T17:16:08.094Z,1638638168.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:10.913Z,1638638170.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:12.126Z,1638638172.126 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T17:16:12.126Z,1638638172.126 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T17:16:12.126Z,1638638172.126 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T17:16:12.298Z,1638638172.298 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T17:16:12.590Z,1638638172.590 [RDI_Pathfinder](INFO): Powering down
2021-12-04T17:16:13.415Z,1638638173.415 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T17:16:13.415Z,1638638173.415 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T17:16:13.732Z,1638638173.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:16.545Z,1638638176.545 [Micromodem](INFO): Nmea in: $CAREV,171616,AUV,2.1.4000*2C

2021-12-04T17:16:16.550Z,1638638176.550 [Micromodem](INFO): Nmea in: $CAREV,171616,COPROC,0.20.0.39330*7D

2021-12-04T17:16:16.589Z,1638638176.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:19.402Z,1638638179.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:22.254Z,1638638182.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:25.056Z,1638638185.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:26.648Z,1638638186.648 [Micromodem](INFO): Nmea in: $CAREV,171626,AUV,2.1.4000*2F

2021-12-04T17:16:26.649Z,1638638186.649 [Micromodem](INFO): Nmea in: $CAREV,171626,COPROC,0.20.0.39330*7E

2021-12-04T17:16:27.877Z,1638638187.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:30.698Z,1638638190.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:33.538Z,1638638193.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:36.357Z,1638638196.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:36.752Z,1638638196.752 [Micromodem](INFO): Nmea in: $CAREV,171636,AUV,2.1.4000*2E

2021-12-04T17:16:36.755Z,1638638196.755 [Micromodem](INFO): Nmea in: $CAREV,171636,COPROC,0.20.0.39330*7F

2021-12-04T17:16:39.180Z,1638638199.180 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:42.051Z,1638638202.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:44.849Z,1638638204.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:46.444Z,1638638206.444 [Micromodem](INFO): Nmea in: $CAREV,171646,AUV,2.1.4000*29

2021-12-04T17:16:46.446Z,1638638206.446 [Micromodem](INFO): Nmea in: $CAREV,171646,COPROC,0.20.0.39330*78

2021-12-04T17:16:47.663Z,1638638207.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:50.509Z,1638638210.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:53.331Z,1638638213.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:56.171Z,1638638216.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:16:56.548Z,1638638216.548 [Micromodem](INFO): Nmea in: $CAREV,171656,AUV,2.1.4000*28

2021-12-04T17:16:56.549Z,1638638216.549 [Micromodem](INFO): Nmea in: $CAREV,171656,COPROC,0.20.0.39330*79

2021-12-04T17:16:58.985Z,1638638218.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:01.848Z,1638638221.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:04.652Z,1638638224.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:06.637Z,1638638226.637 [Micromodem](INFO): Nmea in: $CAREV,171706,AUV,2.1.4000*2C

2021-12-04T17:17:06.638Z,1638638226.638 [Micromodem](INFO): Nmea in: $CAREV,171706,COPROC,0.20.0.39330*7D

2021-12-04T17:17:07.475Z,1638638227.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:10.299Z,1638638230.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:13.116Z,1638638233.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:16.167Z,1638638236.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:16.751Z,1638638236.751 [Micromodem](INFO): Nmea in: $CAREV,171716,AUV,2.1.4000*2D

2021-12-04T17:17:16.752Z,1638638236.752 [Micromodem](INFO): Nmea in: $CAREV,171716,COPROC,0.20.0.39330*7C

2021-12-04T17:17:18.777Z,1638638238.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:21.610Z,1638638241.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:24.434Z,1638638244.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:26.439Z,1638638246.439 [Micromodem](INFO): Nmea in: $CAREV,171726,AUV,2.1.4000*2E

2021-12-04T17:17:26.440Z,1638638246.440 [Micromodem](INFO): Nmea in: $CAREV,171726,COPROC,0.20.0.39330*7F

2021-12-04T17:17:27.272Z,1638638247.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:30.108Z,1638638250.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:32.912Z,1638638252.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:35.743Z,1638638255.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:36.540Z,1638638256.540 [Micromodem](INFO): Nmea in: $CAREV,171736,AUV,2.1.4000*2F

2021-12-04T17:17:36.541Z,1638638256.541 [Micromodem](INFO): Nmea in: $CAREV,171736,COPROC,0.20.0.39330*7E

2021-12-04T17:17:38.584Z,1638638258.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:41.406Z,1638638261.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:44.257Z,1638638264.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:46.641Z,1638638266.641 [Micromodem](INFO): Nmea in: $CAREV,171746,AUV,2.1.4000*28

2021-12-04T17:17:46.642Z,1638638266.642 [Micromodem](INFO): Nmea in: $CAREV,171746,COPROC,0.20.0.39330*79

2021-12-04T17:17:47.095Z,1638638267.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:49.903Z,1638638269.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:52.713Z,1638638272.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:55.569Z,1638638275.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:17:56.757Z,1638638276.757 [Micromodem](INFO): Nmea in: $CAREV,171756,AUV,2.1.4000*29

2021-12-04T17:17:56.759Z,1638638276.759 [Micromodem](INFO): Nmea in: $CAREV,171756,COPROC,0.20.0.39330*78

2021-12-04T17:17:58.400Z,1638638278.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:01.237Z,1638638281.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:04.044Z,1638638284.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:06.441Z,1638638286.441 [Micromodem](INFO): Nmea in: $CAREV,171806,AUV,2.1.4000*23

2021-12-04T17:18:06.443Z,1638638286.443 [Micromodem](INFO): Nmea in: $CAREV,171806,COPROC,0.20.0.39330*72

2021-12-04T17:18:06.847Z,1638638286.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:09.675Z,1638638289.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:12.521Z,1638638292.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:15.347Z,1638638295.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:16.536Z,1638638296.536 [Micromodem](INFO): Nmea in: $CAREV,171816,AUV,2.1.4000*22

2021-12-04T17:18:16.538Z,1638638296.538 [Micromodem](INFO): Nmea in: $CAREV,171816,COPROC,0.20.0.39330*73

2021-12-04T17:18:18.229Z,1638638298.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:20.988Z,1638638300.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:23.849Z,1638638303.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:26.633Z,1638638306.633 [Micromodem](INFO): Nmea in: $CAREV,171826,AUV,2.1.4000*21

2021-12-04T17:18:26.634Z,1638638306.634 [Micromodem](INFO): Nmea in: $CAREV,171826,COPROC,0.20.0.39330*70

2021-12-04T17:18:26.646Z,1638638306.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:29.481Z,1638638309.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:32.325Z,1638638312.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:35.139Z,1638638315.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:36.729Z,1638638316.729 [Micromodem](INFO): Nmea in: $CAREV,171836,AUV,2.1.4000*20

2021-12-04T17:18:36.730Z,1638638316.730 [Micromodem](INFO): Nmea in: $CAREV,171836,COPROC,0.20.0.39330*71

2021-12-04T17:18:37.976Z,1638638317.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:40.786Z,1638638320.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:43.607Z,1638638323.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:46.444Z,1638638326.444 [Micromodem](INFO): Nmea in: $CAREV,171846,AUV,2.1.4000*27

2021-12-04T17:18:46.445Z,1638638326.445 [Micromodem](INFO): Nmea in: $CAREV,171846,COPROC,0.20.0.39330*76

2021-12-04T17:18:46.467Z,1638638326.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:49.279Z,1638638329.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:52.157Z,1638638332.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:54.924Z,1638638334.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:18:56.525Z,1638638336.525 [Micromodem](INFO): Nmea in: $CAREV,171856,AUV,2.1.4000*26

2021-12-04T17:18:56.526Z,1638638336.526 [Micromodem](INFO): Nmea in: $CAREV,171856,COPROC,0.20.0.39330*77

2021-12-04T17:18:57.824Z,1638638337.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:00.596Z,1638638340.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:03.477Z,1638638343.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:06.294Z,1638638346.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:06.673Z,1638638346.673 [Micromodem](INFO): Nmea in: $CAREV,171906,AUV,2.1.4000*22

2021-12-04T17:19:06.674Z,1638638346.674 [Micromodem](INFO): Nmea in: $CAREV,171906,COPROC,0.20.0.39330*73

2021-12-04T17:19:09.111Z,1638638349.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:11.971Z,1638638351.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:14.767Z,1638638354.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:16.771Z,1638638356.771 [Micromodem](INFO): Nmea in: $CAREV,171916,AUV,2.1.4000*23

2021-12-04T17:19:16.772Z,1638638356.772 [Micromodem](INFO): Nmea in: $CAREV,171916,COPROC,0.20.0.39330*72

2021-12-04T17:19:17.605Z,1638638357.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:20.431Z,1638638360.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:23.258Z,1638638363.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:26.101Z,1638638366.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:26.474Z,1638638366.474 [Micromodem](INFO): Nmea in: $CAREV,171926,AUV,2.1.4000*20

2021-12-04T17:19:26.478Z,1638638366.478 [Micromodem](INFO): Nmea in: $CAREV,171926,COPROC,0.20.0.39330*71

2021-12-04T17:19:28.916Z,1638638368.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:31.763Z,1638638371.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:34.566Z,1638638374.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:35.358Z,1638638375.358 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:19:36.572Z,1638638376.572 [Micromodem](INFO): Nmea in: $CAREV,171936,AUV,2.1.4000*21

2021-12-04T17:19:36.573Z,1638638376.573 [Micromodem](INFO): Nmea in: $CAREV,171936,COPROC,0.20.0.39330*70

2021-12-04T17:19:37.402Z,1638638377.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:40.251Z,1638638380.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:43.064Z,1638638383.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:45.899Z,1638638385.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:46.677Z,1638638386.677 [Micromodem](INFO): Nmea in: $CAREV,171946,AUV,2.1.4000*26

2021-12-04T17:19:46.678Z,1638638386.678 [Micromodem](INFO): Nmea in: $CAREV,171946,COPROC,0.20.0.39330*77

2021-12-04T17:19:48.700Z,1638638388.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:51.569Z,1638638391.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:54.385Z,1638638394.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:19:56.768Z,1638638396.768 [Micromodem](INFO): Nmea in: $CAREV,171956,AUV,2.1.4000*27

2021-12-04T17:19:56.769Z,1638638396.769 [Micromodem](INFO): Nmea in: $CAREV,171956,COPROC,0.20.0.39330*76

2021-12-04T17:19:57.251Z,1638638397.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:00.038Z,1638638400.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:02.844Z,1638638402.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:05.671Z,1638638405.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:06.483Z,1638638406.483 [Micromodem](INFO): Nmea in: $CAREV,172006,AUV,2.1.4000*28

2021-12-04T17:20:06.484Z,1638638406.484 [Micromodem](INFO): Nmea in: $CAREV,172006,COPROC,0.20.0.39330*79

2021-12-04T17:20:08.510Z,1638638408.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:11.348Z,1638638411.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:14.178Z,1638638414.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:16.581Z,1638638416.581 [Micromodem](INFO): Nmea in: $CAREV,172016,AUV,2.1.4000*29

2021-12-04T17:20:16.582Z,1638638416.582 [Micromodem](INFO): Nmea in: $CAREV,172016,COPROC,0.20.0.39330*78

2021-12-04T17:20:16.979Z,1638638416.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:19.854Z,1638638419.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:22.234Z,1638638422.234 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:20:22.654Z,1638638422.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:25.479Z,1638638425.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:26.665Z,1638638426.665 [Micromodem](INFO): Nmea in: $CAREV,172026,AUV,2.1.4000*2A

2021-12-04T17:20:26.666Z,1638638426.666 [Micromodem](INFO): Nmea in: $CAREV,172026,COPROC,0.20.0.39330*7B

2021-12-04T17:20:27.483Z,1638638427.483 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:20:28.306Z,1638638428.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:31.124Z,1638638431.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:32.343Z,1638638432.343 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:20:33.976Z,1638638433.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:36.768Z,1638638436.768 [Micromodem](INFO): Nmea in: $CAREV,172036,AUV,2.1.4000*2B

2021-12-04T17:20:36.784Z,1638638436.784 [Micromodem](INFO): Nmea in: $CAREV,172036,COPROC,0.20.0.39330*7A

2021-12-04T17:20:36.797Z,1638638436.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:37.227Z,1638638437.227 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:20:39.617Z,1638638439.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:42.433Z,1638638442.433 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:20:42.443Z,1638638442.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:45.306Z,1638638445.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:46.472Z,1638638446.472 [Micromodem](INFO): Nmea in: $CAREV,172046,AUV,2.1.4000*2C

2021-12-04T17:20:46.473Z,1638638446.473 [Micromodem](INFO): Nmea in: $CAREV,172046,COPROC,0.20.0.39330*7D

2021-12-04T17:20:48.125Z,1638638448.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:50.938Z,1638638450.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:53.798Z,1638638453.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:56.564Z,1638638456.564 [Micromodem](INFO): Nmea in: $CAREV,172056,AUV,2.1.4000*2D

2021-12-04T17:20:56.565Z,1638638456.565 [Micromodem](INFO): Nmea in: $CAREV,172056,COPROC,0.20.0.39330*7C

2021-12-04T17:20:56.608Z,1638638456.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:20:57.393Z,1638638457.393 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:20:59.407Z,1638638459.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:02.267Z,1638638462.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:05.066Z,1638638465.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:06.664Z,1638638466.664 [Micromodem](INFO): Nmea in: $CAREV,172106,AUV,2.1.4000*29

2021-12-04T17:21:06.665Z,1638638466.665 [Micromodem](INFO): Nmea in: $CAREV,172106,COPROC,0.20.0.39330*78

2021-12-04T17:21:07.483Z,1638638467.483 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:21:07.912Z,1638638467.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:10.724Z,1638638470.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:12.331Z,1638638472.331 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:21:13.557Z,1638638473.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:16.381Z,1638638476.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:16.771Z,1638638476.771 [Micromodem](INFO): Nmea in: $CAREV,172116,AUV,2.1.4000*28

2021-12-04T17:21:16.774Z,1638638476.774 [Micromodem](INFO): Nmea in: $CAREV,172116,COPROC,0.20.0.39330*79

2021-12-04T17:21:19.243Z,1638638479.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:22.040Z,1638638482.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:24.855Z,1638638484.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:26.472Z,1638638486.472 [Micromodem](INFO): Nmea in: $CAREV,172126,AUV,2.1.4000*2B

2021-12-04T17:21:26.473Z,1638638486.473 [Micromodem](INFO): Nmea in: $CAREV,172126,COPROC,0.20.0.39330*7A

2021-12-04T17:21:27.695Z,1638638487.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:30.523Z,1638638490.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:33.352Z,1638638493.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:36.236Z,1638638496.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:36.570Z,1638638496.570 [Micromodem](INFO): Nmea in: $CAREV,172136,AUV,2.1.4000*2A

2021-12-04T17:21:36.572Z,1638638496.572 [Micromodem](INFO): Nmea in: $CAREV,172136,COPROC,0.20.0.39330*7B

2021-12-04T17:21:39.004Z,1638638499.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:41.853Z,1638638501.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:44.650Z,1638638504.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:46.661Z,1638638506.661 [Micromodem](INFO): Nmea in: $CAREV,172146,AUV,2.1.4000*2D

2021-12-04T17:21:46.662Z,1638638506.662 [Micromodem](INFO): Nmea in: $CAREV,172146,COPROC,0.20.0.39330*7C

2021-12-04T17:21:47.505Z,1638638507.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:50.324Z,1638638510.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:53.140Z,1638638513.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:56.171Z,1638638516.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:21:56.771Z,1638638516.771 [Micromodem](INFO): Nmea in: $CAREV,172156,AUV,2.1.4000*2C

2021-12-04T17:21:56.772Z,1638638516.772 [Micromodem](INFO): Nmea in: $CAREV,172156,COPROC,0.20.0.39330*7D

2021-12-04T17:21:58.791Z,1638638518.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:01.625Z,1638638521.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:04.459Z,1638638524.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:06.476Z,1638638526.476 [Micromodem](INFO): Nmea in: $CAREV,172206,AUV,2.1.4000*2A

2021-12-04T17:22:06.482Z,1638638526.482 [Micromodem](INFO): Nmea in: $CAREV,172206,COPROC,0.20.0.39330*7B

2021-12-04T17:22:07.318Z,1638638527.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:10.133Z,1638638530.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:12.927Z,1638638532.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:15.815Z,1638638535.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:16.557Z,1638638536.557 [Micromodem](INFO): Nmea in: $CAREV,172216,AUV,2.1.4000*2B

2021-12-04T17:22:16.558Z,1638638536.558 [Micromodem](INFO): Nmea in: $CAREV,172216,COPROC,0.20.0.39330*7A

2021-12-04T17:22:18.598Z,1638638538.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:21.419Z,1638638541.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:24.263Z,1638638544.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:26.656Z,1638638546.656 [Micromodem](INFO): Nmea in: $CAREV,172226,AUV,2.1.4000*28

2021-12-04T17:22:26.657Z,1638638546.657 [Micromodem](INFO): Nmea in: $CAREV,172226,COPROC,0.20.0.39330*79

2021-12-04T17:22:27.084Z,1638638547.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:29.920Z,1638638549.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:32.733Z,1638638552.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:35.588Z,1638638555.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:36.769Z,1638638556.769 [Micromodem](INFO): Nmea in: $CAREV,172236,AUV,2.1.4000*29

2021-12-04T17:22:36.774Z,1638638556.774 [Micromodem](INFO): Nmea in: $CAREV,172236,COPROC,0.20.0.39330*78

2021-12-04T17:22:38.416Z,1638638558.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:41.257Z,1638638561.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:44.087Z,1638638564.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:46.856Z,1638638566.856 [Micromodem](INFO): Nmea in: $CAREV,172246,AUV,2.1.4000*2E

2021-12-04T17:22:46.857Z,1638638566.857 [Micromodem](INFO): Nmea in: $CAREV,172246,COPROC,0.20.0.39330*7F

2021-12-04T17:22:46.889Z,1638638566.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:49.705Z,1638638569.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:52.535Z,1638638572.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:55.359Z,1638638575.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:22:56.551Z,1638638576.551 [Micromodem](INFO): Nmea in: $CAREV,172256,AUV,2.1.4000*2F

2021-12-04T17:22:56.552Z,1638638576.552 [Micromodem](INFO): Nmea in: $CAREV,172256,COPROC,0.20.0.39330*7E

2021-12-04T17:22:58.190Z,1638638578.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:01.028Z,1638638581.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:03.855Z,1638638583.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:06.652Z,1638638586.652 [Micromodem](INFO): Nmea in: $CAREV,172306,AUV,2.1.4000*2B

2021-12-04T17:23:06.653Z,1638638586.653 [Micromodem](INFO): Nmea in: $CAREV,172306,COPROC,0.20.0.39330*7A

2021-12-04T17:23:06.665Z,1638638586.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:09.497Z,1638638589.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:12.355Z,1638638592.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:15.154Z,1638638595.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:16.752Z,1638638596.752 [Micromodem](INFO): Nmea in: $CAREV,172316,AUV,2.1.4000*2A

2021-12-04T17:23:16.767Z,1638638596.767 [Micromodem](INFO): Nmea in: $CAREV,172316,COPROC,0.20.0.39330*7B

2021-12-04T17:23:17.996Z,1638638597.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:20.803Z,1638638600.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:23.626Z,1638638603.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:26.500Z,1638638606.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:26.849Z,1638638606.849 [Micromodem](INFO): Nmea in: $CAREV,172326,AUV,2.1.4000*29

2021-12-04T17:23:26.850Z,1638638606.850 [Micromodem](INFO): Nmea in: $CAREV,172326,COPROC,0.20.0.39330*78

2021-12-04T17:23:29.298Z,1638638609.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:32.166Z,1638638612.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:34.939Z,1638638614.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:36.544Z,1638638616.544 [Micromodem](INFO): Nmea in: $CAREV,172336,AUV,2.1.4000*28

2021-12-04T17:23:36.545Z,1638638616.545 [Micromodem](INFO): Nmea in: $CAREV,172336,COPROC,0.20.0.39330*79

2021-12-04T17:23:37.860Z,1638638617.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:40.609Z,1638638620.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:43.438Z,1638638623.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:46.287Z,1638638626.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:46.645Z,1638638626.645 [Micromodem](INFO): Nmea in: $CAREV,172346,AUV,2.1.4000*2F

2021-12-04T17:23:46.646Z,1638638626.646 [Micromodem](INFO): Nmea in: $CAREV,172346,COPROC,0.20.0.39330*7E

2021-12-04T17:23:49.082Z,1638638629.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:51.937Z,1638638631.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:54.742Z,1638638634.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:23:56.748Z,1638638636.748 [Micromodem](INFO): Nmea in: $CAREV,172356,AUV,2.1.4000*2E

2021-12-04T17:23:56.750Z,1638638636.750 [Micromodem](INFO): Nmea in: $CAREV,172356,COPROC,0.20.0.39330*7F

2021-12-04T17:23:57.584Z,1638638637.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:00.403Z,1638638640.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:03.245Z,1638638643.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:06.090Z,1638638646.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:06.849Z,1638638646.849 [Micromodem](INFO): Nmea in: $CAREV,172406,AUV,2.1.4000*2C

2021-12-04T17:24:06.850Z,1638638646.850 [Micromodem](INFO): Nmea in: $CAREV,172406,COPROC,0.20.0.39330*7D

2021-12-04T17:24:08.880Z,1638638648.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:11.713Z,1638638651.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:14.542Z,1638638654.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:16.541Z,1638638656.541 [Micromodem](INFO): Nmea in: $CAREV,172416,AUV,2.1.4000*2D

2021-12-04T17:24:16.554Z,1638638656.554 [Micromodem](INFO): Nmea in: $CAREV,172416,COPROC,0.20.0.39330*7C

2021-12-04T17:24:17.411Z,1638638657.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:20.238Z,1638638660.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:23.024Z,1638638663.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:25.900Z,1638638665.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:26.656Z,1638638666.656 [Micromodem](INFO): Nmea in: $CAREV,172426,AUV,2.1.4000*2E

2021-12-04T17:24:26.657Z,1638638666.657 [Micromodem](INFO): Nmea in: $CAREV,172426,COPROC,0.20.0.39330*7F

2021-12-04T17:24:28.675Z,1638638668.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:31.520Z,1638638671.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:34.343Z,1638638674.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:36.745Z,1638638676.745 [Micromodem](INFO): Nmea in: $CAREV,172436,AUV,2.1.4000*2F

2021-12-04T17:24:36.746Z,1638638676.746 [Micromodem](INFO): Nmea in: $CAREV,172436,COPROC,0.20.0.39330*7E

2021-12-04T17:24:37.169Z,1638638677.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:40.006Z,1638638680.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:42.816Z,1638638682.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:45.664Z,1638638685.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:46.844Z,1638638686.844 [Micromodem](INFO): Nmea in: $CAREV,172446,AUV,2.1.4000*28

2021-12-04T17:24:46.845Z,1638638686.845 [Micromodem](INFO): Nmea in: $CAREV,172446,COPROC,0.20.0.39330*79

2021-12-04T17:24:48.484Z,1638638688.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:51.306Z,1638638691.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:54.150Z,1638638694.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:56.547Z,1638638696.547 [Micromodem](INFO): Nmea in: $CAREV,172456,AUV,2.1.4000*29

2021-12-04T17:24:56.548Z,1638638696.548 [Micromodem](INFO): Nmea in: $CAREV,172456,COPROC,0.20.0.39330*78

2021-12-04T17:24:56.955Z,1638638696.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:24:59.833Z,1638638699.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:02.615Z,1638638702.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:05.451Z,1638638705.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:06.635Z,1638638706.635 [Micromodem](INFO): Nmea in: $CAREV,172506,AUV,2.1.4000*2D

2021-12-04T17:25:06.636Z,1638638706.636 [Micromodem](INFO): Nmea in: $CAREV,172506,COPROC,0.20.0.39330*7C

2021-12-04T17:25:08.272Z,1638638708.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:11.095Z,1638638711.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:13.951Z,1638638713.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:16.737Z,1638638716.737 [Micromodem](INFO): Nmea in: $CAREV,172516,AUV,2.1.4000*2C

2021-12-04T17:25:16.738Z,1638638716.738 [Micromodem](INFO): Nmea in: $CAREV,172516,COPROC,0.20.0.39330*7D

2021-12-04T17:25:16.751Z,1638638716.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:19.618Z,1638638719.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:22.451Z,1638638722.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:25.259Z,1638638725.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:26.836Z,1638638726.836 [Micromodem](INFO): Nmea in: $CAREV,172526,AUV,2.1.4000*2F

2021-12-04T17:25:26.837Z,1638638726.837 [Micromodem](INFO): Nmea in: $CAREV,172526,COPROC,0.20.0.39330*7E

2021-12-04T17:25:28.085Z,1638638728.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:30.900Z,1638638730.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:33.724Z,1638638733.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:36.534Z,1638638736.534 [Micromodem](INFO): Nmea in: $CAREV,172536,AUV,2.1.4000*2E

2021-12-04T17:25:36.543Z,1638638736.543 [Micromodem](INFO): Nmea in: $CAREV,172536,COPROC,0.20.0.39330*7F

2021-12-04T17:25:36.585Z,1638638736.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:39.390Z,1638638739.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:42.238Z,1638638742.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:45.031Z,1638638745.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:46.633Z,1638638746.633 [Micromodem](INFO): Nmea in: $CAREV,172546,AUV,2.1.4000*29

2021-12-04T17:25:46.635Z,1638638746.635 [Micromodem](INFO): Nmea in: $CAREV,172546,COPROC,0.20.0.39330*78

2021-12-04T17:25:47.899Z,1638638747.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:50.682Z,1638638750.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:53.531Z,1638638753.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:56.349Z,1638638756.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:25:56.748Z,1638638756.748 [Micromodem](INFO): Nmea in: $CAREV,172556,AUV,2.1.4000*28

2021-12-04T17:25:56.751Z,1638638756.751 [Micromodem](INFO): Nmea in: $CAREV,172556,COPROC,0.20.0.39330*79

2021-12-04T17:25:59.178Z,1638638759.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:02.026Z,1638638762.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:04.839Z,1638638764.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:06.840Z,1638638766.840 [Micromodem](INFO): Nmea in: $CAREV,172606,AUV,2.1.4000*2E

2021-12-04T17:26:06.842Z,1638638766.842 [Micromodem](INFO): Nmea in: $CAREV,172606,COPROC,0.20.0.39330*7F

2021-12-04T17:26:07.661Z,1638638767.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:10.496Z,1638638770.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:13.347Z,1638638773.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:16.163Z,1638638776.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:16.544Z,1638638776.544 [Micromodem](INFO): Nmea in: $CAREV,172616,AUV,2.1.4000*2F

2021-12-04T17:26:16.545Z,1638638776.545 [Micromodem](INFO): Nmea in: $CAREV,172616,COPROC,0.20.0.39330*7E

2021-12-04T17:26:18.963Z,1638638778.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:21.842Z,1638638781.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:24.624Z,1638638784.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:26.628Z,1638638786.628 [Micromodem](INFO): Nmea in: $CAREV,172626,AUV,2.1.4000*2C

2021-12-04T17:26:26.629Z,1638638786.629 [Micromodem](INFO): Nmea in: $CAREV,172626,COPROC,0.20.0.39330*7D

2021-12-04T17:26:27.486Z,1638638787.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:30.287Z,1638638790.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:33.102Z,1638638793.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:36.015Z,1638638796.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:36.748Z,1638638796.748 [Micromodem](INFO): Nmea in: $CAREV,172636,AUV,2.1.4000*2D

2021-12-04T17:26:36.749Z,1638638796.749 [Micromodem](INFO): Nmea in: $CAREV,172636,COPROC,0.20.0.39330*7C

2021-12-04T17:26:38.776Z,1638638798.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:41.603Z,1638638801.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:44.427Z,1638638804.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:46.826Z,1638638806.826 [Micromodem](INFO): Nmea in: $CAREV,172646,AUV,2.1.4000*2A

2021-12-04T17:26:46.827Z,1638638806.827 [Micromodem](INFO): Nmea in: $CAREV,172646,COPROC,0.20.0.39330*7B

2021-12-04T17:26:47.281Z,1638638807.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:50.099Z,1638638810.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:52.903Z,1638638812.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:55.760Z,1638638815.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:26:56.535Z,1638638816.535 [Micromodem](INFO): Nmea in: $CAREV,172656,AUV,2.1.4000*2B

2021-12-04T17:26:56.537Z,1638638816.537 [Micromodem](INFO): Nmea in: $CAREV,172656,COPROC,0.20.0.39330*7A

2021-12-04T17:26:58.566Z,1638638818.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:01.398Z,1638638821.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:04.248Z,1638638824.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:06.625Z,1638638826.625 [Micromodem](INFO): Nmea in: $CAREV,172706,AUV,2.1.4000*2F

2021-12-04T17:27:06.627Z,1638638826.627 [Micromodem](INFO): Nmea in: $CAREV,172706,COPROC,0.20.0.39330*7E

2021-12-04T17:27:07.066Z,1638638827.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:09.902Z,1638638829.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:12.697Z,1638638832.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:15.537Z,1638638835.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:16.732Z,1638638836.732 [Micromodem](INFO): Nmea in: $CAREV,172716,AUV,2.1.4000*2E

2021-12-04T17:27:16.734Z,1638638836.734 [Micromodem](INFO): Nmea in: $CAREV,172716,COPROC,0.20.0.39330*7F

2021-12-04T17:27:18.379Z,1638638838.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:21.245Z,1638638841.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:24.026Z,1638638844.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:26.828Z,1638638846.828 [Micromodem](INFO): Nmea in: $CAREV,172726,AUV,2.1.4000*2D

2021-12-04T17:27:26.829Z,1638638846.829 [Micromodem](INFO): Nmea in: $CAREV,172726,COPROC,0.20.0.39330*7C

2021-12-04T17:27:26.841Z,1638638846.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:29.683Z,1638638849.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:32.532Z,1638638852.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:35.331Z,1638638855.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:36.552Z,1638638856.552 [Micromodem](INFO): Nmea in: $CAREV,172736,AUV,2.1.4000*2C

2021-12-04T17:27:36.553Z,1638638856.553 [Micromodem](INFO): Nmea in: $CAREV,172736,COPROC,0.20.0.39330*7D

2021-12-04T17:27:38.170Z,1638638858.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:40.975Z,1638638860.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:43.843Z,1638638863.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:46.629Z,1638638866.629 [Micromodem](INFO): Nmea in: $CAREV,172746,AUV,2.1.4000*2B

2021-12-04T17:27:46.630Z,1638638866.630 [Micromodem](INFO): Nmea in: $CAREV,172746,COPROC,0.20.0.39330*7A

2021-12-04T17:27:46.643Z,1638638866.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:49.481Z,1638638869.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:52.297Z,1638638872.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:55.130Z,1638638875.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:27:56.730Z,1638638876.730 [Micromodem](INFO): Nmea in: $CAREV,172756,AUV,2.1.4000*2A

2021-12-04T17:27:56.732Z,1638638876.732 [Micromodem](INFO): Nmea in: $CAREV,172756,COPROC,0.20.0.39330*7B

2021-12-04T17:27:57.975Z,1638638877.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:00.785Z,1638638880.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:03.598Z,1638638883.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:06.457Z,1638638886.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:06.824Z,1638638886.824 [Micromodem](INFO): Nmea in: $CAREV,172806,AUV,2.1.4000*20

2021-12-04T17:28:06.825Z,1638638886.825 [Micromodem](INFO): Nmea in: $CAREV,172806,COPROC,0.20.0.39330*71

2021-12-04T17:28:09.272Z,1638638889.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:12.106Z,1638638892.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:14.913Z,1638638894.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:16.535Z,1638638896.535 [Micromodem](INFO): Nmea in: $CAREV,172816,AUV,2.1.4000*21

2021-12-04T17:28:16.918Z,1638638896.918 [Micromodem](INFO): Nmea in: $CAREV,172816,COPROC,0.20.0.39330*70

2021-12-04T17:28:17.799Z,1638638897.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:20.588Z,1638638900.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:23.423Z,1638638903.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:26.244Z,1638638906.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:26.625Z,1638638906.625 [Micromodem](INFO): Nmea in: $CAREV,172826,AUV,2.1.4000*22

2021-12-04T17:28:26.626Z,1638638906.626 [Micromodem](INFO): Nmea in: $CAREV,172826,COPROC,0.20.0.39330*73

2021-12-04T17:28:29.051Z,1638638909.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:29.871Z,1638638909.871 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:28:31.916Z,1638638911.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:34.716Z,1638638914.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:36.720Z,1638638916.720 [Micromodem](INFO): Nmea in: $CAREV,172836,AUV,2.1.4000*23

2021-12-04T17:28:36.722Z,1638638916.722 [Micromodem](INFO): Nmea in: $CAREV,172836,COPROC,0.20.0.39330*72

2021-12-04T17:28:37.547Z,1638638917.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:40.374Z,1638638920.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:43.234Z,1638638923.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:46.052Z,1638638926.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:46.815Z,1638638926.815 [Micromodem](INFO): Nmea in: $CAREV,172846,AUV,2.1.4000*24

2021-12-04T17:28:46.816Z,1638638926.816 [Micromodem](INFO): Nmea in: $CAREV,172846,COPROC,0.20.0.39330*75

2021-12-04T17:28:48.860Z,1638638928.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:51.676Z,1638638931.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:54.551Z,1638638934.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:56.928Z,1638638936.928 [Micromodem](INFO): Nmea in: $CAREV,172856,AUV,2.1.4000*25

2021-12-04T17:28:56.929Z,1638638936.929 [Micromodem](INFO): Nmea in: $CAREV,172856,COPROC,0.20.0.39330*74

2021-12-04T17:28:57.356Z,1638638937.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:28:59.402Z,1638638939.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](INFO): Timed out from 2021-12-04T16:28:58.0Z
2021-12-04T17:28:59.402Z,1638638939.402 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout] Running Loop=1
2021-12-04T17:28:59.403Z,1638638939.403 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2021-12-04T17:28:59.403Z,1638638939.403 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Running Loop=1
2021-12-04T17:28:59.403Z,1638638939.403 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A](IMPORTANT): Timed out while executing search pattern around dock waypoint.
2021-12-04T17:28:59.403Z,1638638939.403 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Stopped
2021-12-04T17:28:59.403Z,1638638939.403 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize.
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T17:28:59.404Z,1638638939.404 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Running Loop=1
2021-12-04T17:28:59.830Z,1638638939.830 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H](IMPORTANT): Homing sequence timed out prior to docking.
2021-12-04T17:28:59.830Z,1638638939.830 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Stopped
2021-12-04T17:28:59.830Z,1638638939.830 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Running Loop=1
2021-12-04T17:29:00.216Z,1638638940.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:00.223Z,1638638940.223 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Stopped
2021-12-04T17:29:00.224Z,1638638940.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T17:29:00.224Z,1638638940.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T17:29:00.224Z,1638638940.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T17:29:00.224Z,1638638940.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T17:29:00.225Z,1638638940.225 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T17:29:00.225Z,1638638940.225 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T17:29:00.225Z,1638638940.225 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T17:29:00.620Z,1638638940.620 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T17:29:00.620Z,1638638940.620 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T17:29:00.620Z,1638638940.620 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T17:29:00.620Z,1638638940.620 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T17:29:00.620Z,1638638940.620 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T17:29:00.620Z,1638638940.620 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T17:29:00.621Z,1638638940.621 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T17:29:00.621Z,1638638940.621 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T17:29:02.992Z,1638638942.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:04.251Z,1638638944.251 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T17:29:04.251Z,1638638944.251 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T17:29:04.251Z,1638638944.251 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T17:29:04.251Z,1638638944.251 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T17:29:04.611Z,1638638944.611 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode -1.000000 count 
2021-12-04T17:29:04.611Z,1638638944.611 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T17:29:04.613Z,1638638944.613 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T17:29:04.614Z,1638638944.614 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T17:29:05.017Z,1638638945.017 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T17:29:05.018Z,1638638945.018 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T17:29:05.018Z,1638638945.018 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T17:29:05.018Z,1638638945.018 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T17:29:05.440Z,1638638945.440 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T17:29:05.440Z,1638638945.440 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T17:29:05.859Z,1638638945.859 [lineCaptureDepth:Lap:D](INFO): Mode -1.000000 count 
2021-12-04T17:29:05.859Z,1638638945.859 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T17:29:05.859Z,1638638945.859 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T17:29:05.860Z,1638638945.860 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T17:29:05.860Z,1638638945.860 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T17:29:05.860Z,1638638945.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:06.243Z,1638638946.243 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T17:29:06.243Z,1638638946.243 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T17:29:06.243Z,1638638946.243 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T17:29:06.243Z,1638638946.243 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T17:29:06.243Z,1638638946.243 [lineCaptureDepth:Lap] Stopped
2021-12-04T17:29:06.243Z,1638638946.243 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T17:29:06.244Z,1638638946.244 [lineCaptureDepth:Lap](INFO): Running loop #3
2021-12-04T17:29:06.244Z,1638638946.244 [lineCaptureDepth:Lap] Running Loop=3
2021-12-04T17:29:06.244Z,1638638946.244 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T17:29:06.244Z,1638638946.244 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T17:29:06.621Z,1638638946.621 [Micromodem](INFO): Nmea in: $CAREV,172906,AUV,2.1.4000*21

2021-12-04T17:29:06.622Z,1638638946.622 [Micromodem](INFO): Nmea in: $CAREV,172906,COPROC,0.20.0.39330*70

2021-12-04T17:29:06.635Z,1638638946.635 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T17:29:06.635Z,1638638946.635 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T17:29:06.635Z,1638638946.635 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T17:29:07.028Z,1638638947.028 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T17:29:07.028Z,1638638947.028 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T17:29:07.028Z,1638638947.028 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T17:29:07.028Z,1638638947.028 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T17:29:07.029Z,1638638947.029 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T17:29:07.030Z,1638638947.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T17:29:07.030Z,1638638947.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T17:29:07.030Z,1638638947.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T17:29:07.030Z,1638638947.030 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T17:29:07.030Z,1638638947.030 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T17:29:07.032Z,1638638947.032 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T17:29:07.032Z,1638638947.032 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T17:29:07.448Z,1638638947.448 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T17:29:07.448Z,1638638947.448 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T17:29:07.864Z,1638638947.864 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T17:29:07.864Z,1638638947.864 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T17:29:08.271Z,1638638948.271 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T17:29:08.271Z,1638638948.271 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T17:29:08.648Z,1638638948.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:08.649Z,1638638948.649 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T17:29:08.649Z,1638638948.649 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T17:29:08.666Z,1638638948.666 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T17:29:08.667Z,1638638948.667 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T17:29:08.668Z,1638638948.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T17:29:09.049Z,1638638949.049 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T17:29:09.050Z,1638638949.050 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T17:29:11.542Z,1638638951.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:11.544Z,1638638951.544 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T17:29:11.940Z,1638638951.940 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T17:29:14.341Z,1638638954.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:16.744Z,1638638956.744 [Micromodem](INFO): Nmea in: $CAREV,172916,AUV,2.1.4000*20

2021-12-04T17:29:16.745Z,1638638956.745 [Micromodem](INFO): Nmea in: $CAREV,172916,COPROC,0.20.0.39330*71

2021-12-04T17:29:17.184Z,1638638957.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:20.011Z,1638638960.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:22.033Z,1638638962.033 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T17:29:22.419Z,1638638962.419 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T17:29:22.820Z,1638638962.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:25.651Z,1638638965.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:26.844Z,1638638966.844 [Micromodem](INFO): Nmea in: $CAREV,172926,AUV,2.1.4000*23

2021-12-04T17:29:26.845Z,1638638966.845 [Micromodem](INFO): Nmea in: $CAREV,172926,COPROC,0.20.0.39330*72

2021-12-04T17:29:28.477Z,1638638968.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:31.327Z,1638638971.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:34.163Z,1638638974.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:36.949Z,1638638976.949 [Micromodem](INFO): Nmea in: $CAREV,172936,AUV,2.1.4000*22

2021-12-04T17:29:36.950Z,1638638976.950 [Micromodem](INFO): Nmea in: $CAREV,172936,COPROC,0.20.0.39330*73

2021-12-04T17:29:36.963Z,1638638976.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:39.841Z,1638638979.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:42.655Z,1638638982.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:42.656Z,1638638982.656 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.18 m. Transitioning DDM to standby.
2021-12-04T17:29:44.660Z,1638638984.660 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T17:29:45.048Z,1638638985.048 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T17:29:45.048Z,1638638985.048 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T17:29:45.049Z,1638638985.049 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T17:29:45.425Z,1638638985.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:45.426Z,1638638985.426 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T17:29:45.426Z,1638638985.426 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T17:29:45.427Z,1638638985.427 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T17:29:45.888Z,1638638985.888 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T17:29:45.888Z,1638638985.888 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T17:29:45.888Z,1638638985.888 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T17:29:45.888Z,1638638985.888 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T17:29:45.888Z,1638638985.888 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T17:29:46.253Z,1638638986.253 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T17:29:46.253Z,1638638986.253 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T17:29:46.253Z,1638638986.253 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T17:29:46.253Z,1638638986.253 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T17:29:46.253Z,1638638986.253 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T17:29:46.253Z,1638638986.253 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T17:29:46.254Z,1638638986.254 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T17:29:46.254Z,1638638986.254 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T17:29:46.254Z,1638638986.254 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T17:29:46.256Z,1638638986.256 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T17:29:46.256Z,1638638986.256 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T17:29:46.256Z,1638638986.256 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T17:29:46.256Z,1638638986.256 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T17:29:46.622Z,1638638986.622 [Micromodem](INFO): Nmea in: $CAREV,172946,AUV,2.1.4000*25

2021-12-04T17:29:46.624Z,1638638986.624 [Micromodem](INFO): Nmea in: $CAREV,172946,COPROC,0.20.0.39330*74

2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T17:29:46.641Z,1638638986.641 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T17:29:48.278Z,1638638988.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:51.062Z,1638638991.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:53.936Z,1638638993.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:56.712Z,1638638996.712 [Micromodem](INFO): Nmea in: $CAREV,172956,AUV,2.1.4000*24

2021-12-04T17:29:56.714Z,1638638996.714 [Micromodem](INFO): Nmea in: $CAREV,172956,COPROC,0.20.0.39330*75

2021-12-04T17:29:56.726Z,1638638996.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:29:59.555Z,1638638999.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:02.386Z,1638639002.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:05.253Z,1638639005.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:06.819Z,1638639006.819 [Micromodem](INFO): Nmea in: $CAREV,173006,AUV,2.1.4000*29

2021-12-04T17:30:06.820Z,1638639006.820 [Micromodem](INFO): Nmea in: $CAREV,173006,COPROC,0.20.0.39330*78

2021-12-04T17:30:08.086Z,1638639008.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:10.875Z,1638639010.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:13.708Z,1638639013.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:16.564Z,1638639016.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:16.918Z,1638639016.918 [Micromodem](INFO): Nmea in: $CAREV,173016,AUV,2.1.4000*28

2021-12-04T17:30:16.919Z,1638639016.919 [Micromodem](INFO): Nmea in: $CAREV,173016,COPROC,0.20.0.39330*79

2021-12-04T17:30:19.373Z,1638639019.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:22.233Z,1638639022.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:25.030Z,1638639025.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:26.620Z,1638639026.620 [Micromodem](INFO): Nmea in: $CAREV,173026,AUV,2.1.4000*2B

2021-12-04T17:30:26.621Z,1638639026.621 [Micromodem](INFO): Nmea in: $CAREV,173026,COPROC,0.20.0.39330*7A

2021-12-04T17:30:27.866Z,1638639027.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:30.671Z,1638639030.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:33.521Z,1638639033.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:36.343Z,1638639036.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:36.727Z,1638639036.727 [Micromodem](INFO): Nmea in: $CAREV,173036,AUV,2.1.4000*2A

2021-12-04T17:30:36.730Z,1638639036.730 [Micromodem](INFO): Nmea in: $CAREV,173036,COPROC,0.20.0.39330*7B

2021-12-04T17:30:39.161Z,1638639039.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:41.207Z,1638639041.207 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:30:42.017Z,1638639042.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:44.810Z,1638639044.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:46.829Z,1638639046.829 [Micromodem](INFO): Nmea in: $CAREV,173046,AUV,2.1.4000*2D

2021-12-04T17:30:46.831Z,1638639046.831 [Micromodem](INFO): Nmea in: $CAREV,173046,COPROC,0.20.0.39330*7C

2021-12-04T17:30:47.669Z,1638639047.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:50.486Z,1638639050.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:53.309Z,1638639053.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:56.142Z,1638639056.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:30:56.936Z,1638639056.936 [Micromodem](INFO): Nmea in: $CAREV,173056,AUV,2.1.4000*2C

2021-12-04T17:30:56.937Z,1638639056.937 [Micromodem](INFO): Nmea in: $CAREV,173056,COPROC,0.20.0.39330*7D

2021-12-04T17:30:58.951Z,1638639058.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:01.827Z,1638639061.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:04.623Z,1638639064.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:06.614Z,1638639066.614 [Micromodem](INFO): Nmea in: $CAREV,173106,AUV,2.1.4000*28

2021-12-04T17:31:06.615Z,1638639066.615 [Micromodem](INFO): Nmea in: $CAREV,173106,COPROC,0.20.0.39330*79

2021-12-04T17:31:07.446Z,1638639067.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:10.274Z,1638639070.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:13.090Z,1638639073.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:15.954Z,1638639075.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:16.735Z,1638639076.735 [Micromodem](INFO): Nmea in: $CAREV,173116,AUV,2.1.4000*29

2021-12-04T17:31:16.737Z,1638639076.737 [Micromodem](INFO): Nmea in: $CAREV,173116,COPROC,0.20.0.39330*78

2021-12-04T17:31:18.354Z,1638639078.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached Waypoint: 41.552317,-70.708600
2021-12-04T17:31:18.354Z,1638639078.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T17:31:18.354Z,1638639078.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T17:31:18.354Z,1638639078.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1
2021-12-04T17:31:18.752Z,1638639078.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:18.754Z,1638639078.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern.
2021-12-04T17:31:18.754Z,1638639078.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped
2021-12-04T17:31:18.754Z,1638639078.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1
2021-12-04T17:31:18.754Z,1638639078.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T17:31:18.754Z,1638639078.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2021-12-04T17:31:18.754Z,1638639078.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent.
2021-12-04T17:31:18.755Z,1638639078.755 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1
2021-12-04T17:31:18.755Z,1638639078.755 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component.
2021-12-04T17:31:21.584Z,1638639081.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:24.419Z,1638639084.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:26.815Z,1638639086.815 [Micromodem](INFO): Nmea in: $CAREV,173126,AUV,2.1.4000*2A

2021-12-04T17:31:26.816Z,1638639086.816 [Micromodem](INFO): Nmea in: $CAREV,173126,COPROC,0.20.0.39330*7B

2021-12-04T17:31:27.254Z,1638639087.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:30.087Z,1638639090.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:32.888Z,1638639092.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:35.728Z,1638639095.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:36.920Z,1638639096.920 [Micromodem](INFO): Nmea in: $CAREV,173136,AUV,2.1.4000*2B

2021-12-04T17:31:36.921Z,1638639096.921 [Micromodem](INFO): Nmea in: $CAREV,173136,COPROC,0.20.0.39330*7A

2021-12-04T17:31:37.802Z,1638639097.802 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T17:31:38.566Z,1638639098.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:41.404Z,1638639101.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:44.254Z,1638639104.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:46.612Z,1638639106.612 [Micromodem](INFO): Nmea in: $CAREV,173146,AUV,2.1.4000*2C

2021-12-04T17:31:46.613Z,1638639106.613 [Micromodem](INFO): Nmea in: $CAREV,173146,COPROC,0.20.0.39330*7D

2021-12-04T17:31:47.071Z,1638639107.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:49.884Z,1638639109.884 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T17:31:49.896Z,1638639109.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:52.691Z,1638639112.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:55.526Z,1638639115.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:31:56.716Z,1638639116.716 [Micromodem](INFO): Nmea in: $CAREV,173156,AUV,2.1.4000*2D

2021-12-04T17:31:56.718Z,1638639116.718 [Micromodem](INFO): Nmea in: $CAREV,173156,COPROC,0.20.0.39330*7C

2021-12-04T17:31:58.350Z,1638639118.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:01.176Z,1638639121.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:04.025Z,1638639124.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:06.816Z,1638639126.816 [Micromodem](INFO): Nmea in: $CAREV,173206,AUV,2.1.4000*2B

2021-12-04T17:32:06.817Z,1638639126.817 [Micromodem](INFO): Nmea in: $CAREV,173206,COPROC,0.20.0.39330*7A

2021-12-04T17:32:06.849Z,1638639126.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:09.656Z,1638639129.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:12.493Z,1638639132.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:15.337Z,1638639135.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:16.911Z,1638639136.911 [Micromodem](INFO): Nmea in: $CAREV,173216,AUV,2.1.4000*2A

2021-12-04T17:32:16.912Z,1638639136.912 [Micromodem](INFO): Nmea in: $CAREV,173216,COPROC,0.20.0.39330*7B

2021-12-04T17:32:17.852Z,1638639137.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:20.574Z,1638639140.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:23.410Z,1638639143.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:26.244Z,1638639146.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:26.626Z,1638639146.626 [Micromodem](INFO): Nmea in: $CAREV,173226,AUV,2.1.4000*29

2021-12-04T17:32:26.628Z,1638639146.628 [Micromodem](INFO): Nmea in: $CAREV,173226,COPROC,0.20.0.39330*78

2021-12-04T17:32:29.047Z,1638639149.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:31.908Z,1638639151.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:34.709Z,1638639154.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:36.712Z,1638639156.712 [Micromodem](INFO): Nmea in: $CAREV,173236,AUV,2.1.4000*28

2021-12-04T17:32:36.716Z,1638639156.716 [Micromodem](INFO): Nmea in: $CAREV,173236,COPROC,0.20.0.39330*79

2021-12-04T17:32:37.578Z,1638639157.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:37.948Z,1638639157.948 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:32:40.370Z,1638639160.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:43.246Z,1638639163.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:46.040Z,1638639166.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:46.807Z,1638639166.807 [Micromodem](INFO): Nmea in: $CAREV,173246,AUV,2.1.4000*2F

2021-12-04T17:32:46.808Z,1638639166.808 [Micromodem](INFO): Nmea in: $CAREV,173246,COPROC,0.20.0.39330*7E

2021-12-04T17:32:48.041Z,1638639168.041 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:32:48.841Z,1638639168.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:51.668Z,1638639171.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:54.537Z,1638639174.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:32:56.908Z,1638639176.908 [Micromodem](INFO): Nmea in: $CAREV,173256,AUV,2.1.4000*2E

2021-12-04T17:32:56.909Z,1638639176.909 [Micromodem](INFO): Nmea in: $CAREV,173256,COPROC,0.20.0.39330*7F

2021-12-04T17:32:57.355Z,1638639177.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:00.193Z,1638639180.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:02.980Z,1638639182.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:05.850Z,1638639185.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:06.622Z,1638639186.622 [Micromodem](INFO): Nmea in: $CAREV,173306,AUV,2.1.4000*2A

2021-12-04T17:33:06.623Z,1638639186.623 [Micromodem](INFO): Nmea in: $CAREV,173306,COPROC,0.20.0.39330*7B

2021-12-04T17:33:08.639Z,1638639188.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:11.159Z,1638639191.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:13.904Z,1638639193.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:16.703Z,1638639196.703 [Micromodem](INFO): Nmea in: $CAREV,173316,AUV,2.1.4000*2B

2021-12-04T17:33:16.704Z,1638639196.704 [Micromodem](INFO): Nmea in: $CAREV,173316,COPROC,0.20.0.39330*7A

2021-12-04T17:33:16.716Z,1638639196.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:19.565Z,1638639199.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:22.394Z,1638639202.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:25.241Z,1638639205.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:26.820Z,1638639206.820 [Micromodem](INFO): Nmea in: $CAREV,173326,AUV,2.1.4000*28

2021-12-04T17:33:26.821Z,1638639206.821 [Micromodem](INFO): Nmea in: $CAREV,173326,COPROC,0.20.0.39330*79

2021-12-04T17:33:28.069Z,1638639208.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:30.861Z,1638639210.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:33.704Z,1638639213.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:36.526Z,1638639216.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:36.904Z,1638639216.904 [Micromodem](INFO): Nmea in: $CAREV,173336,AUV,2.1.4000*29

2021-12-04T17:33:36.905Z,1638639216.905 [Micromodem](INFO): Nmea in: $CAREV,173336,COPROC,0.20.0.39330*78

2021-12-04T17:33:39.348Z,1638639219.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:42.208Z,1638639222.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:45.007Z,1638639225.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:46.613Z,1638639226.613 [Micromodem](INFO): Nmea in: $CAREV,173346,AUV,2.1.4000*2E

2021-12-04T17:33:46.615Z,1638639226.615 [Micromodem](INFO): Nmea in: $CAREV,173346,COPROC,0.20.0.39330*7F

2021-12-04T17:33:47.890Z,1638639227.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:50.651Z,1638639230.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:53.508Z,1638639233.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:56.323Z,1638639236.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:33:56.704Z,1638639236.704 [Micromodem](INFO): Nmea in: $CAREV,173356,AUV,2.1.4000*2F

2021-12-04T17:33:56.706Z,1638639236.706 [Micromodem](INFO): Nmea in: $CAREV,173356,COPROC,0.20.0.39330*7E

2021-12-04T17:33:59.137Z,1638639239.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:02.007Z,1638639242.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:04.812Z,1638639244.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:06.799Z,1638639246.799 [Micromodem](INFO): Nmea in: $CAREV,173406,AUV,2.1.4000*2D

2021-12-04T17:34:06.800Z,1638639246.800 [Micromodem](INFO): Nmea in: $CAREV,173406,COPROC,0.20.0.39330*7C

2021-12-04T17:34:07.632Z,1638639247.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:10.462Z,1638639250.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:13.283Z,1638639253.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:16.137Z,1638639256.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:16.904Z,1638639256.904 [Micromodem](INFO): Nmea in: $CAREV,173416,AUV,2.1.4000*2C

2021-12-04T17:34:16.906Z,1638639256.906 [Micromodem](INFO): Nmea in: $CAREV,173416,COPROC,0.20.0.39330*7D

2021-12-04T17:34:18.942Z,1638639258.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:21.826Z,1638639261.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:24.586Z,1638639264.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:26.611Z,1638639266.611 [Micromodem](INFO): Nmea in: $CAREV,173426,AUV,2.1.4000*2F

2021-12-04T17:34:26.612Z,1638639266.612 [Micromodem](INFO): Nmea in: $CAREV,173426,COPROC,0.20.0.39330*7E

2021-12-04T17:34:27.445Z,1638639267.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:30.257Z,1638639270.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:33.076Z,1638639273.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:35.922Z,1638639275.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:36.712Z,1638639276.712 [Micromodem](INFO): Nmea in: $CAREV,173436,AUV,2.1.4000*2E

2021-12-04T17:34:36.714Z,1638639276.714 [Micromodem](INFO): Nmea in: $CAREV,173436,COPROC,0.20.0.39330*7F

2021-12-04T17:34:38.727Z,1638639278.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:41.590Z,1638639281.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:44.400Z,1638639284.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:46.800Z,1638639286.800 [Micromodem](INFO): Nmea in: $CAREV,173446,AUV,2.1.4000*29

2021-12-04T17:34:46.801Z,1638639286.801 [Micromodem](INFO): Nmea in: $CAREV,173446,COPROC,0.20.0.39330*78

2021-12-04T17:34:47.240Z,1638639287.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:50.082Z,1638639290.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:52.871Z,1638639292.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:55.699Z,1638639295.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:34:56.901Z,1638639296.901 [Micromodem](INFO): Nmea in: $CAREV,173456,AUV,2.1.4000*28

2021-12-04T17:34:56.902Z,1638639296.902 [Micromodem](INFO): Nmea in: $CAREV,173456,COPROC,0.20.0.39330*79

2021-12-04T17:34:58.550Z,1638639298.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:01.369Z,1638639301.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:04.227Z,1638639304.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:06.600Z,1638639306.600 [Micromodem](INFO): Nmea in: $CAREV,173506,AUV,2.1.4000*2C

2021-12-04T17:35:06.996Z,1638639306.996 [Micromodem](INFO): Nmea in: $CAREV,173506,COPROC,0.20.0.39330*7D

2021-12-04T17:35:07.009Z,1638639307.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:09.885Z,1638639309.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:12.667Z,1638639312.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:15.527Z,1638639315.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:16.693Z,1638639316.693 [Micromodem](INFO): Nmea in: $CAREV,173517,AUV,2.1.4000*2C

2021-12-04T17:35:16.695Z,1638639316.695 [Micromodem](INFO): Nmea in: $CAREV,173517,COPROC,0.20.0.39330*7D

2021-12-04T17:35:18.346Z,1638639318.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:21.151Z,1638639321.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:24.005Z,1638639324.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:26.796Z,1638639326.796 [Micromodem](INFO): Nmea in: $CAREV,173527,AUV,2.1.4000*2F

2021-12-04T17:35:26.797Z,1638639326.797 [Micromodem](INFO): Nmea in: $CAREV,173527,COPROC,0.20.0.39330*7E

2021-12-04T17:35:26.829Z,1638639326.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:29.633Z,1638639329.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:32.473Z,1638639332.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:35.316Z,1638639335.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:36.896Z,1638639336.896 [Micromodem](INFO): Nmea in: $CAREV,173537,AUV,2.1.4000*2E

2021-12-04T17:35:36.897Z,1638639336.897 [Micromodem](INFO): Nmea in: $CAREV,173537,COPROC,0.20.0.39330*7F

2021-12-04T17:35:38.145Z,1638639338.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:40.944Z,1638639340.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:43.827Z,1638639343.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:46.627Z,1638639346.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:46.996Z,1638639346.996 [Micromodem](INFO): Nmea in: $CAREV,173547,AUV,2.1.4000*29

2021-12-04T17:35:46.998Z,1638639346.998 [Micromodem](INFO): Nmea in: $CAREV,173547,COPROC,0.20.0.39330*78

2021-12-04T17:35:49.443Z,1638639349.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:52.291Z,1638639352.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:55.103Z,1638639355.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:35:56.692Z,1638639356.692 [Micromodem](INFO): Nmea in: $CAREV,173557,AUV,2.1.4000*28

2021-12-04T17:35:56.694Z,1638639356.694 [Micromodem](INFO): Nmea in: $CAREV,173557,COPROC,0.20.0.39330*79

2021-12-04T17:35:57.978Z,1638639357.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:00.741Z,1638639360.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:03.586Z,1638639363.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:06.409Z,1638639366.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:06.803Z,1638639366.803 [Micromodem](INFO): Nmea in: $CAREV,173607,AUV,2.1.4000*2E

2021-12-04T17:36:06.807Z,1638639366.807 [Micromodem](INFO): Nmea in: $CAREV,173607,COPROC,0.20.0.39330*7F

2021-12-04T17:36:09.258Z,1638639369.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:12.076Z,1638639372.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:14.885Z,1638639374.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:16.897Z,1638639376.897 [Micromodem](INFO): Nmea in: $CAREV,173617,AUV,2.1.4000*2F

2021-12-04T17:36:16.898Z,1638639376.898 [Micromodem](INFO): Nmea in: $CAREV,173617,COPROC,0.20.0.39330*7E

2021-12-04T17:36:17.760Z,1638639377.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:20.564Z,1638639380.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:23.385Z,1638639383.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:26.243Z,1638639386.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:26.987Z,1638639386.987 [Micromodem](INFO): Nmea in: $CAREV,173627,AUV,2.1.4000*2C

2021-12-04T17:36:26.988Z,1638639386.988 [Micromodem](INFO): Nmea in: $CAREV,173627,COPROC,0.20.0.39330*7D

2021-12-04T17:36:29.023Z,1638639389.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:31.877Z,1638639391.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:34.687Z,1638639394.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:36.688Z,1638639396.688 [Micromodem](INFO): Nmea in: $CAREV,173637,AUV,2.1.4000*2D

2021-12-04T17:36:36.690Z,1638639396.690 [Micromodem](INFO): Nmea in: $CAREV,173637,COPROC,0.20.0.39330*7C

2021-12-04T17:36:37.514Z,1638639397.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:40.345Z,1638639400.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:43.183Z,1638639403.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:46.023Z,1638639406.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:46.795Z,1638639406.795 [Micromodem](INFO): Nmea in: $CAREV,173647,AUV,2.1.4000*2A

2021-12-04T17:36:46.796Z,1638639406.796 [Micromodem](INFO): Nmea in: $CAREV,173647,COPROC,0.20.0.39330*7B

2021-12-04T17:36:48.831Z,1638639408.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:51.664Z,1638639411.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:54.490Z,1638639414.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:36:56.901Z,1638639416.901 [Micromodem](INFO): Nmea in: $CAREV,173657,AUV,2.1.4000*2B

2021-12-04T17:36:56.902Z,1638639416.902 [Micromodem](INFO): Nmea in: $CAREV,173657,COPROC,0.20.0.39330*7A

2021-12-04T17:36:57.321Z,1638639417.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:00.209Z,1638639420.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:02.973Z,1638639422.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:05.830Z,1638639425.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:07.001Z,1638639427.001 [Micromodem](INFO): Nmea in: $CAREV,173707,AUV,2.1.4000*2F

2021-12-04T17:37:07.003Z,1638639427.003 [Micromodem](INFO): Nmea in: $CAREV,173707,COPROC,0.20.0.39330*7E

2021-12-04T17:37:08.629Z,1638639428.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:11.458Z,1638639431.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:14.298Z,1638639434.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:16.694Z,1638639436.694 [Micromodem](INFO): Nmea in: $CAREV,173717,AUV,2.1.4000*2E

2021-12-04T17:37:16.695Z,1638639436.695 [Micromodem](INFO): Nmea in: $CAREV,173717,COPROC,0.20.0.39330*7F

2021-12-04T17:37:17.096Z,1638639437.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:19.949Z,1638639439.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:22.752Z,1638639442.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:25.596Z,1638639445.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:26.779Z,1638639446.779 [Micromodem](INFO): Nmea in: $CAREV,173727,AUV,2.1.4000*2D

2021-12-04T17:37:26.780Z,1638639446.780 [Micromodem](INFO): Nmea in: $CAREV,173727,COPROC,0.20.0.39330*7C

2021-12-04T17:37:28.438Z,1638639448.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:31.260Z,1638639451.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:34.081Z,1638639454.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:36.884Z,1638639456.884 [Micromodem](INFO): Nmea in: $CAREV,173737,AUV,2.1.4000*2C

2021-12-04T17:37:36.886Z,1638639456.886 [Micromodem](INFO): Nmea in: $CAREV,173737,COPROC,0.20.0.39330*7D

2021-12-04T17:37:36.898Z,1638639456.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:39.787Z,1638639459.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:42.569Z,1638639462.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:45.385Z,1638639465.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:46.981Z,1638639466.981 [Micromodem](INFO): Nmea in: $CAREV,173747,AUV,2.1.4000*2B

2021-12-04T17:37:46.982Z,1638639466.982 [Micromodem](INFO): Nmea in: $CAREV,173747,COPROC,0.20.0.39330*7A

2021-12-04T17:37:48.242Z,1638639468.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:51.030Z,1638639471.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:53.884Z,1638639473.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:56.684Z,1638639476.684 [Micromodem](INFO): Nmea in: $CAREV,173757,AUV,2.1.4000*2A

2021-12-04T17:37:56.685Z,1638639476.685 [Micromodem](INFO): Nmea in: $CAREV,173757,COPROC,0.20.0.39330*7B

2021-12-04T17:37:56.701Z,1638639476.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:37:59.530Z,1638639479.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:02.366Z,1638639482.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:05.214Z,1638639485.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:06.835Z,1638639486.835 [Micromodem](INFO): Nmea in: $CAREV,173807,AUV,2.1.4000*20

2021-12-04T17:38:06.836Z,1638639486.836 [Micromodem](INFO): Nmea in: $CAREV,173807,COPROC,0.20.0.39330*71

2021-12-04T17:38:08.120Z,1638639488.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:10.891Z,1638639490.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:13.716Z,1638639493.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:16.562Z,1638639496.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:16.929Z,1638639496.929 [Micromodem](INFO): Nmea in: $CAREV,173817,AUV,2.1.4000*21

2021-12-04T17:38:16.930Z,1638639496.930 [Micromodem](INFO): Nmea in: $CAREV,173817,COPROC,0.20.0.39330*70

2021-12-04T17:38:19.381Z,1638639499.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:22.255Z,1638639502.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:25.024Z,1638639505.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:27.029Z,1638639507.029 [Micromodem](INFO): Nmea in: $CAREV,173827,AUV,2.1.4000*22

2021-12-04T17:38:27.030Z,1638639507.030 [Micromodem](INFO): Nmea in: $CAREV,173827,COPROC,0.20.0.39330*73

2021-12-04T17:38:27.877Z,1638639507.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:30.687Z,1638639510.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:33.514Z,1638639513.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:36.342Z,1638639516.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:36.724Z,1638639516.724 [Micromodem](INFO): Nmea in: $CAREV,173837,AUV,2.1.4000*23

2021-12-04T17:38:36.726Z,1638639516.726 [Micromodem](INFO): Nmea in: $CAREV,173837,COPROC,0.20.0.39330*72

2021-12-04T17:38:39.163Z,1638639519.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:42.019Z,1638639522.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:44.815Z,1638639524.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:46.832Z,1638639526.832 [Micromodem](INFO): Nmea in: $CAREV,173847,AUV,2.1.4000*24

2021-12-04T17:38:46.833Z,1638639526.833 [Micromodem](INFO): Nmea in: $CAREV,173847,COPROC,0.20.0.39330*75

2021-12-04T17:38:47.648Z,1638639527.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:50.482Z,1638639530.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:53.326Z,1638639533.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:56.161Z,1638639536.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:38:56.929Z,1638639536.929 [Micromodem](INFO): Nmea in: $CAREV,173857,AUV,2.1.4000*25

2021-12-04T17:38:56.931Z,1638639536.931 [Micromodem](INFO): Nmea in: $CAREV,173857,COPROC,0.20.0.39330*74

2021-12-04T17:38:58.957Z,1638639538.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:01.839Z,1638639541.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:04.610Z,1638639544.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:07.025Z,1638639547.025 [Micromodem](INFO): Nmea in: $CAREV,173907,AUV,2.1.4000*21

2021-12-04T17:39:07.027Z,1638639547.027 [Micromodem](INFO): Nmea in: $CAREV,173907,COPROC,0.20.0.39330*70

2021-12-04T17:39:07.463Z,1638639547.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:10.285Z,1638639550.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:13.095Z,1638639553.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:15.961Z,1638639555.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:16.726Z,1638639556.726 [Micromodem](INFO): Nmea in: $CAREV,173917,AUV,2.1.4000*20

2021-12-04T17:39:16.728Z,1638639556.728 [Micromodem](INFO): Nmea in: $CAREV,173917,COPROC,0.20.0.39330*71

2021-12-04T17:39:18.767Z,1638639558.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:21.595Z,1638639561.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:24.417Z,1638639564.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:26.824Z,1638639566.824 [Micromodem](INFO): Nmea in: $CAREV,173927,AUV,2.1.4000*23

2021-12-04T17:39:26.825Z,1638639566.825 [Micromodem](INFO): Nmea in: $CAREV,173927,COPROC,0.20.0.39330*72

2021-12-04T17:39:27.264Z,1638639567.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:30.114Z,1638639570.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:32.903Z,1638639572.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:35.791Z,1638639575.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:36.925Z,1638639576.925 [Micromodem](INFO): Nmea in: $CAREV,173937,AUV,2.1.4000*22

2021-12-04T17:39:36.926Z,1638639576.926 [Micromodem](INFO): Nmea in: $CAREV,173937,COPROC,0.20.0.39330*73

2021-12-04T17:39:38.562Z,1638639578.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:41.394Z,1638639581.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:44.241Z,1638639584.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:47.019Z,1638639587.019 [Micromodem](INFO): Nmea in: $CAREV,173947,AUV,2.1.4000*25

2021-12-04T17:39:47.021Z,1638639587.021 [Micromodem](INFO): Nmea in: $CAREV,173947,COPROC,0.20.0.39330*74

2021-12-04T17:39:47.033Z,1638639587.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:49.899Z,1638639589.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:52.692Z,1638639592.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:53.499Z,1638639593.499 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:39:55.558Z,1638639595.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:39:56.716Z,1638639596.716 [Micromodem](INFO): Nmea in: $CAREV,173957,AUV,2.1.4000*24

2021-12-04T17:39:56.717Z,1638639596.717 [Micromodem](INFO): Nmea in: $CAREV,173957,COPROC,0.20.0.39330*75

2021-12-04T17:39:58.371Z,1638639598.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:01.231Z,1638639601.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:04.026Z,1638639604.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:06.815Z,1638639606.815 [Micromodem](INFO): Nmea in: $CAREV,174007,AUV,2.1.4000*2F

2021-12-04T17:40:06.816Z,1638639606.816 [Micromodem](INFO): Nmea in: $CAREV,174007,COPROC,0.20.0.39330*7E

2021-12-04T17:40:06.848Z,1638639606.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:08.443Z,1638639608.443 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:40:09.664Z,1638639609.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:12.502Z,1638639612.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:15.321Z,1638639615.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:16.916Z,1638639616.916 [Micromodem](INFO): Nmea in: $CAREV,174017,AUV,2.1.4000*2E

2021-12-04T17:40:16.917Z,1638639616.917 [Micromodem](INFO): Nmea in: $CAREV,174017,COPROC,0.20.0.39330*7F

2021-12-04T17:40:18.227Z,1638639618.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:18.547Z,1638639618.547 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:40:20.972Z,1638639620.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:23.392Z,1638639623.392 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:40:23.831Z,1638639623.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:26.627Z,1638639626.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:27.017Z,1638639627.017 [Micromodem](INFO): Nmea in: $CAREV,174027,AUV,2.1.4000*2D

2021-12-04T17:40:27.033Z,1638639627.033 [Micromodem](INFO): Nmea in: $CAREV,174027,COPROC,0.20.0.39330*7C

2021-12-04T17:40:28.250Z,1638639628.250 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:40:29.462Z,1638639629.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:32.307Z,1638639632.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:33.490Z,1638639633.490 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:40:35.116Z,1638639635.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:36.721Z,1638639636.721 [Micromodem](INFO): Nmea in: $CAREV,174037,AUV,2.1.4000*2C

2021-12-04T17:40:36.723Z,1638639636.723 [Micromodem](INFO): Nmea in: $CAREV,174037,COPROC,0.20.0.39330*7D

2021-12-04T17:40:37.954Z,1638639637.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:40.768Z,1638639640.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:43.604Z,1638639643.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:44.411Z,1638639644.411 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:40:46.438Z,1638639646.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:46.838Z,1638639646.838 [Micromodem](INFO): Nmea in: $CAREV,174047,AUV,2.1.4000*2B

2021-12-04T17:40:46.839Z,1638639646.839 [Micromodem](INFO): Nmea in: $CAREV,174047,COPROC,0.20.0.39330*7A

2021-12-04T17:40:49.274Z,1638639649.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:52.113Z,1638639652.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:54.911Z,1638639654.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:40:56.913Z,1638639656.913 [Micromodem](INFO): Nmea in: $CAREV,174057,AUV,2.1.4000*2A

2021-12-04T17:40:56.914Z,1638639656.914 [Micromodem](INFO): Nmea in: $CAREV,174057,COPROC,0.20.0.39330*7B

2021-12-04T17:40:57.793Z,1638639657.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:00.579Z,1638639660.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:03.400Z,1638639663.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:06.245Z,1638639666.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:07.013Z,1638639667.013 [Micromodem](INFO): Nmea in: $CAREV,174107,AUV,2.1.4000*2E

2021-12-04T17:41:07.014Z,1638639667.014 [Micromodem](INFO): Nmea in: $CAREV,174107,COPROC,0.20.0.39330*7F

2021-12-04T17:41:09.055Z,1638639669.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:11.890Z,1638639671.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:14.703Z,1638639674.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:16.710Z,1638639676.710 [Micromodem](INFO): Nmea in: $CAREV,174117,AUV,2.1.4000*2F

2021-12-04T17:41:16.711Z,1638639676.711 [Micromodem](INFO): Nmea in: $CAREV,174117,COPROC,0.20.0.39330*7E

2021-12-04T17:41:17.542Z,1638639677.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:20.364Z,1638639680.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:23.256Z,1638639683.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:26.035Z,1638639686.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:26.823Z,1638639686.823 [Micromodem](INFO): Nmea in: $CAREV,174127,AUV,2.1.4000*2C

2021-12-04T17:41:26.824Z,1638639686.824 [Micromodem](INFO): Nmea in: $CAREV,174127,COPROC,0.20.0.39330*7D

2021-12-04T17:41:28.844Z,1638639688.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:31.666Z,1638639691.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:34.511Z,1638639694.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:36.908Z,1638639696.908 [Micromodem](INFO): Nmea in: $CAREV,174137,AUV,2.1.4000*2D

2021-12-04T17:41:36.909Z,1638639696.909 [Micromodem](INFO): Nmea in: $CAREV,174137,COPROC,0.20.0.39330*7C

2021-12-04T17:41:37.336Z,1638639697.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:40.162Z,1638639700.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:43.004Z,1638639703.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:45.835Z,1638639705.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:47.022Z,1638639707.022 [Micromodem](INFO): Nmea in: $CAREV,174147,AUV,2.1.4000*2A

2021-12-04T17:41:47.023Z,1638639707.023 [Micromodem](INFO): Nmea in: $CAREV,174147,COPROC,0.20.0.39330*7B

2021-12-04T17:41:48.660Z,1638639708.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:51.217Z,1638639711.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:53.934Z,1638639713.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:56.712Z,1638639716.712 [Micromodem](INFO): Nmea in: $CAREV,174157,AUV,2.1.4000*2B

2021-12-04T17:41:56.714Z,1638639716.714 [Micromodem](INFO): Nmea in: $CAREV,174157,COPROC,0.20.0.39330*7A

2021-12-04T17:41:56.749Z,1638639716.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:41:59.559Z,1638639719.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:02.386Z,1638639722.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:05.241Z,1638639725.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:06.803Z,1638639726.803 [Micromodem](INFO): Nmea in: $CAREV,174207,AUV,2.1.4000*2D

2021-12-04T17:42:06.804Z,1638639726.804 [Micromodem](INFO): Nmea in: $CAREV,174207,COPROC,0.20.0.39330*7C

2021-12-04T17:42:08.112Z,1638639728.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:10.868Z,1638639730.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:13.684Z,1638639733.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:16.526Z,1638639736.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:16.905Z,1638639736.905 [Micromodem](INFO): Nmea in: $CAREV,174217,AUV,2.1.4000*2C

2021-12-04T17:42:16.906Z,1638639736.906 [Micromodem](INFO): Nmea in: $CAREV,174217,COPROC,0.20.0.39330*7D

2021-12-04T17:42:19.380Z,1638639739.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:22.224Z,1638639742.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:25.000Z,1638639745.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:27.005Z,1638639747.005 [Micromodem](INFO): Nmea in: $CAREV,174227,AUV,2.1.4000*2F

2021-12-04T17:42:27.014Z,1638639747.014 [Micromodem](INFO): Nmea in: $CAREV,174227,COPROC,0.20.0.39330*7E

2021-12-04T17:42:27.866Z,1638639747.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:30.655Z,1638639750.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:33.503Z,1638639753.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:36.325Z,1638639756.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:36.724Z,1638639756.724 [Micromodem](INFO): Nmea in: $CAREV,174237,AUV,2.1.4000*2E

2021-12-04T17:42:36.725Z,1638639756.725 [Micromodem](INFO): Nmea in: $CAREV,174237,COPROC,0.20.0.39330*7F

2021-12-04T17:42:39.151Z,1638639759.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:42.007Z,1638639762.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:44.822Z,1638639764.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:46.799Z,1638639766.799 [Micromodem](INFO): Nmea in: $CAREV,174247,AUV,2.1.4000*29

2021-12-04T17:42:46.800Z,1638639766.800 [Micromodem](INFO): Nmea in: $CAREV,174247,COPROC,0.20.0.39330*78

2021-12-04T17:42:47.628Z,1638639767.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:50.457Z,1638639770.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:53.317Z,1638639773.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:56.147Z,1638639776.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:42:56.904Z,1638639776.904 [Micromodem](INFO): Nmea in: $CAREV,174257,AUV,2.1.4000*28

2021-12-04T17:42:56.905Z,1638639776.905 [Micromodem](INFO): Nmea in: $CAREV,174257,COPROC,0.20.0.39330*79

2021-12-04T17:42:58.931Z,1638639778.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:01.816Z,1638639781.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:04.586Z,1638639784.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:07.004Z,1638639787.004 [Micromodem](INFO): Nmea in: $CAREV,174307,AUV,2.1.4000*2C

2021-12-04T17:43:07.006Z,1638639787.006 [Micromodem](INFO): Nmea in: $CAREV,174307,COPROC,0.20.0.39330*7D

2021-12-04T17:43:07.430Z,1638639787.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:10.257Z,1638639790.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:13.075Z,1638639793.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:15.933Z,1638639795.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:16.721Z,1638639796.721 [Micromodem](INFO): Nmea in: $CAREV,174317,AUV,2.1.4000*2D

2021-12-04T17:43:16.722Z,1638639796.722 [Micromodem](INFO): Nmea in: $CAREV,174317,COPROC,0.20.0.39330*7C

2021-12-04T17:43:18.739Z,1638639798.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:21.566Z,1638639801.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:24.407Z,1638639804.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:26.797Z,1638639806.797 [Micromodem](INFO): Nmea in: $CAREV,174327,AUV,2.1.4000*2E

2021-12-04T17:43:26.798Z,1638639806.798 [Micromodem](INFO): Nmea in: $CAREV,174327,COPROC,0.20.0.39330*7F

2021-12-04T17:43:27.236Z,1638639807.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:30.065Z,1638639810.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:32.891Z,1638639812.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:35.705Z,1638639815.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:36.900Z,1638639816.900 [Micromodem](INFO): Nmea in: $CAREV,174337,AUV,2.1.4000*2F

2021-12-04T17:43:36.901Z,1638639816.901 [Micromodem](INFO): Nmea in: $CAREV,174337,COPROC,0.20.0.39330*7E

2021-12-04T17:43:38.549Z,1638639818.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:41.366Z,1638639821.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:44.217Z,1638639824.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:46.997Z,1638639826.997 [Micromodem](INFO): Nmea in: $CAREV,174347,AUV,2.1.4000*28

2021-12-04T17:43:46.998Z,1638639826.998 [Micromodem](INFO): Nmea in: $CAREV,174347,COPROC,0.20.0.39330*79

2021-12-04T17:43:47.016Z,1638639827.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:49.869Z,1638639829.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:52.679Z,1638639832.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:55.501Z,1638639835.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:43:56.704Z,1638639836.704 [Micromodem](INFO): Nmea in: $CAREV,174357,AUV,2.1.4000*29

2021-12-04T17:43:57.100Z,1638639837.100 [Micromodem](INFO): Nmea in: $CAREV,174357,COPROC,0.20.0.39330*78

2021-12-04T17:43:58.333Z,1638639838.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:01.185Z,1638639841.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:04.000Z,1638639844.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:06.796Z,1638639846.796 [Micromodem](INFO): Nmea in: $CAREV,174407,AUV,2.1.4000*2B

2021-12-04T17:44:06.797Z,1638639846.797 [Micromodem](INFO): Nmea in: $CAREV,174407,COPROC,0.20.0.39330*7A

2021-12-04T17:44:06.810Z,1638639846.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:09.630Z,1638639849.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:12.492Z,1638639852.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:15.303Z,1638639855.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:16.896Z,1638639856.896 [Micromodem](INFO): Nmea in: $CAREV,174417,AUV,2.1.4000*2A

2021-12-04T17:44:16.897Z,1638639856.897 [Micromodem](INFO): Nmea in: $CAREV,174417,COPROC,0.20.0.39330*7B

2021-12-04T17:44:18.146Z,1638639858.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:20.949Z,1638639860.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:23.823Z,1638639863.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:26.632Z,1638639866.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:27.004Z,1638639867.004 [Micromodem](INFO): Nmea in: $CAREV,174427,AUV,2.1.4000*29

2021-12-04T17:44:27.007Z,1638639867.007 [Micromodem](INFO): Nmea in: $CAREV,174427,COPROC,0.20.0.39330*78

2021-12-04T17:44:29.445Z,1638639869.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:32.272Z,1638639872.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:35.082Z,1638639875.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:37.093Z,1638639877.093 [Micromodem](INFO): Nmea in: $CAREV,174437,AUV,2.1.4000*28

2021-12-04T17:44:37.094Z,1638639877.094 [Micromodem](INFO): Nmea in: $CAREV,174437,COPROC,0.20.0.39330*79

2021-12-04T17:44:37.929Z,1638639877.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:40.743Z,1638639880.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:43.572Z,1638639883.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:46.412Z,1638639886.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:46.789Z,1638639886.789 [Micromodem](INFO): Nmea in: $CAREV,174447,AUV,2.1.4000*2F

2021-12-04T17:44:46.790Z,1638639886.790 [Micromodem](INFO): Nmea in: $CAREV,174447,COPROC,0.20.0.39330*7E

2021-12-04T17:44:49.237Z,1638639889.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:52.068Z,1638639892.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:54.878Z,1638639894.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:44:56.886Z,1638639896.886 [Micromodem](INFO): Nmea in: $CAREV,174457,AUV,2.1.4000*2E

2021-12-04T17:44:56.887Z,1638639896.887 [Micromodem](INFO): Nmea in: $CAREV,174457,COPROC,0.20.0.39330*7F

2021-12-04T17:44:57.743Z,1638639897.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:00.583Z,1638639900.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:03.391Z,1638639903.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:06.228Z,1638639906.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:07.003Z,1638639907.003 [Micromodem](INFO): Nmea in: $CAREV,174507,AUV,2.1.4000*2A

2021-12-04T17:45:07.004Z,1638639907.004 [Micromodem](INFO): Nmea in: $CAREV,174507,COPROC,0.20.0.39330*7B

2021-12-04T17:45:09.035Z,1638639909.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:11.890Z,1638639911.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:14.689Z,1638639914.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:17.094Z,1638639917.094 [Micromodem](INFO): Nmea in: $CAREV,174517,AUV,2.1.4000*2B

2021-12-04T17:45:17.095Z,1638639917.095 [Micromodem](INFO): Nmea in: $CAREV,174517,COPROC,0.20.0.39330*7A

2021-12-04T17:45:17.529Z,1638639917.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:20.374Z,1638639920.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:23.196Z,1638639923.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:26.031Z,1638639926.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:26.789Z,1638639926.789 [Micromodem](INFO): Nmea in: $CAREV,174527,AUV,2.1.4000*28

2021-12-04T17:45:26.790Z,1638639926.790 [Micromodem](INFO): Nmea in: $CAREV,174527,COPROC,0.20.0.39330*79

2021-12-04T17:45:28.817Z,1638639928.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:31.647Z,1638639931.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:34.497Z,1638639934.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:36.892Z,1638639936.892 [Micromodem](INFO): Nmea in: $CAREV,174537,AUV,2.1.4000*29

2021-12-04T17:45:36.894Z,1638639936.894 [Micromodem](INFO): Nmea in: $CAREV,174537,COPROC,0.20.0.39330*78

2021-12-04T17:45:37.323Z,1638639937.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:40.152Z,1638639940.152 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:42.960Z,1638639942.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:45.822Z,1638639945.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:46.984Z,1638639946.984 [Micromodem](INFO): Nmea in: $CAREV,174547,AUV,2.1.4000*2E

2021-12-04T17:45:46.994Z,1638639946.994 [Micromodem](INFO): Nmea in: $CAREV,174547,COPROC,0.20.0.39330*7F

2021-12-04T17:45:48.621Z,1638639948.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:51.451Z,1638639951.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:54.281Z,1638639954.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:57.089Z,1638639957.089 [Micromodem](INFO): Nmea in: $CAREV,174557,AUV,2.1.4000*2F

2021-12-04T17:45:57.090Z,1638639957.090 [Micromodem](INFO): Nmea in: $CAREV,174557,COPROC,0.20.0.39330*7E

2021-12-04T17:45:57.126Z,1638639957.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:45:59.954Z,1638639959.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:02.761Z,1638639962.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:05.591Z,1638639965.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:06.784Z,1638639966.784 [Micromodem](INFO): Nmea in: $CAREV,174607,AUV,2.1.4000*29

2021-12-04T17:46:06.785Z,1638639966.785 [Micromodem](INFO): Nmea in: $CAREV,174607,COPROC,0.20.0.39330*78

2021-12-04T17:46:08.418Z,1638639968.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:11.265Z,1638639971.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:14.105Z,1638639974.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:16.885Z,1638639976.885 [Micromodem](INFO): Nmea in: $CAREV,174617,AUV,2.1.4000*28

2021-12-04T17:46:16.886Z,1638639976.886 [Micromodem](INFO): Nmea in: $CAREV,174617,COPROC,0.20.0.39330*79

2021-12-04T17:46:16.898Z,1638639976.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:19.785Z,1638639979.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:22.577Z,1638639982.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:25.404Z,1638639985.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:26.979Z,1638639986.979 [Micromodem](INFO): Nmea in: $CAREV,174627,AUV,2.1.4000*2B

2021-12-04T17:46:26.980Z,1638639986.980 [Micromodem](INFO): Nmea in: $CAREV,174627,COPROC,0.20.0.39330*7A

2021-12-04T17:46:28.231Z,1638639988.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:31.036Z,1638639991.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:33.906Z,1638639993.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:36.691Z,1638639996.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:37.079Z,1638639997.079 [Micromodem](INFO): Nmea in: $CAREV,174637,AUV,2.1.4000*2A

2021-12-04T17:46:37.080Z,1638639997.080 [Micromodem](INFO): Nmea in: $CAREV,174637,COPROC,0.20.0.39330*7B

2021-12-04T17:46:39.523Z,1638639999.523 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T17:46:39.539Z,1638639999.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:42.354Z,1638640002.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:45.219Z,1638640005.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:46.781Z,1638640006.781 [Micromodem](INFO): Nmea in: $CAREV,174647,AUV,2.1.4000*2D

2021-12-04T17:46:46.782Z,1638640006.782 [Micromodem](INFO): Nmea in: $CAREV,174647,COPROC,0.20.0.39330*7C

2021-12-04T17:46:48.028Z,1638640008.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:50.843Z,1638640010.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:53.657Z,1638640013.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:56.501Z,1638640016.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:46:56.876Z,1638640016.876 [Micromodem](INFO): Nmea in: $CAREV,174657,AUV,2.1.4000*2C

2021-12-04T17:46:56.877Z,1638640016.877 [Micromodem](INFO): Nmea in: $CAREV,174657,COPROC,0.20.0.39330*7D

2021-12-04T17:46:59.325Z,1638640019.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:02.143Z,1638640022.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:04.967Z,1638640024.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:06.982Z,1638640026.982 [Micromodem](INFO): Nmea in: $CAREV,174707,AUV,2.1.4000*28

2021-12-04T17:47:06.983Z,1638640026.983 [Micromodem](INFO): Nmea in: $CAREV,174707,COPROC,0.20.0.39330*79

2021-12-04T17:47:07.836Z,1638640027.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:10.627Z,1638640030.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:13.490Z,1638640033.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:16.297Z,1638640036.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:17.084Z,1638640037.085 [Micromodem](INFO): Nmea in: $CAREV,174717,AUV,2.1.4000*29

2021-12-04T17:47:17.100Z,1638640037.100 [Micromodem](INFO): Nmea in: $CAREV,174717,COPROC,0.20.0.39330*78

2021-12-04T17:47:19.143Z,1638640039.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:21.965Z,1638640041.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:24.767Z,1638640044.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:26.786Z,1638640046.786 [Micromodem](INFO): Nmea in: $CAREV,174727,AUV,2.1.4000*2A

2021-12-04T17:47:26.787Z,1638640046.787 [Micromodem](INFO): Nmea in: $CAREV,174727,COPROC,0.20.0.39330*7B

2021-12-04T17:47:27.596Z,1638640047.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:30.455Z,1638640050.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:33.267Z,1638640053.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:36.130Z,1638640056.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:36.880Z,1638640056.880 [Micromodem](INFO): Nmea in: $CAREV,174737,AUV,2.1.4000*2B

2021-12-04T17:47:36.881Z,1638640056.881 [Micromodem](INFO): Nmea in: $CAREV,174737,COPROC,0.20.0.39330*7A

2021-12-04T17:47:38.908Z,1638640058.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:41.818Z,1638640061.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:44.589Z,1638640064.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:46.976Z,1638640066.976 [Micromodem](INFO): Nmea in: $CAREV,174747,AUV,2.1.4000*2C

2021-12-04T17:47:46.977Z,1638640066.977 [Micromodem](INFO): Nmea in: $CAREV,174747,COPROC,0.20.0.39330*7D

2021-12-04T17:47:47.406Z,1638640067.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:50.233Z,1638640070.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:53.046Z,1638640073.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:55.903Z,1638640075.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:47:57.080Z,1638640077.080 [Micromodem](INFO): Nmea in: $CAREV,174757,AUV,2.1.4000*2D

2021-12-04T17:47:57.081Z,1638640077.081 [Micromodem](INFO): Nmea in: $CAREV,174757,COPROC,0.20.0.39330*7C

2021-12-04T17:47:58.711Z,1638640078.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:01.554Z,1638640081.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:04.370Z,1638640084.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:06.773Z,1638640086.773 [Micromodem](INFO): Nmea in: $CAREV,174807,AUV,2.1.4000*27

2021-12-04T17:48:06.774Z,1638640086.774 [Micromodem](INFO): Nmea in: $CAREV,174807,COPROC,0.20.0.39330*76

2021-12-04T17:48:07.238Z,1638640087.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:10.042Z,1638640090.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:12.848Z,1638640092.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:15.681Z,1638640095.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:16.880Z,1638640096.880 [Micromodem](INFO): Nmea in: $CAREV,174817,AUV,2.1.4000*26

2021-12-04T17:48:16.881Z,1638640096.881 [Micromodem](INFO): Nmea in: $CAREV,174817,COPROC,0.20.0.39330*77

2021-12-04T17:48:18.510Z,1638640098.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:21.336Z,1638640101.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:24.191Z,1638640104.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:26.976Z,1638640106.976 [Micromodem](INFO): Nmea in: $CAREV,174827,AUV,2.1.4000*25

2021-12-04T17:48:26.993Z,1638640106.993 [Micromodem](INFO): Nmea in: $CAREV,174827,COPROC,0.20.0.39330*74

2021-12-04T17:48:27.010Z,1638640107.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:29.835Z,1638640109.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:32.643Z,1638640112.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:35.497Z,1638640115.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:37.071Z,1638640117.071 [Micromodem](INFO): Nmea in: $CAREV,174837,AUV,2.1.4000*24

2021-12-04T17:48:37.072Z,1638640117.072 [Micromodem](INFO): Nmea in: $CAREV,174837,COPROC,0.20.0.39330*75

2021-12-04T17:48:38.310Z,1638640118.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:41.128Z,1638640121.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:43.998Z,1638640123.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:46.774Z,1638640126.774 [Micromodem](INFO): Nmea in: $CAREV,174847,AUV,2.1.4000*23

2021-12-04T17:48:46.775Z,1638640126.775 [Micromodem](INFO): Nmea in: $CAREV,174847,COPROC,0.20.0.39330*72

2021-12-04T17:48:46.787Z,1638640126.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:49.623Z,1638640129.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:52.453Z,1638640132.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:55.284Z,1638640135.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:48:56.876Z,1638640136.876 [Micromodem](INFO): Nmea in: $CAREV,174857,AUV,2.1.4000*22

2021-12-04T17:48:56.878Z,1638640136.878 [Micromodem](INFO): Nmea in: $CAREV,174857,COPROC,0.20.0.39330*73

2021-12-04T17:48:58.108Z,1638640138.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:00.957Z,1638640140.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:03.810Z,1638640143.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:06.589Z,1638640146.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:06.989Z,1638640146.989 [Micromodem](INFO): Nmea in: $CAREV,174907,AUV,2.1.4000*26

2021-12-04T17:49:06.991Z,1638640146.991 [Micromodem](INFO): Nmea in: $CAREV,174907,COPROC,0.20.0.39330*77

2021-12-04T17:49:09.414Z,1638640149.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:12.289Z,1638640152.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:15.072Z,1638640155.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:17.072Z,1638640157.072 [Micromodem](INFO): Nmea in: $CAREV,174917,AUV,2.1.4000*27

2021-12-04T17:49:17.073Z,1638640157.073 [Micromodem](INFO): Nmea in: $CAREV,174917,COPROC,0.20.0.39330*76

2021-12-04T17:49:17.911Z,1638640157.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:20.716Z,1638640160.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:23.557Z,1638640163.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:26.397Z,1638640166.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:26.775Z,1638640166.775 [Micromodem](INFO): Nmea in: $CAREV,174927,AUV,2.1.4000*24

2021-12-04T17:49:26.776Z,1638640166.776 [Micromodem](INFO): Nmea in: $CAREV,174927,COPROC,0.20.0.39330*75

2021-12-04T17:49:29.227Z,1638640169.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:32.047Z,1638640172.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:34.854Z,1638640174.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:36.864Z,1638640176.864 [Micromodem](INFO): Nmea in: $CAREV,174937,AUV,2.1.4000*25

2021-12-04T17:49:36.865Z,1638640176.865 [Micromodem](INFO): Nmea in: $CAREV,174937,COPROC,0.20.0.39330*74

2021-12-04T17:49:37.732Z,1638640177.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:40.521Z,1638640180.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:43.370Z,1638640183.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:46.219Z,1638640186.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:46.975Z,1638640186.975 [Micromodem](INFO): Nmea in: $CAREV,174947,AUV,2.1.4000*22

2021-12-04T17:49:46.976Z,1638640186.976 [Micromodem](INFO): Nmea in: $CAREV,174947,COPROC,0.20.0.39330*73

2021-12-04T17:49:49.004Z,1638640189.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:51.854Z,1638640191.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:54.674Z,1638640194.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:49:57.068Z,1638640197.068 [Micromodem](INFO): Nmea in: $CAREV,174957,AUV,2.1.4000*23

2021-12-04T17:49:57.069Z,1638640197.069 [Micromodem](INFO): Nmea in: $CAREV,174957,COPROC,0.20.0.39330*72

2021-12-04T17:49:57.491Z,1638640197.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:00.321Z,1638640200.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:03.156Z,1638640203.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:06.002Z,1638640206.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:06.780Z,1638640206.780 [Micromodem](INFO): Nmea in: $CAREV,175007,AUV,2.1.4000*2E

2021-12-04T17:50:06.781Z,1638640206.781 [Micromodem](INFO): Nmea in: $CAREV,175007,COPROC,0.20.0.39330*7F

2021-12-04T17:50:08.807Z,1638640208.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:11.620Z,1638640211.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:14.462Z,1638640214.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:16.860Z,1638640216.860 [Micromodem](INFO): Nmea in: $CAREV,175017,AUV,2.1.4000*2F

2021-12-04T17:50:16.861Z,1638640216.861 [Micromodem](INFO): Nmea in: $CAREV,175017,COPROC,0.20.0.39330*7E

2021-12-04T17:50:17.284Z,1638640217.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:20.133Z,1638640220.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:22.943Z,1638640222.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:25.818Z,1638640225.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:26.969Z,1638640226.969 [Micromodem](INFO): Nmea in: $CAREV,175027,AUV,2.1.4000*2C

2021-12-04T17:50:26.971Z,1638640226.971 [Micromodem](INFO): Nmea in: $CAREV,175027,COPROC,0.20.0.39330*7D

2021-12-04T17:50:28.594Z,1638640228.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:31.426Z,1638640231.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:34.258Z,1638640234.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:37.088Z,1638640237.088 [Micromodem](INFO): Nmea in: $CAREV,175037,AUV,2.1.4000*2D

2021-12-04T17:50:37.089Z,1638640237.089 [Micromodem](INFO): Nmea in: $CAREV,175037,COPROC,0.20.0.39330*7C

2021-12-04T17:50:37.101Z,1638640237.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:39.924Z,1638640239.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:42.736Z,1638640242.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:43.933Z,1638640243.933 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:50:45.590Z,1638640245.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:46.789Z,1638640246.789 [Micromodem](INFO): Nmea in: $CAREV,175047,AUV,2.1.4000*2A

2021-12-04T17:50:46.791Z,1638640246.791 [Micromodem](INFO): Nmea in: $CAREV,175047,COPROC,0.20.0.39330*7B

2021-12-04T17:50:48.424Z,1638640248.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:51.231Z,1638640251.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:54.054Z,1638640254.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:56.872Z,1638640256.872 [Micromodem](INFO): Nmea in: $CAREV,175057,AUV,2.1.4000*2B

2021-12-04T17:50:56.873Z,1638640256.873 [Micromodem](INFO): Nmea in: $CAREV,175057,COPROC,0.20.0.39330*7A

2021-12-04T17:50:56.906Z,1638640256.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:50:59.699Z,1638640259.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:02.599Z,1638640262.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:03.820Z,1638640263.820 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T17:51:05.363Z,1638640265.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:06.962Z,1638640266.962 [Micromodem](INFO): Nmea in: $CAREV,175107,AUV,2.1.4000*2F

2021-12-04T17:51:06.963Z,1638640266.963 [Micromodem](INFO): Nmea in: $CAREV,175107,COPROC,0.20.0.39330*7E

2021-12-04T17:51:08.234Z,1638640268.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:11.012Z,1638640271.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:13.870Z,1638640273.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:16.687Z,1638640276.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:17.135Z,1638640277.135 [Micromodem](INFO): Nmea in: $CAREV,175117,AUV,2.1.4000*2E

2021-12-04T17:51:17.138Z,1638640277.138 [Micromodem](INFO): Nmea in: $CAREV,175117,COPROC,0.20.0.39330*7F

2021-12-04T17:51:19.510Z,1638640279.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:22.334Z,1638640282.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:25.173Z,1638640285.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:27.168Z,1638640287.168 [Micromodem](INFO): Nmea in: $CAREV,175127,AUV,2.1.4000*2D

2021-12-04T17:51:27.172Z,1638640287.172 [Micromodem](INFO): Nmea in: $CAREV,175127,COPROC,0.20.0.39330*7C

2021-12-04T17:51:28.002Z,1638640288.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:30.811Z,1638640290.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:33.632Z,1638640293.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:34.040Z,1638640294.040 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T17:51:36.488Z,1638640296.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:36.857Z,1638640296.857 [Micromodem](INFO): Nmea in: $CAREV,175137,AUV,2.1.4000*2C

2021-12-04T17:51:36.858Z,1638640296.858 [Micromodem](INFO): Nmea in: $CAREV,175137,COPROC,0.20.0.39330*7D

2021-12-04T17:51:39.303Z,1638640299.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:42.214Z,1638640302.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:43.832Z,1638640303.832 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T17:51:44.967Z,1638640304.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:46.956Z,1638640306.956 [Micromodem](INFO): Nmea in: $CAREV,175147,AUV,2.1.4000*2B

2021-12-04T17:51:46.958Z,1638640306.958 [Micromodem](INFO): Nmea in: $CAREV,175147,COPROC,0.20.0.39330*7A

2021-12-04T17:51:47.846Z,1638640307.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:50.599Z,1638640310.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:53.463Z,1638640313.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:53.843Z,1638640313.843 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:51:56.335Z,1638640316.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:51:57.073Z,1638640317.073 [Micromodem](INFO): Nmea in: $CAREV,175157,AUV,2.1.4000*2A

2021-12-04T17:51:57.074Z,1638640317.074 [Micromodem](INFO): Nmea in: $CAREV,175157,COPROC,0.20.0.39330*7B

2021-12-04T17:51:59.097Z,1638640319.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:01.935Z,1638640321.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:03.941Z,1638640323.941 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T17:52:04.743Z,1638640324.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:07.174Z,1638640327.174 [Micromodem](INFO): Nmea in: $CAREV,175207,AUV,2.1.4000*2C

2021-12-04T17:52:07.177Z,1638640327.177 [Micromodem](INFO): Nmea in: $CAREV,175207,COPROC,0.20.0.39330*7D

2021-12-04T17:52:07.566Z,1638640327.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:10.423Z,1638640330.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:13.236Z,1638640333.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:16.094Z,1638640336.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:16.852Z,1638640336.852 [Micromodem](INFO): Nmea in: $CAREV,175217,AUV,2.1.4000*2D

2021-12-04T17:52:16.853Z,1638640336.853 [Micromodem](INFO): Nmea in: $CAREV,175217,COPROC,0.20.0.39330*7C

2021-12-04T17:52:18.887Z,1638640338.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:21.771Z,1638640341.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:24.584Z,1638640344.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:26.948Z,1638640346.948 [Micromodem](INFO): Nmea in: $CAREV,175227,AUV,2.1.4000*2E

2021-12-04T17:52:26.949Z,1638640346.949 [Micromodem](INFO): Nmea in: $CAREV,175227,COPROC,0.20.0.39330*7F

2021-12-04T17:52:27.375Z,1638640347.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:30.236Z,1638640350.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:33.045Z,1638640353.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:35.895Z,1638640355.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:37.068Z,1638640357.068 [Micromodem](INFO): Nmea in: $CAREV,175237,AUV,2.1.4000*2F

2021-12-04T17:52:37.069Z,1638640357.069 [Micromodem](INFO): Nmea in: $CAREV,175237,COPROC,0.20.0.39330*7E

2021-12-04T17:52:38.695Z,1638640358.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:41.521Z,1638640361.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:44.360Z,1638640364.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:47.151Z,1638640367.151 [Micromodem](INFO): Nmea in: $CAREV,175247,AUV,2.1.4000*28

2021-12-04T17:52:47.152Z,1638640367.152 [Micromodem](INFO): Nmea in: $CAREV,175247,COPROC,0.20.0.39330*79

2021-12-04T17:52:47.208Z,1638640367.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:50.071Z,1638640370.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:52.828Z,1638640372.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:55.650Z,1638640375.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:52:56.845Z,1638640376.845 [Micromodem](INFO): Nmea in: $CAREV,175257,AUV,2.1.4000*29

2021-12-04T17:52:56.846Z,1638640376.846 [Micromodem](INFO): Nmea in: $CAREV,175257,COPROC,0.20.0.39330*78

2021-12-04T17:52:58.483Z,1638640378.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:01.336Z,1638640381.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:03.852Z,1638640383.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:06.571Z,1638640386.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:06.949Z,1638640386.949 [Micromodem](INFO): Nmea in: $CAREV,175307,AUV,2.1.4000*2D

2021-12-04T17:53:06.950Z,1638640386.950 [Micromodem](INFO): Nmea in: $CAREV,175307,COPROC,0.20.0.39330*7C

2021-12-04T17:53:09.388Z,1638640389.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:12.234Z,1638640392.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:15.047Z,1638640395.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:17.109Z,1638640397.109 [Micromodem](INFO): Nmea in: $CAREV,175317,AUV,2.1.4000*2C

2021-12-04T17:53:17.110Z,1638640397.110 [Micromodem](INFO): Nmea in: $CAREV,175317,COPROC,0.20.0.39330*7D

2021-12-04T17:53:17.907Z,1638640397.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:20.711Z,1638640400.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:23.535Z,1638640403.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:26.385Z,1638640406.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:27.183Z,1638640407.183 [Micromodem](INFO): Nmea in: $CAREV,175327,AUV,2.1.4000*2F

2021-12-04T17:53:27.186Z,1638640407.186 [Micromodem](INFO): Nmea in: $CAREV,175327,COPROC,0.20.0.39330*7E

2021-12-04T17:53:29.220Z,1638640409.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:32.085Z,1638640412.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:34.839Z,1638640414.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:36.844Z,1638640416.844 [Micromodem](INFO): Nmea in: $CAREV,175337,AUV,2.1.4000*2E

2021-12-04T17:53:36.845Z,1638640416.845 [Micromodem](INFO): Nmea in: $CAREV,175337,COPROC,0.20.0.39330*7F

2021-12-04T17:53:37.660Z,1638640417.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:40.503Z,1638640420.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:43.338Z,1638640423.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:46.204Z,1638640426.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:46.945Z,1638640426.945 [Micromodem](INFO): Nmea in: $CAREV,175347,AUV,2.1.4000*29

2021-12-04T17:53:46.947Z,1638640426.947 [Micromodem](INFO): Nmea in: $CAREV,175347,COPROC,0.20.0.39330*78

2021-12-04T17:53:49.001Z,1638640429.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:51.829Z,1638640431.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:54.628Z,1638640434.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:53:57.044Z,1638640437.044 [Micromodem](INFO): Nmea in: $CAREV,175357,AUV,2.1.4000*28

2021-12-04T17:53:57.045Z,1638640437.045 [Micromodem](INFO): Nmea in: $CAREV,175357,COPROC,0.20.0.39330*79

2021-12-04T17:53:57.465Z,1638640437.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:00.311Z,1638640440.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:03.122Z,1638640443.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:05.964Z,1638640445.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:07.148Z,1638640447.148 [Micromodem](INFO): Nmea in: $CAREV,175407,AUV,2.1.4000*2A

2021-12-04T17:54:07.150Z,1638640447.150 [Micromodem](INFO): Nmea in: $CAREV,175407,COPROC,0.20.0.39330*7B

2021-12-04T17:54:08.768Z,1638640448.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:11.316Z,1638640451.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:14.049Z,1638640454.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:16.841Z,1638640456.841 [Micromodem](INFO): Nmea in: $CAREV,175417,AUV,2.1.4000*2B

2021-12-04T17:54:16.842Z,1638640456.842 [Micromodem](INFO): Nmea in: $CAREV,175417,COPROC,0.20.0.39330*7A

2021-12-04T17:54:16.854Z,1638640456.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:19.685Z,1638640459.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:22.534Z,1638640462.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:25.412Z,1638640465.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:26.940Z,1638640466.940 [Micromodem](INFO): Nmea in: $CAREV,175427,AUV,2.1.4000*28

2021-12-04T17:54:26.956Z,1638640466.956 [Micromodem](INFO): Nmea in: $CAREV,175427,COPROC,0.20.0.39330*79

2021-12-04T17:54:28.217Z,1638640468.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:30.986Z,1638640470.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:33.845Z,1638640473.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:36.655Z,1638640476.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:37.064Z,1638640477.064 [Micromodem](INFO): Nmea in: $CAREV,175437,AUV,2.1.4000*29

2021-12-04T17:54:37.067Z,1638640477.067 [Micromodem](INFO): Nmea in: $CAREV,175437,COPROC,0.20.0.39330*78

2021-12-04T17:54:39.526Z,1638640479.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:42.336Z,1638640482.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:45.127Z,1638640485.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:47.141Z,1638640487.141 [Micromodem](INFO): Nmea in: $CAREV,175447,AUV,2.1.4000*2E

2021-12-04T17:54:47.143Z,1638640487.143 [Micromodem](INFO): Nmea in: $CAREV,175447,COPROC,0.20.0.39330*7F

2021-12-04T17:54:47.985Z,1638640487.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:50.790Z,1638640490.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:53.616Z,1638640493.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:56.449Z,1638640496.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:54:56.839Z,1638640496.839 [Micromodem](INFO): Nmea in: $CAREV,175457,AUV,2.1.4000*2F

2021-12-04T17:54:56.840Z,1638640496.840 [Micromodem](INFO): Nmea in: $CAREV,175457,COPROC,0.20.0.39330*7E

2021-12-04T17:54:59.287Z,1638640499.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:02.127Z,1638640502.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:04.924Z,1638640504.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:06.933Z,1638640506.933 [Micromodem](INFO): Nmea in: $CAREV,175507,AUV,2.1.4000*2B

2021-12-04T17:55:06.934Z,1638640506.934 [Micromodem](INFO): Nmea in: $CAREV,175507,COPROC,0.20.0.39330*7A

2021-12-04T17:55:07.799Z,1638640507.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:10.595Z,1638640510.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:13.421Z,1638640513.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:15.029Z,1638640515.029 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-12-04T17:55:15.029Z,1638640515.029 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-12-04T17:55:15.029Z,1638640515.029 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-12-04T17:55:15.029Z,1638640515.029 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T17:55:15.029Z,1638640515.029 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-12-04T17:55:15.534Z,1638640515.534 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0052.lzma
2021-12-04T17:55:15.535Z,1638640515.535 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 022CAB61340000005D00000400320000000000000000151D80030C5669BF0D1A401779C2CE697C406712FFBBD82476B425BC079BC8C00C96E01DB8D207499D1F
2021-12-04T17:55:15.536Z,1638640515.536 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 4598A5F05C00
2021-12-04T17:55:15.536Z,1638640515.536 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-12-04T17:55:15.836Z,1638640515.836 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-12-04T17:55:16.235Z,1638640516.235 [Micromodem](INFO): Nmea in: $CADRQ,175515,1,10,0,64,1*74

2021-12-04T17:55:16.236Z,1638640516.236 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,022CAB61340000005D00000400320000000000000000151D80030C5669BF0D1A401779C2CE697C406712FFBBD82476B425BC079BC8C00C96E01DB8D207499D1F*41

2021-12-04T17:55:16.369Z,1638640516.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:16.644Z,1638640516.644 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-12-04T17:55:17.056Z,1638640517.056 [Micromodem](INFO): Nmea in: $CADRQ,175516,1,10,0,64,2*74

2021-12-04T17:55:17.057Z,1638640517.057 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4598A5F05C00*3D

2021-12-04T17:55:17.496Z,1638640517.496 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-12-04T17:55:17.900Z,1638640517.900 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-12-04T17:55:19.189Z,1638640519.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:20.330Z,1638640520.330 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-12-04T17:55:20.732Z,1638640520.732 [Micromodem](INFO): Nmea in: $CAREV,175520,AUV,2.1.4000*2E

2021-12-04T17:55:21.144Z,1638640521.144 [Micromodem](INFO): Nmea in: $CAREV,175520,COPROC,0.20.0.39330*7F

2021-12-04T17:55:21.536Z,1638640521.536 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,175517.561798,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5B

2021-12-04T17:55:21.984Z,1638640521.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:24.792Z,1638640524.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:27.824Z,1638640527.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:30.428Z,1638640530.428 [Micromodem](INFO): Nmea in: $CAREV,175530,AUV,2.1.4000*2F

2021-12-04T17:55:30.451Z,1638640530.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:30.829Z,1638640530.829 [Micromodem](INFO): Nmea in: $CAREV,175530,COPROC,0.20.0.39330*7E

2021-12-04T17:55:33.325Z,1638640533.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:36.275Z,1638640536.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:37.705Z,1638640537.705 [Micromodem](ERROR): Ack response timeout failure, going into ping mode.
2021-12-04T17:55:38.945Z,1638640538.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:40.523Z,1638640540.523 [Micromodem](INFO): Nmea in: $CAREV,175540,AUV,2.1.4000*28

2021-12-04T17:55:40.932Z,1638640540.932 [Micromodem](INFO): Nmea in: $CAREV,175540,COPROC,0.20.0.39330*79

2021-12-04T17:55:41.832Z,1638640541.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:44.576Z,1638640544.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:47.130Z,1638640547.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:49.858Z,1638640549.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:50.224Z,1638640550.224 [Micromodem](INFO): Nmea in: $CAREV,175550,AUV,2.1.4000*29

2021-12-04T17:55:50.633Z,1638640550.633 [Micromodem](INFO): Nmea in: $CAREV,175550,COPROC,0.20.0.39330*78

2021-12-04T17:55:52.673Z,1638640552.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:55.619Z,1638640555.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:55:58.323Z,1638640558.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:00.348Z,1638640560.348 [Micromodem](INFO): Nmea in: $CAREV,175600,AUV,2.1.4000*2F

2021-12-04T17:56:00.723Z,1638640560.723 [Micromodem](INFO): Nmea in: $CAREV,175600,COPROC,0.20.0.39330*7E

2021-12-04T17:56:01.233Z,1638640561.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:04.017Z,1638640564.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:06.817Z,1638640566.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:09.630Z,1638640569.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:10.424Z,1638640570.424 [Micromodem](INFO): Nmea in: $CAREV,175610,AUV,2.1.4000*2E

2021-12-04T17:56:10.824Z,1638640570.824 [Micromodem](INFO): Nmea in: $CAREV,175610,COPROC,0.20.0.39330*7F

2021-12-04T17:56:12.596Z,1638640572.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:15.298Z,1638640575.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:17.707Z,1638640577.707 [Micromodem](INFO): Sending ping looking for remote modem
2021-12-04T17:56:17.708Z,1638640577.708 [Micromodem](INFO): Nmea out: $CCMPC,1,10*6E

2021-12-04T17:56:18.104Z,1638640578.104 [Micromodem](INFO): Nmea in: $CAMPC,1,10*6C

2021-12-04T17:56:18.191Z,1638640578.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:18.520Z,1638640578.520 [Micromodem](INFO): Nmea in: $CATXP,0*42

2021-12-04T17:56:18.912Z,1638640578.912 [Micromodem](INFO): Nmea in: $CATXF,0*54

2021-12-04T17:56:19.307Z,1638640579.307 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,175618.167107,3,0,200,4000,14500,1,1,10,0,1,1,4,0,14500*64

2021-12-04T17:56:20.944Z,1638640580.944 [Micromodem](INFO): Nmea in: $CAMPR,10,1,0.076708*41

2021-12-04T17:56:20.945Z,1638640580.945 [Micromodem](INFO): In receivedCAMPR, commsState_=3
2021-12-04T17:56:21.059Z,1638640581.059 [Micromodem](INFO): sendFilename = Logs/20211204T085114/Courier0052.lzma
2021-12-04T17:56:21.061Z,1638640581.061 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 022CAB61340000005D00000400320000000000000000151D80030C5669BF0D1A401779C2CE697C406712FFBBD82476B425BC079BC8C00C96E01DB8D207499D1F
2021-12-04T17:56:21.061Z,1638640581.061 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 4598A5F05C00
2021-12-04T17:56:21.061Z,1638640581.061 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-12-04T17:56:21.277Z,1638640581.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:21.394Z,1638640581.394 [Micromodem](INFO): Nmea in: $CACST,6,0,20211204175620.352534,06,32767,45,0108,0150,37,02,02,00,02,1,010,001,0,4,1,0,150,14.3,9.87,18,-6.87,-01,0.08,47,14500,4000*6C

2021-12-04T17:56:21.774Z,1638640581.774 [Micromodem](INFO): Nmea in: $CAREV,175621,AUV,2.1.4000*2C

2021-12-04T17:56:22.194Z,1638640582.194 [Micromodem](INFO): Nmea in: $CAREV,175621,COPROC,0.20.0.39330*7D

2021-12-04T17:56:22.572Z,1638640582.572 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-12-04T17:56:22.986Z,1638640582.986 [Micromodem](INFO): Nmea in: $CADRQ,175621,1,10,0,64,1*70

2021-12-04T17:56:22.986Z,1638640582.986 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,022CAB61340000005D00000400320000000000000000151D80030C5669BF0D1A401779C2CE697C406712FFBBD82476B425BC079BC8C00C96E01DB8D207499D1F*41

2021-12-04T17:56:23.375Z,1638640583.375 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-12-04T17:56:23.793Z,1638640583.793 [Micromodem](INFO): Nmea in: $CADRQ,175623,1,10,0,64,2*71

2021-12-04T17:56:23.795Z,1638640583.795 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4598A5F05C00*3D

2021-12-04T17:56:23.883Z,1638640583.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:24.201Z,1638640584.201 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-12-04T17:56:24.613Z,1638640584.613 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-12-04T17:56:26.384Z,1638640586.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:27.049Z,1638640587.049 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-12-04T17:56:27.454Z,1638640587.454 [Micromodem](INFO): Nmea in: $CAXST,7,20211204,175624.299105,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5A

2021-12-04T17:56:29.048Z,1638640589.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:29.841Z,1638640589.841 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-12-04T17:56:30.248Z,1638640590.248 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-12-04T17:56:30.249Z,1638640590.249 [Micromodem](INFO): Sent 62 bytes from file Logs/20211204T085114/Courier0052.lzma.parts
2021-12-04T17:56:30.249Z,1638640590.249 [Micromodem](INFO): Packets left to send: 0
2021-12-04T17:56:30.656Z,1638640590.656 [Micromodem](INFO): Nmea in: $CACST,6,0,20211204175629.079821,06,32767,45,0149,0150,07,01,01,00,02,1,010,001,0,4,1,0,150,18.0,9.83,20,-6.83,-01,-0.23,38,14500,4000*48

2021-12-04T17:56:30.764Z,1638640590.764 [Micromodem](INFO): sendFilename = 
2021-12-04T17:56:30.764Z,1638640590.764 [Micromodem](INFO): No more packets to send
2021-12-04T17:56:30.781Z,1638640590.781 [lineCaptureDepth:MicromodemComms] Stopped
2021-12-04T17:56:30.810Z,1638640590.810 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-12-04T17:56:30.810Z,1638640590.810 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-12-04T17:56:30.810Z,1638640590.810 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-12-04T17:56:30.810Z,1638640590.810 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-12-04T17:56:31.053Z,1638640591.053 [Micromodem](INFO): Nmea in: $CAREV,175629,AUV,2.1.4000*24

2021-12-04T17:56:31.054Z,1638640591.054 [Micromodem](INFO): Nmea in: $CAREV,175629,COPROC,0.20.0.39330*75

2021-12-04T17:56:32.168Z,1638640592.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:34.720Z,1638640594.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:37.557Z,1638640597.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:39.639Z,1638640599.639 [Micromodem](INFO): Nmea in: $CAREV,175639,AUV,2.1.4000*25

2021-12-04T17:56:39.640Z,1638640599.640 [Micromodem](INFO): Nmea in: $CAREV,175639,COPROC,0.20.0.39330*74

2021-12-04T17:56:40.410Z,1638640600.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:43.225Z,1638640603.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:46.144Z,1638640606.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:48.860Z,1638640608.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:49.668Z,1638640609.668 [Micromodem](INFO): Nmea in: $CAREV,175649,AUV,2.1.4000*22

2021-12-04T17:56:49.669Z,1638640609.669 [Micromodem](INFO): Nmea in: $CAREV,175650,COPROC,0.20.0.39330*7B

2021-12-04T17:56:51.686Z,1638640611.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:52.482Z,1638640612.482 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T17:56:52.484Z,1638640612.484 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T17:56:54.538Z,1638640614.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:57.365Z,1638640617.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:56:59.771Z,1638640619.771 [Micromodem](INFO): Nmea in: $CAREV,175700,AUV,2.1.4000*2E

2021-12-04T17:56:59.772Z,1638640619.772 [Micromodem](INFO): Nmea in: $CAREV,175700,COPROC,0.20.0.39330*7F

2021-12-04T17:57:00.209Z,1638640620.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:02.581Z,1638640622.581 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T17:57:02.999Z,1638640622.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:05.843Z,1638640625.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:08.654Z,1638640628.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:09.860Z,1638640629.860 [Micromodem](INFO): Nmea in: $CAREV,175710,AUV,2.1.4000*2F

2021-12-04T17:57:09.861Z,1638640629.861 [Micromodem](INFO): Nmea in: $CAREV,175710,COPROC,0.20.0.39330*7E

2021-12-04T17:57:11.512Z,1638640631.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:14.327Z,1638640634.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:17.148Z,1638640637.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:19.964Z,1638640639.964 [Micromodem](INFO): Nmea in: $CAREV,175720,AUV,2.1.4000*2C

2021-12-04T17:57:19.965Z,1638640639.965 [Micromodem](INFO): Nmea in: $CAREV,175720,COPROC,0.20.0.39330*7D

2021-12-04T17:57:20.024Z,1638640640.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:22.799Z,1638640642.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:25.649Z,1638640645.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:28.481Z,1638640648.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:29.656Z,1638640649.656 [Micromodem](INFO): Nmea in: $CAREV,175730,AUV,2.1.4000*2D

2021-12-04T17:57:29.658Z,1638640649.658 [Micromodem](INFO): Nmea in: $CAREV,175730,COPROC,0.20.0.39330*7C

2021-12-04T17:57:31.294Z,1638640651.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:34.146Z,1638640654.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:36.940Z,1638640656.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:39.776Z,1638640659.776 [Micromodem](INFO): Nmea in: $CAREV,175740,AUV,2.1.4000*2A

2021-12-04T17:57:39.777Z,1638640659.777 [Micromodem](INFO): Nmea in: $CAREV,175740,COPROC,0.20.0.39330*7B

2021-12-04T17:57:39.807Z,1638640659.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:42.592Z,1638640662.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:45.450Z,1638640665.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:48.277Z,1638640668.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:49.856Z,1638640669.856 [Micromodem](INFO): Nmea in: $CAREV,175750,AUV,2.1.4000*2B

2021-12-04T17:57:49.857Z,1638640669.857 [Micromodem](INFO): Nmea in: $CAREV,175750,COPROC,0.20.0.39330*7A

2021-12-04T17:57:51.091Z,1638640671.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:53.935Z,1638640673.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:56.755Z,1638640676.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:59.627Z,1638640679.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:57:59.964Z,1638640679.964 [Micromodem](INFO): Nmea in: $CAREV,175800,AUV,2.1.4000*21

2021-12-04T17:57:59.966Z,1638640679.966 [Micromodem](INFO): Nmea in: $CAREV,175800,COPROC,0.20.0.39330*70

2021-12-04T17:58:02.406Z,1638640682.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:05.226Z,1638640685.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:08.073Z,1638640688.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:09.653Z,1638640689.653 [Micromodem](INFO): Nmea in: $CAREV,175810,AUV,2.1.4000*20

2021-12-04T17:58:09.655Z,1638640689.655 [Micromodem](INFO): Nmea in: $CAREV,175810,COPROC,0.20.0.39330*71

2021-12-04T17:58:10.881Z,1638640690.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:13.761Z,1638640693.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:16.542Z,1638640696.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:19.402Z,1638640699.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:19.769Z,1638640699.769 [Micromodem](INFO): Nmea in: $CAREV,175820,AUV,2.1.4000*23

2021-12-04T17:58:19.770Z,1638640699.770 [Micromodem](INFO): Nmea in: $CAREV,175820,COPROC,0.20.0.39330*72

2021-12-04T17:58:22.218Z,1638640702.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:25.021Z,1638640705.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:27.859Z,1638640707.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:29.846Z,1638640709.846 [Micromodem](INFO): Nmea in: $CAREV,175830,AUV,2.1.4000*22

2021-12-04T17:58:29.847Z,1638640709.847 [Micromodem](INFO): Nmea in: $CAREV,175830,COPROC,0.20.0.39330*73

2021-12-04T17:58:30.671Z,1638640710.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:33.525Z,1638640713.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:36.346Z,1638640716.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:39.206Z,1638640719.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:39.959Z,1638640719.959 [Micromodem](INFO): Nmea in: $CAREV,175840,AUV,2.1.4000*25

2021-12-04T17:58:39.961Z,1638640719.961 [Micromodem](INFO): Nmea in: $CAREV,175840,COPROC,0.20.0.39330*74

2021-12-04T17:58:42.013Z,1638640722.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:44.807Z,1638640724.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:47.645Z,1638640727.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:49.660Z,1638640729.660 [Micromodem](INFO): Nmea in: $CAREV,175850,AUV,2.1.4000*24

2021-12-04T17:58:49.662Z,1638640729.662 [Micromodem](INFO): Nmea in: $CAREV,175850,COPROC,0.20.0.39330*75

2021-12-04T17:58:50.484Z,1638640730.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:53.310Z,1638640733.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:56.172Z,1638640736.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:58.969Z,1638640738.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:58:59.767Z,1638640739.767 [Micromodem](INFO): Nmea in: $CAREV,175900,AUV,2.1.4000*20

2021-12-04T17:58:59.768Z,1638640739.768 [Micromodem](INFO): Nmea in: $CAREV,175900,COPROC,0.20.0.39330*71

2021-12-04T17:59:01.809Z,1638640741.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:04.613Z,1638640744.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:07.452Z,1638640747.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:09.849Z,1638640749.849 [Micromodem](INFO): Nmea in: $CAREV,175910,AUV,2.1.4000*21

2021-12-04T17:59:09.851Z,1638640749.851 [Micromodem](INFO): Nmea in: $CAREV,175910,COPROC,0.20.0.39330*70

2021-12-04T17:59:10.273Z,1638640750.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:13.117Z,1638640753.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:15.950Z,1638640755.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:18.756Z,1638640758.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:19.949Z,1638640759.949 [Micromodem](INFO): Nmea in: $CAREV,175920,AUV,2.1.4000*22

2021-12-04T17:59:19.951Z,1638640759.951 [Micromodem](INFO): Nmea in: $CAREV,175920,COPROC,0.20.0.39330*73

2021-12-04T17:59:21.588Z,1638640761.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:24.398Z,1638640764.398 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T17:59:24.409Z,1638640764.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:27.262Z,1638640767.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:29.646Z,1638640769.646 [Micromodem](INFO): Nmea in: $CAREV,175930,AUV,2.1.4000*23

2021-12-04T17:59:29.647Z,1638640769.647 [Micromodem](INFO): Nmea in: $CAREV,175930,COPROC,0.20.0.39330*72

2021-12-04T17:59:30.090Z,1638640770.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:32.888Z,1638640772.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:34.492Z,1638640774.492 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:59:35.768Z,1638640775.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:38.560Z,1638640778.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:39.356Z,1638640779.356 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T17:59:39.765Z,1638640779.765 [Micromodem](INFO): Nmea in: $CAREV,175940,AUV,2.1.4000*24

2021-12-04T17:59:39.766Z,1638640779.766 [Micromodem](INFO): Nmea in: $CAREV,175940,COPROC,0.20.0.39330*75

2021-12-04T17:59:41.388Z,1638640781.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:44.229Z,1638640784.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:47.027Z,1638640787.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:49.452Z,1638640789.452 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T17:59:49.844Z,1638640789.844 [Micromodem](INFO): Nmea in: $CAREV,175950,AUV,2.1.4000*25

2021-12-04T17:59:49.845Z,1638640789.845 [Micromodem](INFO): Nmea in: $CAREV,175950,COPROC,0.20.0.39330*74

2021-12-04T17:59:49.900Z,1638640789.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:52.694Z,1638640792.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:54.299Z,1638640794.299 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T17:59:55.523Z,1638640795.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:58.344Z,1638640798.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T17:59:59.944Z,1638640799.944 [Micromodem](INFO): Nmea in: $CAREV,180000,AUV,2.1.4000*23

2021-12-04T17:59:59.946Z,1638640799.946 [Micromodem](INFO): Nmea in: $CAREV,180000,COPROC,0.20.0.39330*72

2021-12-04T18:00:01.212Z,1638640801.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:04.020Z,1638640804.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:04.399Z,1638640804.399 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T18:00:06.829Z,1638640806.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:09.261Z,1638640809.261 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-12-04T18:00:09.261Z,1638640809.261 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-12-04T18:00:09.261Z,1638640809.261 [RDI_PathfinderUp](ERROR): Communications Fault
2021-12-04T18:00:09.447Z,1638640809.447 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-12-04T18:00:09.645Z,1638640809.645 [Micromodem](INFO): Nmea in: $CAREV,180010,AUV,2.1.4000*22

2021-12-04T18:00:09.647Z,1638640809.647 [Micromodem](INFO): Nmea in: $CAREV,180010,COPROC,0.20.0.39330*73

2021-12-04T18:00:09.720Z,1638640809.720 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T18:00:09.761Z,1638640809.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:10.480Z,1638640810.480 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-12-04T18:00:10.480Z,1638640810.480 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-12-04T18:00:12.497Z,1638640812.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:15.313Z,1638640815.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:18.133Z,1638640818.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:19.764Z,1638640819.764 [Micromodem](INFO): Nmea in: $CAREV,180020,AUV,2.1.4000*21

2021-12-04T18:00:19.765Z,1638640819.765 [Micromodem](INFO): Nmea in: $CAREV,180020,COPROC,0.20.0.39330*70

2021-12-04T18:00:20.959Z,1638640820.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:23.820Z,1638640823.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:26.631Z,1638640826.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:29.448Z,1638640829.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:29.836Z,1638640829.836 [Micromodem](INFO): Nmea in: $CAREV,180030,AUV,2.1.4000*20

2021-12-04T18:00:29.837Z,1638640829.837 [Micromodem](INFO): Nmea in: $CAREV,180030,COPROC,0.20.0.39330*71

2021-12-04T18:00:32.282Z,1638640832.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:35.122Z,1638640835.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:37.994Z,1638640837.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:39.964Z,1638640839.964 [Micromodem](INFO): Nmea in: $CAREV,180040,AUV,2.1.4000*27

2021-12-04T18:00:39.966Z,1638640839.966 [Micromodem](INFO): Nmea in: $CAREV,180040,COPROC,0.20.0.39330*76

2021-12-04T18:00:40.759Z,1638640840.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:43.582Z,1638640843.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:46.409Z,1638640846.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:49.281Z,1638640849.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:49.655Z,1638640849.655 [Micromodem](INFO): Nmea in: $CAREV,180050,AUV,2.1.4000*26

2021-12-04T18:00:49.657Z,1638640849.657 [Micromodem](INFO): Nmea in: $CAREV,180050,COPROC,0.20.0.39330*77

2021-12-04T18:00:52.104Z,1638640852.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:54.925Z,1638640854.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:57.792Z,1638640857.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:00:59.769Z,1638640859.769 [Micromodem](INFO): Nmea in: $CAREV,180100,AUV,2.1.4000*22

2021-12-04T18:00:59.771Z,1638640859.771 [Micromodem](INFO): Nmea in: $CAREV,180100,COPROC,0.20.0.39330*73

2021-12-04T18:01:00.567Z,1638640860.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:03.399Z,1638640863.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:06.240Z,1638640866.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:09.055Z,1638640869.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:09.844Z,1638640869.844 [Micromodem](INFO): Nmea in: $CAREV,180110,AUV,2.1.4000*23

2021-12-04T18:01:09.845Z,1638640869.845 [Micromodem](INFO): Nmea in: $CAREV,180110,COPROC,0.20.0.39330*72

2021-12-04T18:01:11.908Z,1638640871.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:14.710Z,1638640874.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:17.530Z,1638640877.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:19.966Z,1638640879.966 [Micromodem](INFO): Nmea in: $CAREV,180120,AUV,2.1.4000*20

2021-12-04T18:01:19.967Z,1638640879.967 [Micromodem](INFO): Nmea in: $CAREV,180120,COPROC,0.20.0.39330*71

2021-12-04T18:01:20.031Z,1638640880.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:22.792Z,1638640882.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:25.615Z,1638640885.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:28.438Z,1638640888.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:29.660Z,1638640889.660 [Micromodem](INFO): Nmea in: $CAREV,180130,AUV,2.1.4000*21

2021-12-04T18:01:29.661Z,1638640889.661 [Micromodem](INFO): Nmea in: $CAREV,180130,COPROC,0.20.0.39330*70

2021-12-04T18:01:31.305Z,1638640891.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:34.143Z,1638640894.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:36.964Z,1638640896.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:39.764Z,1638640899.764 [Micromodem](INFO): Nmea in: $CAREV,180140,AUV,2.1.4000*26

2021-12-04T18:01:39.765Z,1638640899.765 [Micromodem](INFO): Nmea in: $CAREV,180140,COPROC,0.20.0.39330*77

2021-12-04T18:01:39.795Z,1638640899.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:42.590Z,1638640902.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:45.409Z,1638640905.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:48.253Z,1638640908.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:49.847Z,1638640909.847 [Micromodem](INFO): Nmea in: $CAREV,180150,AUV,2.1.4000*27

2021-12-04T18:01:49.848Z,1638640909.848 [Micromodem](INFO): Nmea in: $CAREV,180150,COPROC,0.20.0.39330*76

2021-12-04T18:01:51.080Z,1638640911.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:53.966Z,1638640913.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:56.749Z,1638640916.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:59.552Z,1638640919.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:01:59.970Z,1638640919.970 [Micromodem](INFO): Nmea in: $CAREV,180200,AUV,2.1.4000*21

2021-12-04T18:01:59.971Z,1638640919.971 [Micromodem](INFO): Nmea in: $CAREV,180200,COPROC,0.20.0.39330*70

2021-12-04T18:02:02.384Z,1638640922.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:05.217Z,1638640925.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:08.075Z,1638640928.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:09.646Z,1638640929.646 [Micromodem](INFO): Nmea in: $CAREV,180210,AUV,2.1.4000*20

2021-12-04T18:02:10.048Z,1638640930.048 [Micromodem](INFO): Nmea in: $CAREV,180210,COPROC,0.20.0.39330*71

2021-12-04T18:02:10.869Z,1638640930.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:13.740Z,1638640933.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:16.540Z,1638640936.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:19.356Z,1638640939.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:19.762Z,1638640939.762 [Micromodem](INFO): Nmea in: $CAREV,180220,AUV,2.1.4000*23

2021-12-04T18:02:19.763Z,1638640939.763 [Micromodem](INFO): Nmea in: $CAREV,180220,COPROC,0.20.0.39330*72

2021-12-04T18:02:22.192Z,1638640942.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:25.013Z,1638640945.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:27.859Z,1638640947.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:29.836Z,1638640949.836 [Micromodem](INFO): Nmea in: $CAREV,180230,AUV,2.1.4000*22

2021-12-04T18:02:29.838Z,1638640949.838 [Micromodem](INFO): Nmea in: $CAREV,180230,COPROC,0.20.0.39330*73

2021-12-04T18:02:30.660Z,1638640950.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:33.498Z,1638640953.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:36.322Z,1638640956.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:39.153Z,1638640959.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:39.964Z,1638640959.964 [Micromodem](INFO): Nmea in: $CAREV,180240,AUV,2.1.4000*25

2021-12-04T18:02:39.965Z,1638640959.965 [Micromodem](INFO): Nmea in: $CAREV,180240,COPROC,0.20.0.39330*74

2021-12-04T18:02:42.019Z,1638640962.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:44.816Z,1638640964.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:47.636Z,1638640967.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:50.052Z,1638640970.052 [Micromodem](INFO): Nmea in: $CAREV,180250,AUV,2.1.4000*24

2021-12-04T18:02:50.053Z,1638640970.053 [Micromodem](INFO): Nmea in: $CAREV,180250,COPROC,0.20.0.39330*75

2021-12-04T18:02:50.465Z,1638640970.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:53.293Z,1638640973.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:56.179Z,1638640976.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:58.980Z,1638640978.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:02:59.772Z,1638640979.772 [Micromodem](INFO): Nmea in: $CAREV,180300,AUV,2.1.4000*20

2021-12-04T18:02:59.773Z,1638640979.773 [Micromodem](INFO): Nmea in: $CAREV,180300,COPROC,0.20.0.39330*71

2021-12-04T18:03:01.813Z,1638640981.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:04.596Z,1638640984.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:07.418Z,1638640987.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:09.832Z,1638640989.832 [Micromodem](INFO): Nmea in: $CAREV,180310,AUV,2.1.4000*21

2021-12-04T18:03:09.834Z,1638640989.834 [Micromodem](INFO): Nmea in: $CAREV,180310,COPROC,0.20.0.39330*70

2021-12-04T18:03:10.266Z,1638640990.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:13.089Z,1638640993.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:15.986Z,1638640995.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:18.754Z,1638640998.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:19.962Z,1638640999.962 [Micromodem](INFO): Nmea in: $CAREV,180320,AUV,2.1.4000*22

2021-12-04T18:03:19.963Z,1638640999.963 [Micromodem](INFO): Nmea in: $CAREV,180320,COPROC,0.20.0.39330*73

2021-12-04T18:03:21.559Z,1638641001.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:24.391Z,1638641004.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:27.242Z,1638641007.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:30.044Z,1638641010.044 [Micromodem](INFO): Nmea in: $CAREV,180330,AUV,2.1.4000*23

2021-12-04T18:03:30.046Z,1638641010.046 [Micromodem](INFO): Nmea in: $CAREV,180330,COPROC,0.20.0.39330*72

2021-12-04T18:03:30.109Z,1638641010.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:32.870Z,1638641012.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:35.757Z,1638641015.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:38.546Z,1638641018.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:39.759Z,1638641019.759 [Micromodem](INFO): Nmea in: $CAREV,180340,AUV,2.1.4000*24

2021-12-04T18:03:39.760Z,1638641019.760 [Micromodem](INFO): Nmea in: $CAREV,180340,COPROC,0.20.0.39330*75

2021-12-04T18:03:41.355Z,1638641021.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:44.232Z,1638641024.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:47.040Z,1638641027.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:49.832Z,1638641029.832 [Micromodem](INFO): Nmea in: $CAREV,180350,AUV,2.1.4000*25

2021-12-04T18:03:49.833Z,1638641029.833 [Micromodem](INFO): Nmea in: $CAREV,180350,COPROC,0.20.0.39330*74

2021-12-04T18:03:49.909Z,1638641029.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:52.683Z,1638641032.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:55.503Z,1638641035.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:58.012Z,1638641038.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:03:59.956Z,1638641039.956 [Micromodem](INFO): Nmea in: $CAREV,180400,AUV,2.1.4000*27

2021-12-04T18:03:59.957Z,1638641039.957 [Micromodem](INFO): Nmea in: $CAREV,180400,COPROC,0.20.0.39330*76

2021-12-04T18:04:00.758Z,1638641040.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:03.576Z,1638641043.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:06.408Z,1638641046.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:09.257Z,1638641049.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:10.047Z,1638641050.047 [Micromodem](INFO): Nmea in: $CAREV,180410,AUV,2.1.4000*26

2021-12-04T18:04:10.048Z,1638641050.048 [Micromodem](INFO): Nmea in: $CAREV,180410,COPROC,0.20.0.39330*77

2021-12-04T18:04:12.096Z,1638641052.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:14.899Z,1638641054.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:17.798Z,1638641057.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:19.756Z,1638641059.756 [Micromodem](INFO): Nmea in: $CAREV,180420,AUV,2.1.4000*25

2021-12-04T18:04:19.757Z,1638641059.757 [Micromodem](INFO): Nmea in: $CAREV,180420,COPROC,0.20.0.39330*74

2021-12-04T18:04:20.564Z,1638641060.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:23.382Z,1638641063.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:26.218Z,1638641066.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:29.041Z,1638641069.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:29.823Z,1638641069.823 [Micromodem](INFO): Nmea in: $CAREV,180430,AUV,2.1.4000*24

2021-12-04T18:04:29.824Z,1638641069.824 [Micromodem](INFO): Nmea in: $CAREV,180430,COPROC,0.20.0.39330*75

2021-12-04T18:04:31.880Z,1638641071.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:34.702Z,1638641074.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:37.512Z,1638641077.512 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:39.954Z,1638641079.954 [Micromodem](INFO): Nmea in: $CAREV,180440,AUV,2.1.4000*23

2021-12-04T18:04:39.956Z,1638641079.956 [Micromodem](INFO): Nmea in: $CAREV,180440,COPROC,0.20.0.39330*72

2021-12-04T18:04:40.017Z,1638641080.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:42.782Z,1638641082.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:45.607Z,1638641085.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:48.431Z,1638641088.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:50.030Z,1638641090.030 [Micromodem](INFO): Nmea in: $CAREV,180450,AUV,2.1.4000*22

2021-12-04T18:04:50.031Z,1638641090.031 [Micromodem](INFO): Nmea in: $CAREV,180450,COPROC,0.20.0.39330*73

2021-12-04T18:04:51.262Z,1638641091.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:54.115Z,1638641094.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:56.964Z,1638641096.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:04:59.758Z,1638641099.758 [Micromodem](INFO): Nmea in: $CAREV,180500,AUV,2.1.4000*26

2021-12-04T18:04:59.759Z,1638641099.759 [Micromodem](INFO): Nmea in: $CAREV,180500,COPROC,0.20.0.39330*77

2021-12-04T18:04:59.789Z,1638641099.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:02.570Z,1638641102.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:05.388Z,1638641105.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:08.229Z,1638641108.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:09.825Z,1638641109.825 [Micromodem](INFO): Nmea in: $CAREV,180510,AUV,2.1.4000*27

2021-12-04T18:05:09.826Z,1638641109.826 [Micromodem](INFO): Nmea in: $CAREV,180510,COPROC,0.20.0.39330*76

2021-12-04T18:05:11.072Z,1638641111.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:13.906Z,1638641113.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:16.700Z,1638641116.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:19.531Z,1638641119.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:19.956Z,1638641119.956 [Micromodem](INFO): Nmea in: $CAREV,180520,AUV,2.1.4000*24

2021-12-04T18:05:19.957Z,1638641119.957 [Micromodem](INFO): Nmea in: $CAREV,180520,COPROC,0.20.0.39330*75

2021-12-04T18:05:22.380Z,1638641122.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:25.209Z,1638641125.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:28.072Z,1638641128.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:30.043Z,1638641130.043 [Micromodem](INFO): Nmea in: $CAREV,180530,AUV,2.1.4000*25

2021-12-04T18:05:30.044Z,1638641130.044 [Micromodem](INFO): Nmea in: $CAREV,180530,COPROC,0.20.0.39330*74

2021-12-04T18:05:30.854Z,1638641130.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:33.676Z,1638641133.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:36.526Z,1638641136.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:39.346Z,1638641139.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:39.761Z,1638641139.761 [Micromodem](INFO): Nmea in: $CAREV,180540,AUV,2.1.4000*22

2021-12-04T18:05:39.800Z,1638641139.800 [Micromodem](INFO): Nmea in: $CAREV,180540,COPROC,0.20.0.39330*73

2021-12-04T18:05:42.166Z,1638641142.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:44.992Z,1638641144.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:47.840Z,1638641147.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:49.820Z,1638641149.820 [Micromodem](INFO): Nmea in: $CAREV,180550,AUV,2.1.4000*23

2021-12-04T18:05:49.821Z,1638641149.821 [Micromodem](INFO): Nmea in: $CAREV,180550,COPROC,0.20.0.39330*72

2021-12-04T18:05:50.640Z,1638641150.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:53.505Z,1638641153.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:56.302Z,1638641156.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:59.128Z,1638641159.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:05:59.944Z,1638641159.944 [Micromodem](INFO): Nmea in: $CAREV,180600,AUV,2.1.4000*25

2021-12-04T18:05:59.953Z,1638641159.953 [Micromodem](INFO): Nmea in: $CAREV,180600,COPROC,0.20.0.39330*74

2021-12-04T18:06:02.001Z,1638641162.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:04.792Z,1638641164.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:07.620Z,1638641167.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:10.020Z,1638641170.020 [Micromodem](INFO): Nmea in: $CAREV,180610,AUV,2.1.4000*24

2021-12-04T18:06:10.021Z,1638641170.021 [Micromodem](INFO): Nmea in: $CAREV,180610,COPROC,0.20.0.39330*75

2021-12-04T18:06:10.448Z,1638641170.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:13.272Z,1638641173.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:16.129Z,1638641176.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:18.954Z,1638641178.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:19.755Z,1638641179.755 [Micromodem](INFO): Nmea in: $CAREV,180620,AUV,2.1.4000*27

2021-12-04T18:06:19.756Z,1638641179.756 [Micromodem](INFO): Nmea in: $CAREV,180620,COPROC,0.20.0.39330*76

2021-12-04T18:06:21.795Z,1638641181.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:24.584Z,1638641184.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:27.397Z,1638641187.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:29.819Z,1638641189.819 [Micromodem](INFO): Nmea in: $CAREV,180630,AUV,2.1.4000*26

2021-12-04T18:06:29.820Z,1638641189.820 [Micromodem](INFO): Nmea in: $CAREV,180630,COPROC,0.20.0.39330*77

2021-12-04T18:06:30.264Z,1638641190.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:33.067Z,1638641193.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:35.941Z,1638641195.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:38.716Z,1638641198.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:39.934Z,1638641199.934 [Micromodem](INFO): Nmea in: $CAREV,180640,AUV,2.1.4000*21

2021-12-04T18:06:39.939Z,1638641199.939 [Micromodem](INFO): Nmea in: $CAREV,180640,COPROC,0.20.0.39330*70

2021-12-04T18:06:41.537Z,1638641201.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:44.376Z,1638641204.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:47.209Z,1638641207.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:50.011Z,1638641210.011 [Micromodem](INFO): Nmea in: $CAREV,180650,AUV,2.1.4000*20

2021-12-04T18:06:50.012Z,1638641210.012 [Micromodem](INFO): Nmea in: $CAREV,180650,COPROC,0.20.0.39330*71

2021-12-04T18:06:50.072Z,1638641210.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:52.866Z,1638641212.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:55.720Z,1638641215.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:58.516Z,1638641218.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:06:59.756Z,1638641219.756 [Micromodem](INFO): Nmea in: $CAREV,180700,AUV,2.1.4000*24

2021-12-04T18:06:59.757Z,1638641219.757 [Micromodem](INFO): Nmea in: $CAREV,180700,COPROC,0.20.0.39330*75

2021-12-04T18:07:01.346Z,1638641221.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:04.195Z,1638641224.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:07.021Z,1638641227.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:09.807Z,1638641229.807 [Micromodem](INFO): Nmea in: $CAREV,180710,AUV,2.1.4000*25

2021-12-04T18:07:09.808Z,1638641229.808 [Micromodem](INFO): Nmea in: $CAREV,180710,COPROC,0.20.0.39330*74

2021-12-04T18:07:09.857Z,1638641229.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:10.330Z,1638641230.330 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2021-12-04T18:07:10.331Z,1638641230.331 [ThrusterHE](INFO): Powering down
2021-12-04T18:07:11.059Z,1638641231.059 [ThrusterHE](DEBUG): Initializing EZServoServo.
2021-12-04T18:07:11.179Z,1638641231.179 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2021-12-04T18:07:12.653Z,1638641232.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:15.476Z,1638641235.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:18.335Z,1638641238.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:19.934Z,1638641239.934 [Micromodem](INFO): Nmea in: $CAREV,180720,AUV,2.1.4000*26

2021-12-04T18:07:19.943Z,1638641239.943 [Micromodem](INFO): Nmea in: $CAREV,180720,COPROC,0.20.0.39330*77

2021-12-04T18:07:21.160Z,1638641241.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:24.034Z,1638641244.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:26.788Z,1638641246.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:29.615Z,1638641249.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:30.008Z,1638641250.008 [Micromodem](INFO): Nmea in: $CAREV,180730,AUV,2.1.4000*27

2021-12-04T18:07:30.009Z,1638641250.009 [Micromodem](INFO): Nmea in: $CAREV,180730,COPROC,0.20.0.39330*76

2021-12-04T18:07:32.447Z,1638641252.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:35.288Z,1638641255.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:38.140Z,1638641258.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:39.749Z,1638641259.749 [Micromodem](INFO): Nmea in: $CAREV,180740,AUV,2.1.4000*20

2021-12-04T18:07:39.751Z,1638641259.751 [Micromodem](INFO): Nmea in: $CAREV,180740,COPROC,0.20.0.39330*71

2021-12-04T18:07:40.978Z,1638641260.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:43.795Z,1638641263.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:46.588Z,1638641266.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:49.418Z,1638641269.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:49.804Z,1638641269.804 [Micromodem](INFO): Nmea in: $CAREV,180750,AUV,2.1.4000*21

2021-12-04T18:07:49.805Z,1638641269.805 [Micromodem](INFO): Nmea in: $CAREV,180750,COPROC,0.20.0.39330*70

2021-12-04T18:07:52.255Z,1638641272.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:55.081Z,1638641275.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:57.972Z,1638641277.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:07:59.931Z,1638641279.931 [Micromodem](INFO): Nmea in: $CAREV,180800,AUV,2.1.4000*2B

2021-12-04T18:07:59.958Z,1638641279.958 [Micromodem](INFO): Nmea in: $CAREV,180800,COPROC,0.20.0.39330*7A

2021-12-04T18:08:00.734Z,1638641280.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:03.559Z,1638641283.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:06.378Z,1638641286.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:09.235Z,1638641289.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:10.009Z,1638641290.009 [Micromodem](INFO): Nmea in: $CAREV,180810,AUV,2.1.4000*2A

2021-12-04T18:08:10.010Z,1638641290.010 [Micromodem](INFO): Nmea in: $CAREV,180810,COPROC,0.20.0.39330*7B

2021-12-04T18:08:12.076Z,1638641292.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:14.869Z,1638641294.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:17.760Z,1638641297.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:19.745Z,1638641299.745 [Micromodem](INFO): Nmea in: $CAREV,180820,AUV,2.1.4000*29

2021-12-04T18:08:19.761Z,1638641299.761 [Micromodem](INFO): Nmea in: $CAREV,180820,COPROC,0.20.0.39330*78

2021-12-04T18:08:20.524Z,1638641300.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:23.363Z,1638641303.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:26.192Z,1638641306.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:29.017Z,1638641309.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:29.800Z,1638641309.800 [Micromodem](INFO): Nmea in: $CAREV,180830,AUV,2.1.4000*28

2021-12-04T18:08:29.803Z,1638641309.803 [Micromodem](INFO): Nmea in: $CAREV,180830,COPROC,0.20.0.39330*79

2021-12-04T18:08:31.857Z,1638641311.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:34.678Z,1638641314.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:37.496Z,1638641317.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:39.905Z,1638641319.905 [Micromodem](INFO): Nmea in: $CAREV,180840,AUV,2.1.4000*2F

2021-12-04T18:08:39.906Z,1638641319.906 [Micromodem](INFO): Nmea in: $CAREV,180840,COPROC,0.20.0.39330*7E

2021-12-04T18:08:40.004Z,1638641320.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:42.750Z,1638641322.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:45.568Z,1638641325.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:48.400Z,1638641328.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:50.004Z,1638641330.004 [Micromodem](INFO): Nmea in: $CAREV,180850,AUV,2.1.4000*2E

2021-12-04T18:08:50.005Z,1638641330.005 [Micromodem](INFO): Nmea in: $CAREV,180850,COPROC,0.20.0.39330*7F

2021-12-04T18:08:51.244Z,1638641331.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:54.086Z,1638641334.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:56.888Z,1638641336.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:08:59.749Z,1638641339.749 [Micromodem](INFO): Nmea in: $CAREV,180900,AUV,2.1.4000*2A

2021-12-04T18:08:59.750Z,1638641339.750 [Micromodem](INFO): Nmea in: $CAREV,180900,COPROC,0.20.0.39330*7B

2021-12-04T18:08:59.802Z,1638641339.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:02.534Z,1638641342.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:05.367Z,1638641345.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:08.217Z,1638641348.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:09.813Z,1638641349.813 [Micromodem](INFO): Nmea in: $CAREV,180910,AUV,2.1.4000*2B

2021-12-04T18:09:09.815Z,1638641349.815 [Micromodem](INFO): Nmea in: $CAREV,180910,COPROC,0.20.0.39330*7A

2021-12-04T18:09:11.030Z,1638641351.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:13.901Z,1638641353.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:16.676Z,1638641356.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:19.513Z,1638641359.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:19.928Z,1638641359.928 [Micromodem](INFO): Nmea in: $CAREV,180920,AUV,2.1.4000*28

2021-12-04T18:09:19.934Z,1638641359.934 [Micromodem](INFO): Nmea in: $CAREV,180920,COPROC,0.20.0.39330*79

2021-12-04T18:09:22.014Z,1638641362.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:24.755Z,1638641364.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:27.581Z,1638641367.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:30.009Z,1638641370.009 [Micromodem](INFO): Nmea in: $CAREV,180930,AUV,2.1.4000*29

2021-12-04T18:09:30.010Z,1638641370.010 [Micromodem](INFO): Nmea in: $CAREV,180930,COPROC,0.20.0.39330*78

2021-12-04T18:09:30.417Z,1638641370.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:33.251Z,1638641373.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:36.148Z,1638641376.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:38.902Z,1638641378.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:39.755Z,1638641379.755 [Micromodem](INFO): Nmea in: $CAREV,180940,AUV,2.1.4000*2E

2021-12-04T18:09:39.756Z,1638641379.756 [Micromodem](INFO): Nmea in: $CAREV,180940,COPROC,0.20.0.39330*7F

2021-12-04T18:09:41.799Z,1638641381.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:44.553Z,1638641384.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:47.383Z,1638641387.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:49.792Z,1638641389.792 [Micromodem](INFO): Nmea in: $CAREV,180950,AUV,2.1.4000*2F

2021-12-04T18:09:49.793Z,1638641389.793 [Micromodem](INFO): Nmea in: $CAREV,180950,COPROC,0.20.0.39330*7E

2021-12-04T18:09:50.235Z,1638641390.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:53.052Z,1638641393.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:55.883Z,1638641395.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:58.694Z,1638641398.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:09:59.897Z,1638641399.897 [Micromodem](INFO): Nmea in: $CAREV,181000,AUV,2.1.4000*22

2021-12-04T18:09:59.899Z,1638641399.899 [Micromodem](INFO): Nmea in: $CAREV,181000,COPROC,0.20.0.39330*73

2021-12-04T18:10:01.520Z,1638641401.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:04.378Z,1638641404.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:07.192Z,1638641407.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:10.001Z,1638641410.001 [Micromodem](INFO): Nmea in: $CAREV,181010,AUV,2.1.4000*23

2021-12-04T18:10:10.002Z,1638641410.002 [Micromodem](INFO): Nmea in: $CAREV,181010,COPROC,0.20.0.39330*72

2021-12-04T18:10:10.087Z,1638641410.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:12.843Z,1638641412.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:15.668Z,1638641415.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:18.485Z,1638641418.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:19.751Z,1638641419.751 [Micromodem](INFO): Nmea in: $CAREV,181020,AUV,2.1.4000*20

2021-12-04T18:10:19.753Z,1638641419.753 [Micromodem](INFO): Nmea in: $CAREV,181020,COPROC,0.20.0.39330*71

2021-12-04T18:10:21.324Z,1638641421.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:24.173Z,1638641424.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:26.991Z,1638641426.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:29.792Z,1638641429.792 [Micromodem](INFO): Nmea in: $CAREV,181030,AUV,2.1.4000*21

2021-12-04T18:10:29.793Z,1638641429.793 [Micromodem](INFO): Nmea in: $CAREV,181030,COPROC,0.20.0.39330*70

2021-12-04T18:10:29.852Z,1638641429.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:32.632Z,1638641432.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:35.459Z,1638641435.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:38.304Z,1638641438.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:39.888Z,1638641439.888 [Micromodem](INFO): Nmea in: $CAREV,181040,AUV,2.1.4000*26

2021-12-04T18:10:39.891Z,1638641439.891 [Micromodem](INFO): Nmea in: $CAREV,181040,COPROC,0.20.0.39330*77

2021-12-04T18:10:41.131Z,1638641441.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:44.009Z,1638641444.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:46.771Z,1638641446.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:49.620Z,1638641449.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:49.999Z,1638641449.999 [Micromodem](INFO): Nmea in: $CAREV,181050,AUV,2.1.4000*27

2021-12-04T18:10:50.002Z,1638641450.002 [Micromodem](INFO): Nmea in: $CAREV,181050,COPROC,0.20.0.39330*76

2021-12-04T18:10:52.028Z,1638641452.028 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:10:52.438Z,1638641452.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:55.265Z,1638641455.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:58.131Z,1638641458.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:10:59.770Z,1638641459.770 [Micromodem](INFO): Nmea in: $CAREV,181100,AUV,2.1.4000*23

2021-12-04T18:10:59.771Z,1638641459.771 [Micromodem](INFO): Nmea in: $CAREV,181100,COPROC,0.20.0.39330*72

2021-12-04T18:10:59.779Z,1638641459.779 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-12-04T18:11:00.953Z,1638641460.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:03.813Z,1638641463.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:06.571Z,1638641466.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:09.392Z,1638641469.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:09.784Z,1638641469.784 [Micromodem](INFO): Nmea in: $CAREV,181110,AUV,2.1.4000*22

2021-12-04T18:11:09.785Z,1638641469.785 [Micromodem](INFO): Nmea in: $CAREV,181110,COPROC,0.20.0.39330*73

2021-12-04T18:11:09.800Z,1638641469.800 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T18:11:12.245Z,1638641472.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:15.078Z,1638641475.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:17.908Z,1638641477.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:19.888Z,1638641479.888 [Micromodem](INFO): Nmea in: $CAREV,181120,AUV,2.1.4000*21

2021-12-04T18:11:19.890Z,1638641479.890 [Micromodem](INFO): Nmea in: $CAREV,181120,COPROC,0.20.0.39330*70

2021-12-04T18:11:19.905Z,1638641479.905 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T18:11:20.713Z,1638641480.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:23.539Z,1638641483.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:26.363Z,1638641486.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:29.214Z,1638641489.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:29.999Z,1638641489.999 [Micromodem](INFO): Nmea in: $CAREV,181130,AUV,2.1.4000*20

2021-12-04T18:11:30.000Z,1638641490.000 [Micromodem](INFO): Nmea in: $CAREV,181130,COPROC,0.20.0.39330*71

2021-12-04T18:11:30.048Z,1638641490.048 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T18:11:30.048Z,1638641490.048 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T18:11:30.048Z,1638641490.048 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T18:11:30.137Z,1638641490.137 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T18:11:30.454Z,1638641490.454 [RDI_Pathfinder](INFO): Powering down
2021-12-04T18:11:31.265Z,1638641491.265 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T18:11:31.265Z,1638641491.265 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T18:11:32.035Z,1638641492.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:34.854Z,1638641494.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:37.680Z,1638641497.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:40.088Z,1638641500.088 [Micromodem](INFO): Nmea in: $CAREV,181140,AUV,2.1.4000*27

2021-12-04T18:11:40.089Z,1638641500.089 [Micromodem](INFO): Nmea in: $CAREV,181140,COPROC,0.20.0.39330*76

2021-12-04T18:11:40.505Z,1638641500.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:43.342Z,1638641503.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:46.183Z,1638641506.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:49.003Z,1638641509.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:49.793Z,1638641509.793 [Micromodem](INFO): Nmea in: $CAREV,181150,AUV,2.1.4000*26

2021-12-04T18:11:49.795Z,1638641509.795 [Micromodem](INFO): Nmea in: $CAREV,181150,COPROC,0.20.0.39330*77

2021-12-04T18:11:51.857Z,1638641511.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:54.637Z,1638641514.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:57.494Z,1638641517.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:11:59.884Z,1638641519.884 [Micromodem](INFO): Nmea in: $CAREV,181200,AUV,2.1.4000*20

2021-12-04T18:11:59.886Z,1638641519.886 [Micromodem](INFO): Nmea in: $CAREV,181200,COPROC,0.20.0.39330*71

2021-12-04T18:12:00.005Z,1638641520.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:02.724Z,1638641522.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:05.546Z,1638641525.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:08.380Z,1638641528.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:09.981Z,1638641529.981 [Micromodem](INFO): Nmea in: $CAREV,181210,AUV,2.1.4000*21

2021-12-04T18:12:09.982Z,1638641529.982 [Micromodem](INFO): Nmea in: $CAREV,181210,COPROC,0.20.0.39330*70

2021-12-04T18:12:11.233Z,1638641531.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:14.067Z,1638641534.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:16.873Z,1638641536.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:19.736Z,1638641539.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:20.084Z,1638641540.084 [Micromodem](INFO): Nmea in: $CAREV,181220,AUV,2.1.4000*22

2021-12-04T18:12:20.085Z,1638641540.085 [Micromodem](INFO): Nmea in: $CAREV,181220,COPROC,0.20.0.39330*73

2021-12-04T18:12:22.519Z,1638641542.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:25.361Z,1638641545.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:28.192Z,1638641548.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:29.814Z,1638641549.814 [Micromodem](INFO): Nmea in: $CAREV,181230,AUV,2.1.4000*23

2021-12-04T18:12:29.815Z,1638641549.815 [Micromodem](INFO): Nmea in: $CAREV,181230,COPROC,0.20.0.39330*72

2021-12-04T18:12:31.050Z,1638641551.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:33.863Z,1638641553.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:36.670Z,1638641556.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:39.484Z,1638641559.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:39.902Z,1638641559.902 [Micromodem](INFO): Nmea in: $CAREV,181240,AUV,2.1.4000*24

2021-12-04T18:12:39.904Z,1638641559.904 [Micromodem](INFO): Nmea in: $CAREV,181240,COPROC,0.20.0.39330*75

2021-12-04T18:12:41.984Z,1638641561.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:44.752Z,1638641564.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:47.564Z,1638641567.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:49.980Z,1638641569.980 [Micromodem](INFO): Nmea in: $CAREV,181250,AUV,2.1.4000*25

2021-12-04T18:12:49.981Z,1638641569.981 [Micromodem](INFO): Nmea in: $CAREV,181250,COPROC,0.20.0.39330*74

2021-12-04T18:12:50.401Z,1638641570.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:53.250Z,1638641573.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:56.113Z,1638641576.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:12:58.874Z,1638641578.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:00.076Z,1638641580.076 [Micromodem](INFO): Nmea in: $CAREV,181300,AUV,2.1.4000*21

2021-12-04T18:13:00.077Z,1638641580.077 [Micromodem](INFO): Nmea in: $CAREV,181300,COPROC,0.20.0.39330*70

2021-12-04T18:13:01.735Z,1638641581.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:04.536Z,1638641584.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:07.363Z,1638641587.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:09.788Z,1638641589.788 [Micromodem](INFO): Nmea in: $CAREV,181310,AUV,2.1.4000*20

2021-12-04T18:13:09.789Z,1638641589.789 [Micromodem](INFO): Nmea in: $CAREV,181310,COPROC,0.20.0.39330*71

2021-12-04T18:13:10.219Z,1638641590.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:13.030Z,1638641593.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:15.863Z,1638641595.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:18.672Z,1638641598.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:19.876Z,1638641599.876 [Micromodem](INFO): Nmea in: $CAREV,181320,AUV,2.1.4000*23

2021-12-04T18:13:19.878Z,1638641599.878 [Micromodem](INFO): Nmea in: $CAREV,181320,COPROC,0.20.0.39330*72

2021-12-04T18:13:21.503Z,1638641601.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:24.331Z,1638641604.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:26.868Z,1638641606.868 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:29.741Z,1638641609.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:30.085Z,1638641610.085 [Micromodem](INFO): Nmea in: $CAREV,181330,AUV,2.1.4000*22

2021-12-04T18:13:30.089Z,1638641610.089 [Micromodem](INFO): Nmea in: $CAREV,181330,COPROC,0.20.0.39330*73

2021-12-04T18:13:32.527Z,1638641612.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:35.345Z,1638641615.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:38.201Z,1638641618.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:39.789Z,1638641619.789 [Micromodem](INFO): Nmea in: $CAREV,181340,AUV,2.1.4000*25

2021-12-04T18:13:39.791Z,1638641619.791 [Micromodem](INFO): Nmea in: $CAREV,181340,COPROC,0.20.0.39330*74

2021-12-04T18:13:41.033Z,1638641621.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:43.847Z,1638641623.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:46.657Z,1638641626.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:49.484Z,1638641629.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:49.884Z,1638641629.884 [Micromodem](INFO): Nmea in: $CAREV,181350,AUV,2.1.4000*24

2021-12-04T18:13:49.885Z,1638641629.885 [Micromodem](INFO): Nmea in: $CAREV,181350,COPROC,0.20.0.39330*75

2021-12-04T18:13:52.317Z,1638641632.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:55.177Z,1638641635.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:58.025Z,1638641638.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:13:59.980Z,1638641639.980 [Micromodem](INFO): Nmea in: $CAREV,181400,AUV,2.1.4000*26

2021-12-04T18:13:59.982Z,1638641639.982 [Micromodem](INFO): Nmea in: $CAREV,181400,COPROC,0.20.0.39330*77

2021-12-04T18:14:00.806Z,1638641640.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:03.645Z,1638641643.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:06.467Z,1638641646.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:09.297Z,1638641649.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:10.087Z,1638641650.087 [Micromodem](INFO): Nmea in: $CAREV,181410,AUV,2.1.4000*27

2021-12-04T18:14:10.088Z,1638641650.088 [Micromodem](INFO): Nmea in: $CAREV,181410,COPROC,0.20.0.39330*76

2021-12-04T18:14:12.138Z,1638641652.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:14.975Z,1638641654.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:17.790Z,1638641657.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:19.794Z,1638641659.794 [Micromodem](INFO): Nmea in: $CAREV,181420,AUV,2.1.4000*24

2021-12-04T18:14:19.795Z,1638641659.795 [Micromodem](INFO): Nmea in: $CAREV,181420,COPROC,0.20.0.39330*75

2021-12-04T18:14:20.593Z,1638641660.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:23.418Z,1638641663.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:26.257Z,1638641666.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:29.100Z,1638641669.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:29.899Z,1638641669.899 [Micromodem](INFO): Nmea in: $CAREV,181430,AUV,2.1.4000*25

2021-12-04T18:14:29.900Z,1638641669.900 [Micromodem](INFO): Nmea in: $CAREV,181430,COPROC,0.20.0.39330*74

2021-12-04T18:14:31.972Z,1638641671.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:34.739Z,1638641674.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:37.558Z,1638641677.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:39.972Z,1638641679.972 [Micromodem](INFO): Nmea in: $CAREV,181440,AUV,2.1.4000*22

2021-12-04T18:14:39.974Z,1638641679.974 [Micromodem](INFO): Nmea in: $CAREV,181440,COPROC,0.20.0.39330*73

2021-12-04T18:14:40.392Z,1638641680.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:43.231Z,1638641683.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:46.093Z,1638641686.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:48.876Z,1638641688.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:50.081Z,1638641690.081 [Micromodem](INFO): Nmea in: $CAREV,181450,AUV,2.1.4000*23

2021-12-04T18:14:50.083Z,1638641690.083 [Micromodem](INFO): Nmea in: $CAREV,181450,COPROC,0.20.0.39330*72

2021-12-04T18:14:51.747Z,1638641691.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:54.528Z,1638641694.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:14:54.974Z,1638641694.974 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:14:57.360Z,1638641697.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:00.170Z,1638641700.170 [Micromodem](INFO): Nmea in: $CAREV,181500,AUV,2.1.4000*27

2021-12-04T18:15:00.171Z,1638641700.171 [Micromodem](INFO): Nmea in: $CAREV,181500,COPROC,0.20.0.39330*76

2021-12-04T18:15:00.217Z,1638641700.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:03.035Z,1638641703.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:05.857Z,1638641705.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:08.671Z,1638641708.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:09.873Z,1638641709.873 [Micromodem](INFO): Nmea in: $CAREV,181510,AUV,2.1.4000*26

2021-12-04T18:15:09.874Z,1638641709.874 [Micromodem](INFO): Nmea in: $CAREV,181510,COPROC,0.20.0.39330*77

2021-12-04T18:15:11.508Z,1638641711.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:14.324Z,1638641714.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:15.125Z,1638641715.125 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:15:17.164Z,1638641717.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:19.968Z,1638641719.968 [Micromodem](INFO): Nmea in: $CAREV,181520,AUV,2.1.4000*25

2021-12-04T18:15:19.970Z,1638641719.970 [Micromodem](INFO): Nmea in: $CAREV,181520,COPROC,0.20.0.39330*74

2021-12-04T18:15:20.010Z,1638641720.010 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:15:20.020Z,1638641720.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:22.818Z,1638641722.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:25.230Z,1638641725.230 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T18:15:25.695Z,1638641725.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:28.462Z,1638641728.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:30.068Z,1638641730.068 [Micromodem](INFO): Nmea in: $CAREV,181530,AUV,2.1.4000*24

2021-12-04T18:15:30.069Z,1638641730.069 [Micromodem](INFO): Nmea in: $CAREV,181530,COPROC,0.20.0.39330*75

2021-12-04T18:15:31.318Z,1638641731.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:34.134Z,1638641734.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:34.976Z,1638641734.976 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T18:15:36.996Z,1638641736.996 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:39.822Z,1638641739.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:40.176Z,1638641740.176 [Micromodem](INFO): Nmea in: $CAREV,181540,AUV,2.1.4000*23

2021-12-04T18:15:40.177Z,1638641740.177 [Micromodem](INFO): Nmea in: $CAREV,181540,COPROC,0.20.0.39330*72

2021-12-04T18:15:40.187Z,1638641740.187 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:15:42.607Z,1638641742.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:45.454Z,1638641745.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:48.281Z,1638641748.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:49.877Z,1638641749.877 [Micromodem](INFO): Nmea in: $CAREV,181550,AUV,2.1.4000*22

2021-12-04T18:15:49.878Z,1638641749.878 [Micromodem](INFO): Nmea in: $CAREV,181550,COPROC,0.20.0.39330*73

2021-12-04T18:15:51.123Z,1638641751.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:53.985Z,1638641753.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:55.129Z,1638641755.129 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:15:56.748Z,1638641756.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:59.576Z,1638641759.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:15:59.981Z,1638641759.981 [Micromodem](INFO): Nmea in: $CAREV,181600,AUV,2.1.4000*24

2021-12-04T18:15:59.983Z,1638641759.983 [Micromodem](INFO): Nmea in: $CAREV,181600,COPROC,0.20.0.39330*75

2021-12-04T18:16:02.404Z,1638641762.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:05.244Z,1638641765.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:08.076Z,1638641768.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:10.063Z,1638641770.063 [Micromodem](INFO): Nmea in: $CAREV,181610,AUV,2.1.4000*25

2021-12-04T18:16:10.064Z,1638641770.064 [Micromodem](INFO): Nmea in: $CAREV,181610,COPROC,0.20.0.39330*74

2021-12-04T18:16:10.901Z,1638641770.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:13.735Z,1638641773.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:16.544Z,1638641776.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:19.388Z,1638641779.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:20.168Z,1638641780.168 [Micromodem](INFO): Nmea in: $CAREV,181620,AUV,2.1.4000*26

2021-12-04T18:16:20.170Z,1638641780.170 [Micromodem](INFO): Nmea in: $CAREV,181620,COPROC,0.20.0.39330*77

2021-12-04T18:16:22.209Z,1638641782.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:25.041Z,1638641785.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:27.895Z,1638641787.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:29.864Z,1638641789.864 [Micromodem](INFO): Nmea in: $CAREV,181630,AUV,2.1.4000*27

2021-12-04T18:16:29.865Z,1638641789.865 [Micromodem](INFO): Nmea in: $CAREV,181630,COPROC,0.20.0.39330*76

2021-12-04T18:16:30.687Z,1638641790.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:33.515Z,1638641793.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:36.058Z,1638641796.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:38.761Z,1638641798.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:40.009Z,1638641800.009 [Micromodem](INFO): Nmea in: $CAREV,181640,AUV,2.1.4000*20

2021-12-04T18:16:40.010Z,1638641800.010 [Micromodem](INFO): Nmea in: $CAREV,181640,COPROC,0.20.0.39330*71

2021-12-04T18:16:41.635Z,1638641801.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:44.413Z,1638641804.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:47.269Z,1638641807.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:50.069Z,1638641810.069 [Micromodem](INFO): Nmea in: $CAREV,181650,AUV,2.1.4000*21

2021-12-04T18:16:50.070Z,1638641810.070 [Micromodem](INFO): Nmea in: $CAREV,181650,COPROC,0.20.0.39330*70

2021-12-04T18:16:50.091Z,1638641810.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:52.907Z,1638641812.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:55.755Z,1638641815.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:16:58.575Z,1638641818.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:00.163Z,1638641820.163 [Micromodem](INFO): Nmea in: $CAREV,181700,AUV,2.1.4000*25

2021-12-04T18:17:00.164Z,1638641820.164 [Micromodem](INFO): Nmea in: $CAREV,181700,COPROC,0.20.0.39330*74

2021-12-04T18:17:01.192Z,1638641821.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:03.845Z,1638641823.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:06.636Z,1638641826.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:09.475Z,1638641829.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:09.867Z,1638641829.867 [Micromodem](INFO): Nmea in: $CAREV,181710,AUV,2.1.4000*24

2021-12-04T18:17:09.869Z,1638641829.869 [Micromodem](INFO): Nmea in: $CAREV,181710,COPROC,0.20.0.39330*75

2021-12-04T18:17:12.301Z,1638641832.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:15.128Z,1638641835.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:18.009Z,1638641838.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:19.970Z,1638641839.970 [Micromodem](INFO): Nmea in: $CAREV,181720,AUV,2.1.4000*27

2021-12-04T18:17:19.971Z,1638641839.971 [Micromodem](INFO): Nmea in: $CAREV,181720,COPROC,0.20.0.39330*76

2021-12-04T18:17:20.779Z,1638641840.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:23.637Z,1638641843.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:26.430Z,1638641846.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:29.275Z,1638641849.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:30.060Z,1638641850.060 [Micromodem](INFO): Nmea in: $CAREV,181730,AUV,2.1.4000*26

2021-12-04T18:17:30.061Z,1638641850.061 [Micromodem](INFO): Nmea in: $CAREV,181730,COPROC,0.20.0.39330*77

2021-12-04T18:17:32.134Z,1638641852.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:34.969Z,1638641854.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:37.789Z,1638641857.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:40.160Z,1638641860.160 [Micromodem](INFO): Nmea in: $CAREV,181740,AUV,2.1.4000*21

2021-12-04T18:17:40.161Z,1638641860.161 [Micromodem](INFO): Nmea in: $CAREV,181740,COPROC,0.20.0.39330*70

2021-12-04T18:17:40.592Z,1638641860.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:43.403Z,1638641863.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:46.243Z,1638641866.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:49.064Z,1638641869.064 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:49.865Z,1638641869.865 [Micromodem](INFO): Nmea in: $CAREV,181750,AUV,2.1.4000*20

2021-12-04T18:17:49.866Z,1638641869.866 [Micromodem](INFO): Nmea in: $CAREV,181750,COPROC,0.20.0.39330*71

2021-12-04T18:17:51.969Z,1638641871.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:54.721Z,1638641874.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:57.546Z,1638641877.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:17:59.964Z,1638641879.964 [Micromodem](INFO): Nmea in: $CAREV,181800,AUV,2.1.4000*2A

2021-12-04T18:17:59.966Z,1638641879.966 [Micromodem](INFO): Nmea in: $CAREV,181800,COPROC,0.20.0.39330*7B

2021-12-04T18:18:00.069Z,1638641880.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:02.796Z,1638641882.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:05.695Z,1638641885.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:08.465Z,1638641888.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:10.093Z,1638641890.093 [Micromodem](INFO): Nmea in: $CAREV,181810,AUV,2.1.4000*2B

2021-12-04T18:18:10.095Z,1638641890.095 [Micromodem](INFO): Nmea in: $CAREV,181810,COPROC,0.20.0.39330*7A

2021-12-04T18:18:11.294Z,1638641891.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:14.117Z,1638641894.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:16.971Z,1638641896.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:19.784Z,1638641899.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:20.152Z,1638641900.152 [Micromodem](INFO): Nmea in: $CAREV,181820,AUV,2.1.4000*28

2021-12-04T18:18:20.153Z,1638641900.153 [Micromodem](INFO): Nmea in: $CAREV,181820,COPROC,0.20.0.39330*79

2021-12-04T18:18:22.588Z,1638641902.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:25.420Z,1638641905.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:28.287Z,1638641908.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:29.857Z,1638641909.857 [Micromodem](INFO): Nmea in: $CAREV,181830,AUV,2.1.4000*29

2021-12-04T18:18:29.859Z,1638641909.859 [Micromodem](INFO): Nmea in: $CAREV,181830,COPROC,0.20.0.39330*78

2021-12-04T18:18:31.098Z,1638641911.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:33.979Z,1638641913.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:36.728Z,1638641916.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:39.554Z,1638641919.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:39.962Z,1638641919.962 [Micromodem](INFO): Nmea in: $CAREV,181840,AUV,2.1.4000*2E

2021-12-04T18:18:39.963Z,1638641919.963 [Micromodem](INFO): Nmea in: $CAREV,181840,COPROC,0.20.0.39330*7F

2021-12-04T18:18:42.383Z,1638641922.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:45.228Z,1638641925.228 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:48.092Z,1638641928.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:50.052Z,1638641930.052 [Micromodem](INFO): Nmea in: $CAREV,181850,AUV,2.1.4000*2F

2021-12-04T18:18:50.053Z,1638641930.053 [Micromodem](INFO): Nmea in: $CAREV,181850,COPROC,0.20.0.39330*7E

2021-12-04T18:18:50.867Z,1638641930.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:53.744Z,1638641933.744 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:56.527Z,1638641936.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:18:59.356Z,1638641939.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:00.152Z,1638641940.152 [Micromodem](INFO): Nmea in: $CAREV,181900,AUV,2.1.4000*2B

2021-12-04T18:19:00.154Z,1638641940.154 [Micromodem](INFO): Nmea in: $CAREV,181900,COPROC,0.20.0.39330*7A

2021-12-04T18:19:02.204Z,1638641942.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:05.029Z,1638641945.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:07.863Z,1638641947.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:09.852Z,1638641949.852 [Micromodem](INFO): Nmea in: $CAREV,181910,AUV,2.1.4000*2A

2021-12-04T18:19:09.853Z,1638641949.853 [Micromodem](INFO): Nmea in: $CAREV,181910,COPROC,0.20.0.39330*7B

2021-12-04T18:19:10.672Z,1638641950.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:13.495Z,1638641953.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:16.356Z,1638641956.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:19.170Z,1638641959.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:19.959Z,1638641959.959 [Micromodem](INFO): Nmea in: $CAREV,181920,AUV,2.1.4000*29

2021-12-04T18:19:19.960Z,1638641959.960 [Micromodem](INFO): Nmea in: $CAREV,181920,COPROC,0.20.0.39330*78

2021-12-04T18:19:22.042Z,1638641962.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:24.808Z,1638641964.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:27.698Z,1638641967.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:30.044Z,1638641970.044 [Micromodem](INFO): Nmea in: $CAREV,181930,AUV,2.1.4000*28

2021-12-04T18:19:30.046Z,1638641970.046 [Micromodem](INFO): Nmea in: $CAREV,181930,COPROC,0.20.0.39330*79

2021-12-04T18:19:30.463Z,1638641970.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:33.317Z,1638641973.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:36.136Z,1638641976.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:38.974Z,1638641978.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:40.159Z,1638641980.159 [Micromodem](INFO): Nmea in: $CAREV,181940,AUV,2.1.4000*2F

2021-12-04T18:19:40.160Z,1638641980.160 [Micromodem](INFO): Nmea in: $CAREV,181940,COPROC,0.20.0.39330*7E

2021-12-04T18:19:41.823Z,1638641981.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:44.604Z,1638641984.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:47.431Z,1638641987.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:49.855Z,1638641989.855 [Micromodem](INFO): Nmea in: $CAREV,181950,AUV,2.1.4000*2E

2021-12-04T18:19:49.856Z,1638641989.856 [Micromodem](INFO): Nmea in: $CAREV,181950,COPROC,0.20.0.39330*7F

2021-12-04T18:19:49.953Z,1638641989.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:52.686Z,1638641992.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:55.516Z,1638641995.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:58.336Z,1638641998.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:19:59.956Z,1638641999.956 [Micromodem](INFO): Nmea in: $CAREV,182000,AUV,2.1.4000*21

2021-12-04T18:19:59.958Z,1638641999.958 [Micromodem](INFO): Nmea in: $CAREV,182000,COPROC,0.20.0.39330*70

2021-12-04T18:20:01.172Z,1638642001.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:04.027Z,1638642004.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:06.828Z,1638642006.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:09.719Z,1638642009.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:10.039Z,1638642010.039 [Micromodem](INFO): Nmea in: $CAREV,182010,AUV,2.1.4000*20

2021-12-04T18:20:10.040Z,1638642010.040 [Micromodem](INFO): Nmea in: $CAREV,182010,COPROC,0.20.0.39330*71

2021-12-04T18:20:12.480Z,1638642012.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:15.327Z,1638642015.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:18.167Z,1638642018.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:20.161Z,1638642020.161 [Micromodem](INFO): Nmea in: $CAREV,182020,AUV,2.1.4000*23

2021-12-04T18:20:20.177Z,1638642020.177 [Micromodem](INFO): Nmea in: $CAREV,182020,COPROC,0.20.0.39330*72

2021-12-04T18:20:21.182Z,1638642021.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:23.845Z,1638642023.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:26.631Z,1638642026.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:29.444Z,1638642029.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:29.852Z,1638642029.852 [Micromodem](INFO): Nmea in: $CAREV,182030,AUV,2.1.4000*22

2021-12-04T18:20:30.252Z,1638642030.252 [Micromodem](INFO): Nmea in: $CAREV,182030,COPROC,0.20.0.39330*73

2021-12-04T18:20:32.302Z,1638642032.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:35.127Z,1638642035.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:37.999Z,1638642037.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:39.961Z,1638642039.961 [Micromodem](INFO): Nmea in: $CAREV,182040,AUV,2.1.4000*25

2021-12-04T18:20:39.962Z,1638642039.962 [Micromodem](INFO): Nmea in: $CAREV,182040,COPROC,0.20.0.39330*74

2021-12-04T18:20:40.771Z,1638642040.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:43.588Z,1638642043.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:46.416Z,1638642046.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:49.265Z,1638642049.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:50.043Z,1638642050.043 [Micromodem](INFO): Nmea in: $CAREV,182050,AUV,2.1.4000*24

2021-12-04T18:20:50.044Z,1638642050.044 [Micromodem](INFO): Nmea in: $CAREV,182050,COPROC,0.20.0.39330*75

2021-12-04T18:20:52.086Z,1638642052.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:54.924Z,1638642054.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:20:57.747Z,1638642057.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:00.136Z,1638642060.136 [Micromodem](INFO): Nmea in: $CAREV,182100,AUV,2.1.4000*20

2021-12-04T18:21:00.137Z,1638642060.137 [Micromodem](INFO): Nmea in: $CAREV,182100,COPROC,0.20.0.39330*71

2021-12-04T18:21:00.560Z,1638642060.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:03.416Z,1638642063.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:06.273Z,1638642066.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:09.088Z,1638642069.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:09.875Z,1638642069.875 [Micromodem](INFO): Nmea in: $CAREV,182110,AUV,2.1.4000*21

2021-12-04T18:21:09.876Z,1638642069.876 [Micromodem](INFO): Nmea in: $CAREV,182110,COPROC,0.20.0.39330*70

2021-12-04T18:21:11.976Z,1638642071.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:14.740Z,1638642074.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:17.567Z,1638642077.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:19.971Z,1638642079.971 [Micromodem](INFO): Nmea in: $CAREV,182120,AUV,2.1.4000*22

2021-12-04T18:21:19.972Z,1638642079.972 [Micromodem](INFO): Nmea in: $CAREV,182120,COPROC,0.20.0.39330*73

2021-12-04T18:21:20.380Z,1638642080.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:23.251Z,1638642083.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:26.077Z,1638642086.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:28.875Z,1638642088.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:30.069Z,1638642090.069 [Micromodem](INFO): Nmea in: $CAREV,182130,AUV,2.1.4000*23

2021-12-04T18:21:30.070Z,1638642090.070 [Micromodem](INFO): Nmea in: $CAREV,182130,COPROC,0.20.0.39330*72

2021-12-04T18:21:31.733Z,1638642091.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:34.524Z,1638642094.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:37.362Z,1638642097.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:40.164Z,1638642100.164 [Micromodem](INFO): Nmea in: $CAREV,182140,AUV,2.1.4000*24

2021-12-04T18:21:40.166Z,1638642100.166 [Micromodem](INFO): Nmea in: $CAREV,182140,COPROC,0.20.0.39330*75

2021-12-04T18:21:40.188Z,1638642100.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:43.012Z,1638642103.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:45.861Z,1638642105.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:48.667Z,1638642108.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:49.877Z,1638642109.877 [Micromodem](INFO): Nmea in: $CAREV,182150,AUV,2.1.4000*25

2021-12-04T18:21:49.879Z,1638642109.879 [Micromodem](INFO): Nmea in: $CAREV,182150,COPROC,0.20.0.39330*74

2021-12-04T18:21:51.500Z,1638642111.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:54.011Z,1638642114.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:56.765Z,1638642116.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:59.595Z,1638642119.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:21:59.997Z,1638642119.997 [Micromodem](INFO): Nmea in: $CAREV,182200,AUV,2.1.4000*23

2021-12-04T18:21:59.998Z,1638642119.998 [Micromodem](INFO): Nmea in: $CAREV,182200,COPROC,0.20.0.39330*72

2021-12-04T18:22:02.424Z,1638642122.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:05.312Z,1638642125.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:08.090Z,1638642128.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:10.093Z,1638642130.093 [Micromodem](INFO): Nmea in: $CAREV,182210,AUV,2.1.4000*22

2021-12-04T18:22:10.094Z,1638642130.094 [Micromodem](INFO): Nmea in: $CAREV,182210,COPROC,0.20.0.39330*73

2021-12-04T18:22:10.936Z,1638642130.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:13.770Z,1638642133.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:16.571Z,1638642136.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:19.391Z,1638642139.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:20.195Z,1638642140.195 [Micromodem](INFO): Nmea in: $CAREV,182220,AUV,2.1.4000*21

2021-12-04T18:22:20.196Z,1638642140.196 [Micromodem](INFO): Nmea in: $CAREV,182220,COPROC,0.20.0.39330*70

2021-12-04T18:22:22.230Z,1638642142.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:25.052Z,1638642145.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:27.921Z,1638642147.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:29.894Z,1638642149.894 [Micromodem](INFO): Nmea in: $CAREV,182230,AUV,2.1.4000*20

2021-12-04T18:22:29.895Z,1638642149.895 [Micromodem](INFO): Nmea in: $CAREV,182230,COPROC,0.20.0.39330*71

2021-12-04T18:22:30.704Z,1638642150.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:33.531Z,1638642153.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:36.361Z,1638642156.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:39.208Z,1638642159.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:39.997Z,1638642159.997 [Micromodem](INFO): Nmea in: $CAREV,182240,AUV,2.1.4000*27

2021-12-04T18:22:39.999Z,1638642159.999 [Micromodem](INFO): Nmea in: $CAREV,182240,COPROC,0.20.0.39330*76

2021-12-04T18:22:42.049Z,1638642162.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:44.841Z,1638642164.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:47.722Z,1638642167.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:50.078Z,1638642170.078 [Micromodem](INFO): Nmea in: $CAREV,182250,AUV,2.1.4000*26

2021-12-04T18:22:50.079Z,1638642170.079 [Micromodem](INFO): Nmea in: $CAREV,182250,COPROC,0.20.0.39330*77

2021-12-04T18:22:50.499Z,1638642170.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:53.346Z,1638642173.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:56.166Z,1638642176.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:22:58.993Z,1638642178.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:00.196Z,1638642180.196 [Micromodem](INFO): Nmea in: $CAREV,182300,AUV,2.1.4000*22

2021-12-04T18:23:00.197Z,1638642180.197 [Micromodem](INFO): Nmea in: $CAREV,182300,COPROC,0.20.0.39330*73

2021-12-04T18:23:01.841Z,1638642181.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:04.646Z,1638642184.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:07.488Z,1638642187.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:09.893Z,1638642189.893 [Micromodem](INFO): Nmea in: $CAREV,182310,AUV,2.1.4000*23

2021-12-04T18:23:09.894Z,1638642189.894 [Micromodem](INFO): Nmea in: $CAREV,182310,COPROC,0.20.0.39330*72

2021-12-04T18:23:09.995Z,1638642189.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:12.714Z,1638642192.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:15.564Z,1638642195.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:18.380Z,1638642198.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:19.982Z,1638642199.982 [Micromodem](INFO): Nmea in: $CAREV,182320,AUV,2.1.4000*20

2021-12-04T18:23:19.983Z,1638642199.983 [Micromodem](INFO): Nmea in: $CAREV,182320,COPROC,0.20.0.39330*71

2021-12-04T18:23:21.213Z,1638642201.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:24.075Z,1638642204.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:26.853Z,1638642206.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:29.724Z,1638642209.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:30.098Z,1638642210.098 [Micromodem](INFO): Nmea in: $CAREV,182330,AUV,2.1.4000*21

2021-12-04T18:23:30.114Z,1638642210.114 [Micromodem](INFO): Nmea in: $CAREV,182330,COPROC,0.20.0.39330*70

2021-12-04T18:23:32.526Z,1638642212.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:35.352Z,1638642215.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:38.194Z,1638642218.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:40.177Z,1638642220.177 [Micromodem](INFO): Nmea in: $CAREV,182340,AUV,2.1.4000*26

2021-12-04T18:23:40.178Z,1638642220.178 [Micromodem](INFO): Nmea in: $CAREV,182340,COPROC,0.20.0.39330*77

2021-12-04T18:23:41.017Z,1638642221.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:43.846Z,1638642223.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:46.656Z,1638642226.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:49.483Z,1638642229.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:49.910Z,1638642229.910 [Micromodem](INFO): Nmea in: $CAREV,182350,AUV,2.1.4000*27

2021-12-04T18:23:49.913Z,1638642229.913 [Micromodem](INFO): Nmea in: $CAREV,182350,COPROC,0.20.0.39330*76

2021-12-04T18:23:52.311Z,1638642232.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:55.164Z,1638642235.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:58.021Z,1638642238.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:23:59.973Z,1638642239.973 [Micromodem](INFO): Nmea in: $CAREV,182400,AUV,2.1.4000*25

2021-12-04T18:23:59.974Z,1638642239.974 [Micromodem](INFO): Nmea in: $CAREV,182400,COPROC,0.20.0.39330*74

2021-12-04T18:24:00.795Z,1638642240.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:03.693Z,1638642243.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:06.462Z,1638642246.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:09.295Z,1638642249.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:10.087Z,1638642250.087 [Micromodem](INFO): Nmea in: $CAREV,182410,AUV,2.1.4000*24

2021-12-04T18:24:10.088Z,1638642250.088 [Micromodem](INFO): Nmea in: $CAREV,182410,COPROC,0.20.0.39330*75

2021-12-04T18:24:12.115Z,1638642252.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:14.976Z,1638642254.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:17.783Z,1638642257.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:20.173Z,1638642260.173 [Micromodem](INFO): Nmea in: $CAREV,182420,AUV,2.1.4000*27

2021-12-04T18:24:20.174Z,1638642260.174 [Micromodem](INFO): Nmea in: $CAREV,182420,COPROC,0.20.0.39330*76

2021-12-04T18:24:20.600Z,1638642260.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:23.416Z,1638642263.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:26.265Z,1638642266.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:29.080Z,1638642269.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:30.271Z,1638642270.271 [Micromodem](INFO): Nmea in: $CAREV,182430,AUV,2.1.4000*26

2021-12-04T18:24:30.272Z,1638642270.272 [Micromodem](INFO): Nmea in: $CAREV,182430,COPROC,0.20.0.39330*77

2021-12-04T18:24:31.994Z,1638642271.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:34.725Z,1638642274.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:37.571Z,1638642277.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:39.968Z,1638642279.968 [Micromodem](INFO): Nmea in: $CAREV,182440,AUV,2.1.4000*21

2021-12-04T18:24:39.969Z,1638642279.969 [Micromodem](INFO): Nmea in: $CAREV,182440,COPROC,0.20.0.39330*70

2021-12-04T18:24:40.405Z,1638642280.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:43.225Z,1638642283.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:46.082Z,1638642286.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:48.878Z,1638642288.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:50.068Z,1638642290.068 [Micromodem](INFO): Nmea in: $CAREV,182450,AUV,2.1.4000*20

2021-12-04T18:24:50.070Z,1638642290.070 [Micromodem](INFO): Nmea in: $CAREV,182450,COPROC,0.20.0.39330*71

2021-12-04T18:24:51.723Z,1638642291.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:54.528Z,1638642294.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:24:57.376Z,1638642297.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:00.177Z,1638642300.177 [Micromodem](INFO): Nmea in: $CAREV,182500,AUV,2.1.4000*24

2021-12-04T18:25:00.179Z,1638642300.179 [Micromodem](INFO): Nmea in: $CAREV,182500,COPROC,0.20.0.39330*75

2021-12-04T18:25:00.201Z,1638642300.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:03.035Z,1638642303.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:05.879Z,1638642305.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:08.661Z,1638642308.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:10.272Z,1638642310.272 [Micromodem](INFO): Nmea in: $CAREV,182510,AUV,2.1.4000*25

2021-12-04T18:25:10.274Z,1638642310.274 [Micromodem](INFO): Nmea in: $CAREV,182510,COPROC,0.20.0.39330*74

2021-12-04T18:25:11.504Z,1638642311.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:14.321Z,1638642314.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:17.160Z,1638642317.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:19.966Z,1638642319.966 [Micromodem](INFO): Nmea in: $CAREV,182520,AUV,2.1.4000*26

2021-12-04T18:25:19.967Z,1638642319.967 [Micromodem](INFO): Nmea in: $CAREV,182520,COPROC,0.20.0.39330*77

2021-12-04T18:25:20.032Z,1638642320.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:22.816Z,1638642322.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:25.686Z,1638642325.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:28.464Z,1638642328.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:29.277Z,1638642329.277 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: -32768
2021-12-04T18:25:30.063Z,1638642330.063 [Micromodem](INFO): Nmea in: $CAREV,182530,AUV,2.1.4000*27

2021-12-04T18:25:30.064Z,1638642330.064 [Micromodem](INFO): Nmea in: $CAREV,182530,COPROC,0.20.0.39330*76

2021-12-04T18:25:31.320Z,1638642331.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:34.135Z,1638642334.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:36.971Z,1638642336.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:39.811Z,1638642339.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:40.168Z,1638642340.168 [Micromodem](INFO): Nmea in: $CAREV,182540,AUV,2.1.4000*20

2021-12-04T18:25:40.169Z,1638642340.169 [Micromodem](INFO): Nmea in: $CAREV,182540,COPROC,0.20.0.39330*71

2021-12-04T18:25:42.604Z,1638642342.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:45.455Z,1638642345.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:48.270Z,1638642348.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:50.269Z,1638642350.269 [Micromodem](INFO): Nmea in: $CAREV,182550,AUV,2.1.4000*21

2021-12-04T18:25:50.291Z,1638642350.291 [Micromodem](INFO): Nmea in: $CAREV,182550,COPROC,0.20.0.39330*70

2021-12-04T18:25:51.129Z,1638642351.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:53.990Z,1638642353.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:56.754Z,1638642356.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:59.571Z,1638642359.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:25:59.961Z,1638642359.961 [Micromodem](INFO): Nmea in: $CAREV,182600,AUV,2.1.4000*27

2021-12-04T18:25:59.963Z,1638642359.963 [Micromodem](INFO): Nmea in: $CAREV,182600,COPROC,0.20.0.39330*76

2021-12-04T18:26:02.396Z,1638642362.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:05.266Z,1638642365.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:08.079Z,1638642368.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:10.062Z,1638642370.062 [Micromodem](INFO): Nmea in: $CAREV,182610,AUV,2.1.4000*26

2021-12-04T18:26:10.063Z,1638642370.063 [Micromodem](INFO): Nmea in: $CAREV,182610,COPROC,0.20.0.39330*77

2021-12-04T18:26:10.898Z,1638642370.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:13.730Z,1638642373.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:16.535Z,1638642376.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:19.368Z,1638642379.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:20.169Z,1638642380.169 [Micromodem](INFO): Nmea in: $CAREV,182620,AUV,2.1.4000*25

2021-12-04T18:26:20.170Z,1638642380.170 [Micromodem](INFO): Nmea in: $CAREV,182620,COPROC,0.20.0.39330*74

2021-12-04T18:26:22.207Z,1638642382.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:25.038Z,1638642385.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:27.872Z,1638642387.872 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:30.276Z,1638642390.276 [Micromodem](INFO): Nmea in: $CAREV,182630,AUV,2.1.4000*24

2021-12-04T18:26:30.289Z,1638642390.289 [Micromodem](INFO): Nmea in: $CAREV,182630,COPROC,0.20.0.39330*75

2021-12-04T18:26:30.674Z,1638642390.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:33.508Z,1638642393.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:36.348Z,1638642396.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:39.171Z,1638642399.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:39.964Z,1638642399.964 [Micromodem](INFO): Nmea in: $CAREV,182640,AUV,2.1.4000*23

2021-12-04T18:26:39.966Z,1638642399.966 [Micromodem](INFO): Nmea in: $CAREV,182640,COPROC,0.20.0.39330*72

2021-12-04T18:26:42.032Z,1638642402.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:44.844Z,1638642404.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:47.710Z,1638642407.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:50.057Z,1638642410.057 [Micromodem](INFO): Nmea in: $CAREV,182650,AUV,2.1.4000*22

2021-12-04T18:26:50.058Z,1638642410.058 [Micromodem](INFO): Nmea in: $CAREV,182650,COPROC,0.20.0.39330*73

2021-12-04T18:26:50.539Z,1638642410.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:53.328Z,1638642413.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:56.136Z,1638642416.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:26:58.980Z,1638642418.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:00.155Z,1638642420.155 [Micromodem](INFO): Nmea in: $CAREV,182700,AUV,2.1.4000*26

2021-12-04T18:27:00.156Z,1638642420.156 [Micromodem](INFO): Nmea in: $CAREV,182700,COPROC,0.20.0.39330*77

2021-12-04T18:27:01.808Z,1638642421.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:04.612Z,1638642424.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:07.439Z,1638642427.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:10.256Z,1638642430.256 [Micromodem](INFO): Nmea in: $CAREV,182710,AUV,2.1.4000*27

2021-12-04T18:27:10.258Z,1638642430.258 [Micromodem](INFO): Nmea in: $CAREV,182710,COPROC,0.20.0.39330*76

2021-12-04T18:27:10.280Z,1638642430.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:13.104Z,1638642433.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:15.995Z,1638642435.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:18.756Z,1638642438.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:19.960Z,1638642439.960 [Micromodem](INFO): Nmea in: $CAREV,182720,AUV,2.1.4000*24

2021-12-04T18:27:19.962Z,1638642439.962 [Micromodem](INFO): Nmea in: $CAREV,182720,COPROC,0.20.0.39330*75

2021-12-04T18:27:21.584Z,1638642441.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:24.422Z,1638642444.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:27.247Z,1638642447.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:30.050Z,1638642450.050 [Micromodem](INFO): Nmea in: $CAREV,182730,AUV,2.1.4000*25

2021-12-04T18:27:30.051Z,1638642450.051 [Micromodem](INFO): Nmea in: $CAREV,182730,COPROC,0.20.0.39330*74

2021-12-04T18:27:30.075Z,1638642450.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:32.923Z,1638642452.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:35.752Z,1638642455.752 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:38.560Z,1638642458.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:40.159Z,1638642460.159 [Micromodem](INFO): Nmea in: $CAREV,182740,AUV,2.1.4000*22

2021-12-04T18:27:40.160Z,1638642460.160 [Micromodem](INFO): Nmea in: $CAREV,182740,COPROC,0.20.0.39330*73

2021-12-04T18:27:41.376Z,1638642461.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:44.233Z,1638642464.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:47.049Z,1638642467.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:49.888Z,1638642469.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:50.251Z,1638642470.251 [Micromodem](INFO): Nmea in: $CAREV,182750,AUV,2.1.4000*23

2021-12-04T18:27:50.252Z,1638642470.252 [Micromodem](INFO): Nmea in: $CAREV,182750,COPROC,0.20.0.39330*72

2021-12-04T18:27:52.691Z,1638642472.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:55.554Z,1638642475.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:58.354Z,1638642478.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:27:59.960Z,1638642479.960 [Micromodem](INFO): Nmea in: $CAREV,182800,AUV,2.1.4000*29

2021-12-04T18:27:59.970Z,1638642479.970 [Micromodem](INFO): Nmea in: $CAREV,182800,COPROC,0.20.0.39330*78

2021-12-04T18:28:01.193Z,1638642481.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:04.029Z,1638642484.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:06.831Z,1638642486.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:09.709Z,1638642489.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:10.058Z,1638642490.058 [Micromodem](INFO): Nmea in: $CAREV,182810,AUV,2.1.4000*28

2021-12-04T18:28:10.062Z,1638642490.062 [Micromodem](INFO): Nmea in: $CAREV,182810,COPROC,0.20.0.39330*79

2021-12-04T18:28:12.495Z,1638642492.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:15.322Z,1638642495.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:18.150Z,1638642498.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:20.148Z,1638642500.148 [Micromodem](INFO): Nmea in: $CAREV,182820,AUV,2.1.4000*2B

2021-12-04T18:28:20.149Z,1638642500.149 [Micromodem](INFO): Nmea in: $CAREV,182820,COPROC,0.20.0.39330*7A

2021-12-04T18:28:20.977Z,1638642500.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:23.828Z,1638642503.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:26.633Z,1638642506.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:29.456Z,1638642509.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:30.248Z,1638642510.248 [Micromodem](INFO): Nmea in: $CAREV,182830,AUV,2.1.4000*2A

2021-12-04T18:28:30.250Z,1638642510.250 [Micromodem](INFO): Nmea in: $CAREV,182830,COPROC,0.20.0.39330*7B

2021-12-04T18:28:32.330Z,1638642512.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:35.119Z,1638642515.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:38.014Z,1638642518.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:39.958Z,1638642519.958 [Micromodem](INFO): Nmea in: $CAREV,182840,AUV,2.1.4000*2D

2021-12-04T18:28:39.959Z,1638642519.959 [Micromodem](INFO): Nmea in: $CAREV,182840,COPROC,0.20.0.39330*7C

2021-12-04T18:28:40.779Z,1638642520.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:43.595Z,1638642523.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:46.418Z,1638642526.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:49.263Z,1638642529.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:50.056Z,1638642530.056 [Micromodem](INFO): Nmea in: $CAREV,182850,AUV,2.1.4000*2C

2021-12-04T18:28:50.057Z,1638642530.057 [Micromodem](INFO): Nmea in: $CAREV,182850,COPROC,0.20.0.39330*7D

2021-12-04T18:28:52.098Z,1638642532.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:54.959Z,1638642534.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:28:57.772Z,1638642537.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:00.148Z,1638642540.148 [Micromodem](INFO): Nmea in: $CAREV,182900,AUV,2.1.4000*28

2021-12-04T18:29:00.149Z,1638642540.149 [Micromodem](INFO): Nmea in: $CAREV,182900,COPROC,0.20.0.39330*79

2021-12-04T18:29:00.607Z,1638642540.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:03.408Z,1638642543.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:06.297Z,1638642546.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:09.062Z,1638642549.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:10.252Z,1638642550.252 [Micromodem](INFO): Nmea in: $CAREV,182910,AUV,2.1.4000*29

2021-12-04T18:29:10.254Z,1638642550.254 [Micromodem](INFO): Nmea in: $CAREV,182910,COPROC,0.20.0.39330*78

2021-12-04T18:29:11.931Z,1638642551.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:14.713Z,1638642554.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:17.536Z,1638642557.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:19.961Z,1638642559.961 [Micromodem](INFO): Nmea in: $CAREV,182920,AUV,2.1.4000*2A

2021-12-04T18:29:19.962Z,1638642559.962 [Micromodem](INFO): Nmea in: $CAREV,182920,COPROC,0.20.0.39330*7B

2021-12-04T18:29:20.039Z,1638642560.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:22.783Z,1638642562.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:25.689Z,1638642565.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:28.462Z,1638642568.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:30.058Z,1638642570.058 [Micromodem](INFO): Nmea in: $CAREV,182930,AUV,2.1.4000*2B

2021-12-04T18:29:30.060Z,1638642570.060 [Micromodem](INFO): Nmea in: $CAREV,182930,COPROC,0.20.0.39330*7A

2021-12-04T18:29:31.294Z,1638642571.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:34.135Z,1638642574.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:36.964Z,1638642576.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:39.781Z,1638642579.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:40.148Z,1638642580.148 [Micromodem](INFO): Nmea in: $CAREV,182940,AUV,2.1.4000*2C

2021-12-04T18:29:40.149Z,1638642580.149 [Micromodem](INFO): Nmea in: $CAREV,182940,COPROC,0.20.0.39330*7D

2021-12-04T18:29:42.580Z,1638642582.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:45.406Z,1638642585.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:48.264Z,1638642588.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:50.245Z,1638642590.245 [Micromodem](INFO): Nmea in: $CAREV,182950,AUV,2.1.4000*2D

2021-12-04T18:29:50.246Z,1638642590.246 [Micromodem](INFO): Nmea in: $CAREV,182950,COPROC,0.20.0.39330*7C

2021-12-04T18:29:51.078Z,1638642591.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:53.969Z,1638642593.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:55.938Z,1638642595.938 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:29:56.736Z,1638642596.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:59.548Z,1638642599.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:29:59.971Z,1638642599.971 [Micromodem](INFO): Nmea in: $CAREV,183000,AUV,2.1.4000*20

2021-12-04T18:29:59.973Z,1638642599.973 [Micromodem](INFO): Nmea in: $CAREV,183000,COPROC,0.20.0.39330*71

2021-12-04T18:30:02.380Z,1638642602.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:05.233Z,1638642605.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:06.041Z,1638642606.041 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T18:30:08.101Z,1638642608.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:10.056Z,1638642610.056 [Micromodem](INFO): Nmea in: $CAREV,183010,AUV,2.1.4000*21

2021-12-04T18:30:10.057Z,1638642610.057 [Micromodem](INFO): Nmea in: $CAREV,183010,COPROC,0.20.0.39330*70

2021-12-04T18:30:10.869Z,1638642610.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:13.715Z,1638642613.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:16.523Z,1638642616.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:19.354Z,1638642619.354 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:20.144Z,1638642620.144 [Micromodem](INFO): Nmea in: $CAREV,183020,AUV,2.1.4000*22

2021-12-04T18:30:20.146Z,1638642620.146 [Micromodem](INFO): Nmea in: $CAREV,183020,COPROC,0.20.0.39330*73

2021-12-04T18:30:22.215Z,1638642622.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:25.037Z,1638642625.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:27.946Z,1638642627.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:30.281Z,1638642630.281 [Micromodem](INFO): Nmea in: $CAREV,183030,AUV,2.1.4000*23

2021-12-04T18:30:30.283Z,1638642630.283 [Micromodem](INFO): Nmea in: $CAREV,183030,COPROC,0.20.0.39330*72

2021-12-04T18:30:30.685Z,1638642630.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:33.526Z,1638642633.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:36.034Z,1638642636.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:38.761Z,1638642638.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:39.992Z,1638642639.992 [Micromodem](INFO): Nmea in: $CAREV,183040,AUV,2.1.4000*24

2021-12-04T18:30:39.997Z,1638642639.997 [Micromodem](INFO): Nmea in: $CAREV,183040,COPROC,0.20.0.39330*75

2021-12-04T18:30:41.613Z,1638642641.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:44.423Z,1638642644.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:47.254Z,1638642647.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:50.065Z,1638642650.065 [Micromodem](INFO): Nmea in: $CAREV,183050,AUV,2.1.4000*25

2021-12-04T18:30:50.066Z,1638642650.066 [Micromodem](INFO): Nmea in: $CAREV,183050,COPROC,0.20.0.39330*74

2021-12-04T18:30:50.112Z,1638642650.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:52.950Z,1638642652.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:55.755Z,1638642655.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:30:58.554Z,1638642658.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:00.160Z,1638642660.160 [Micromodem](INFO): Nmea in: $CAREV,183100,AUV,2.1.4000*21

2021-12-04T18:31:00.161Z,1638642660.161 [Micromodem](INFO): Nmea in: $CAREV,183100,COPROC,0.20.0.39330*70

2021-12-04T18:31:01.388Z,1638642661.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:04.237Z,1638642664.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:07.057Z,1638642667.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:09.936Z,1638642669.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:10.261Z,1638642670.261 [Micromodem](INFO): Nmea in: $CAREV,183110,AUV,2.1.4000*20

2021-12-04T18:31:10.262Z,1638642670.262 [Micromodem](INFO): Nmea in: $CAREV,183110,COPROC,0.20.0.39330*71

2021-12-04T18:31:12.716Z,1638642672.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:15.538Z,1638642675.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:18.363Z,1638642678.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:18.776Z,1638642678.776 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](INFO): Timed out from 2021-12-04T17:31:18.8Z
2021-12-04T18:31:18.776Z,1638642678.776 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout] Running Loop=1
2021-12-04T18:31:18.776Z,1638642678.776 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2021-12-04T18:31:18.777Z,1638642678.777 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Running Loop=1
2021-12-04T18:31:18.777Z,1638642678.777 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A](IMPORTANT): Timed out while executing search pattern around dock waypoint.
2021-12-04T18:31:18.783Z,1638642678.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A] Stopped
2021-12-04T18:31:18.783Z,1638642678.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout
2021-12-04T18:31:18.783Z,1638642678.783 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped
2021-12-04T18:31:18.785Z,1638642678.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T18:31:18.785Z,1638642678.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped
2021-12-04T18:31:18.785Z,1638642678.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize.
2021-12-04T18:31:18.785Z,1638642678.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped
2021-12-04T18:31:18.785Z,1638642678.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T18:31:18.785Z,1638642678.785 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Running Loop=1
2021-12-04T18:31:19.196Z,1638642679.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H](IMPORTANT): Homing sequence timed out prior to docking.
2021-12-04T18:31:19.196Z,1638642679.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H] Stopped
2021-12-04T18:31:19.196Z,1638642679.196 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Running Loop=1
2021-12-04T18:31:19.565Z,1638642679.565 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I] Stopped
2021-12-04T18:31:19.566Z,1638642679.566 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T18:31:19.567Z,1638642679.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T18:31:19.567Z,1638642679.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T18:31:19.567Z,1638642679.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T18:31:19.567Z,1638642679.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T18:31:19.567Z,1638642679.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T18:31:19.567Z,1638642679.567 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T18:31:19.985Z,1638642679.985 [Micromodem](INFO): Nmea in: $CAREV,183120,AUV,2.1.4000*23

2021-12-04T18:31:19.986Z,1638642679.986 [Micromodem](INFO): Nmea in: $CAREV,183120,COPROC,0.20.0.39330*72

2021-12-04T18:31:20.047Z,1638642680.047 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T18:31:20.047Z,1638642680.047 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T18:31:20.047Z,1638642680.047 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T18:31:20.048Z,1638642680.048 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T18:31:20.048Z,1638642680.048 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T18:31:20.048Z,1638642680.048 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T18:31:20.048Z,1638642680.048 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-12-04T18:31:20.048Z,1638642680.048 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-12-04T18:31:21.199Z,1638642681.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:23.674Z,1638642683.674 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-12-04T18:31:23.674Z,1638642683.674 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-12-04T18:31:23.674Z,1638642683.674 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T18:31:23.674Z,1638642683.674 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-12-04T18:31:24.072Z,1638642684.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:24.073Z,1638642684.073 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode -1.000000 count 
2021-12-04T18:31:24.073Z,1638642684.073 [lineCaptureDepth:LineCapture:L] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T18:31:24.076Z,1638642684.076 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T18:31:24.077Z,1638642684.077 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T18:31:24.077Z,1638642684.077 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T18:31:24.077Z,1638642684.077 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T18:31:24.077Z,1638642684.077 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T18:31:24.077Z,1638642684.077 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T18:31:24.077Z,1638642684.077 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T18:31:24.431Z,1638642684.431 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-12-04T18:31:24.431Z,1638642684.431 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T18:31:24.431Z,1638642684.431 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T18:31:24.431Z,1638642684.431 [lineCaptureDepth:Lap:C] Running Loop=1
2021-12-04T18:31:24.826Z,1638642684.826 [lineCaptureDepth:Lap:C] Stopped
2021-12-04T18:31:24.826Z,1638642684.826 [lineCaptureDepth:Lap:D] Running Loop=1
2021-12-04T18:31:25.237Z,1638642685.237 [lineCaptureDepth:Lap:D](INFO): Mode -1.000000 count 
2021-12-04T18:31:25.238Z,1638642685.238 [lineCaptureDepth:Lap:D] Stopped
2021-12-04T18:31:25.238Z,1638642685.238 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-12-04T18:31:25.238Z,1638642685.238 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-12-04T18:31:25.238Z,1638642685.238 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-12-04T18:31:25.684Z,1638642685.684 [lineCaptureDepth:Lap:Docked] Stopped
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap] Stopped
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap](INFO): Running loop #4
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap] Running Loop=4
2021-12-04T18:31:25.685Z,1638642685.685 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-12-04T18:31:25.686Z,1638642685.686 [lineCaptureDepth:Lap:A] Running Loop=1
2021-12-04T18:31:26.070Z,1638642686.070 [lineCaptureDepth:Lap:A] Stopped
2021-12-04T18:31:26.070Z,1638642686.070 [lineCaptureDepth:Lap:B] Running Loop=1
2021-12-04T18:31:26.070Z,1638642686.070 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-12-04T18:31:26.443Z,1638642686.443 [lineCaptureDepth:LineCapture] Running Loop=1
2021-12-04T18:31:26.443Z,1638642686.443 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-12-04T18:31:26.443Z,1638642686.443 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-12-04T18:31:26.443Z,1638642686.443 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T18:31:26.443Z,1638642686.443 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-12-04T18:31:26.443Z,1638642686.443 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T18:31:26.444Z,1638642686.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T18:31:26.445Z,1638642686.445 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T18:31:26.445Z,1638642686.445 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T18:31:26.445Z,1638642686.445 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T18:31:26.445Z,1638642686.445 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T18:31:26.445Z,1638642686.445 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T18:31:26.445Z,1638642686.445 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-12-04T18:31:26.449Z,1638642686.449 [lineCaptureDepth:LineCapture:A] Stopped
2021-12-04T18:31:26.449Z,1638642686.449 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-12-04T18:31:26.847Z,1638642686.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:26.849Z,1638642686.849 [lineCaptureDepth:LineCapture:B] Stopped
2021-12-04T18:31:26.849Z,1638642686.849 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-12-04T18:31:27.273Z,1638642687.273 [lineCaptureDepth:LineCapture:D] Stopped
2021-12-04T18:31:27.273Z,1638642687.273 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-12-04T18:31:27.707Z,1638642687.707 [lineCaptureDepth:LineCapture:E] Stopped
2021-12-04T18:31:27.708Z,1638642687.708 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-12-04T18:31:28.069Z,1638642688.069 [lineCaptureDepth:LineCapture:F] Stopped
2021-12-04T18:31:28.069Z,1638642688.069 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-12-04T18:31:28.069Z,1638642688.069 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T18:31:28.069Z,1638642688.069 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-12-04T18:31:28.069Z,1638642688.069 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T18:31:28.069Z,1638642688.069 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-12-04T18:31:28.070Z,1638642688.070 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T18:31:28.070Z,1638642688.070 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-12-04T18:31:28.070Z,1638642688.070 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-12-04T18:31:28.070Z,1638642688.070 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T18:31:28.070Z,1638642688.070 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T18:31:28.071Z,1638642688.071 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T18:31:28.071Z,1638642688.071 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T18:31:28.071Z,1638642688.071 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T18:31:28.071Z,1638642688.071 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T18:31:28.071Z,1638642688.071 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T18:31:28.071Z,1638642688.071 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T18:31:28.072Z,1638642688.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-12-04T18:31:28.073Z,1638642688.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-12-04T18:31:28.073Z,1638642688.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-12-04T18:31:28.073Z,1638642688.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-12-04T18:31:28.073Z,1638642688.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-12-04T18:31:28.464Z,1638642688.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-12-04T18:31:28.464Z,1638642688.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-12-04T18:31:28.464Z,1638642688.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-12-04T18:31:28.464Z,1638642688.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-12-04T18:31:28.464Z,1638642688.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T18:31:28.465Z,1638642688.465 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T18:31:29.375Z,1638642689.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:30.088Z,1638642690.088 [Micromodem](INFO): Nmea in: $CAREV,183130,AUV,2.1.4000*22

2021-12-04T18:31:30.089Z,1638642690.089 [Micromodem](INFO): Nmea in: $CAREV,183130,COPROC,0.20.0.39330*73

2021-12-04T18:31:30.959Z,1638642690.959 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-12-04T18:31:31.313Z,1638642691.313 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T18:31:32.134Z,1638642692.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:34.983Z,1638642694.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:37.806Z,1638642697.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:40.189Z,1638642700.189 [Micromodem](INFO): Nmea in: $CAREV,183140,AUV,2.1.4000*25

2021-12-04T18:31:40.190Z,1638642700.190 [Micromodem](INFO): Nmea in: $CAREV,183140,COPROC,0.20.0.39330*74

2021-12-04T18:31:40.607Z,1638642700.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:41.413Z,1638642701.413 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-12-04T18:31:41.835Z,1638642701.835 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T18:31:41.835Z,1638642701.835 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T18:31:41.836Z,1638642701.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T18:31:41.836Z,1638642701.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T18:31:41.836Z,1638642701.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T18:31:41.836Z,1638642701.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T18:31:41.836Z,1638642701.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T18:31:41.836Z,1638642701.836 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T18:31:43.432Z,1638642703.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:46.281Z,1638642706.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:49.101Z,1638642709.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:50.288Z,1638642710.288 [Micromodem](INFO): Nmea in: $CAREV,183150,AUV,2.1.4000*24

2021-12-04T18:31:50.289Z,1638642710.289 [Micromodem](INFO): Nmea in: $CAREV,183150,COPROC,0.20.0.39330*75

2021-12-04T18:31:51.974Z,1638642711.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:54.763Z,1638642714.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:57.578Z,1638642717.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:31:59.992Z,1638642719.992 [Micromodem](INFO): Nmea in: $CAREV,183200,AUV,2.1.4000*22

2021-12-04T18:31:59.993Z,1638642719.993 [Micromodem](INFO): Nmea in: $CAREV,183200,COPROC,0.20.0.39330*73

2021-12-04T18:32:00.399Z,1638642720.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:02.056Z,1638642722.056 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 12.18 m. Transitioning DDM to standby.
2021-12-04T18:32:03.242Z,1638642723.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:04.100Z,1638642724.100 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-12-04T18:32:04.448Z,1638642724.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T18:32:04.448Z,1638642724.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-12-04T18:32:04.448Z,1638642724.448 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-12-04T18:32:04.816Z,1638642724.816 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-12-04T18:32:04.816Z,1638642724.816 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-12-04T18:32:04.816Z,1638642724.816 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-12-04T18:32:05.271Z,1638642725.271 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-12-04T18:32:05.271Z,1638642725.271 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T18:32:05.271Z,1638642725.271 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-12-04T18:32:05.272Z,1638642725.272 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-12-04T18:32:05.272Z,1638642725.272 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-12-04T18:32:05.687Z,1638642725.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-12-04T18:32:05.688Z,1638642725.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-12-04T18:32:05.689Z,1638642725.689 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-12-04T18:32:05.694Z,1638642725.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-12-04T18:32:05.694Z,1638642725.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-12-04T18:32:05.694Z,1638642725.694 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-12-04T18:32:06.065Z,1638642726.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:06.068Z,1638642726.068 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-12-04T18:32:06.068Z,1638642726.068 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T18:32:06.068Z,1638642726.068 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-12-04T18:32:06.068Z,1638642726.068 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-12-04T18:32:06.068Z,1638642726.068 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-12-04T18:32:06.069Z,1638642726.069 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-12-04T18:32:06.069Z,1638642726.069 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-12-04T18:32:08.851Z,1638642728.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:10.056Z,1638642730.056 [Micromodem](INFO): Nmea in: $CAREV,183210,AUV,2.1.4000*23

2021-12-04T18:32:10.057Z,1638642730.057 [Micromodem](INFO): Nmea in: $CAREV,183210,COPROC,0.20.0.39330*72

2021-12-04T18:32:11.718Z,1638642731.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:14.527Z,1638642734.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:17.339Z,1638642737.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:20.157Z,1638642740.157 [Micromodem](INFO): Nmea in: $CAREV,183220,AUV,2.1.4000*20

2021-12-04T18:32:20.159Z,1638642740.159 [Micromodem](INFO): Nmea in: $CAREV,183220,COPROC,0.20.0.39330*71

2021-12-04T18:32:20.231Z,1638642740.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:23.005Z,1638642743.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:25.851Z,1638642745.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:28.671Z,1638642748.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:30.250Z,1638642750.250 [Micromodem](INFO): Nmea in: $CAREV,183230,AUV,2.1.4000*21

2021-12-04T18:32:30.251Z,1638642750.251 [Micromodem](INFO): Nmea in: $CAREV,183230,COPROC,0.20.0.39330*70

2021-12-04T18:32:31.496Z,1638642751.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:34.309Z,1638642754.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:37.140Z,1638642757.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:40.023Z,1638642760.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:40.360Z,1638642760.360 [Micromodem](INFO): Nmea in: $CAREV,183240,AUV,2.1.4000*26

2021-12-04T18:32:40.363Z,1638642760.363 [Micromodem](INFO): Nmea in: $CAREV,183240,COPROC,0.20.0.39330*77

2021-12-04T18:32:42.791Z,1638642762.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:45.683Z,1638642765.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:48.445Z,1638642768.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:50.048Z,1638642770.048 [Micromodem](INFO): Nmea in: $CAREV,183250,AUV,2.1.4000*27

2021-12-04T18:32:50.049Z,1638642770.049 [Micromodem](INFO): Nmea in: $CAREV,183250,COPROC,0.20.0.39330*76

2021-12-04T18:32:51.280Z,1638642771.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:54.134Z,1638642774.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:56.960Z,1638642776.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:32:57.775Z,1638642777.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached Waypoint: 41.552317,-70.708600
2021-12-04T18:32:57.775Z,1638642777.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-12-04T18:32:57.775Z,1638642777.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-12-04T18:32:57.775Z,1638642777.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1
2021-12-04T18:32:58.151Z,1638642778.151 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern.
2021-12-04T18:32:58.151Z,1638642778.151 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped
2021-12-04T18:32:58.151Z,1638642778.151 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1
2021-12-04T18:32:58.151Z,1638642778.151 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T18:32:58.151Z,1638642778.151 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1
2021-12-04T18:32:58.151Z,1638642778.151 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent.
2021-12-04T18:32:58.153Z,1638642778.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1
2021-12-04T18:32:58.153Z,1638642778.153 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component.
2021-12-04T18:32:59.791Z,1638642779.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:00.152Z,1638642780.152 [Micromodem](INFO): Nmea in: $CAREV,183300,AUV,2.1.4000*23

2021-12-04T18:33:00.153Z,1638642780.153 [Micromodem](INFO): Nmea in: $CAREV,183300,COPROC,0.20.0.39330*72

2021-12-04T18:33:02.595Z,1638642782.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:05.412Z,1638642785.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:08.282Z,1638642788.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:10.255Z,1638642790.255 [Micromodem](INFO): Nmea in: $CAREV,183310,AUV,2.1.4000*22

2021-12-04T18:33:10.257Z,1638642790.257 [Micromodem](INFO): Nmea in: $CAREV,183310,COPROC,0.20.0.39330*73

2021-12-04T18:33:11.099Z,1638642791.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:13.977Z,1638642793.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:16.728Z,1638642796.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:19.572Z,1638642799.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:20.375Z,1638642800.375 [Micromodem](INFO): Nmea in: $CAREV,183320,AUV,2.1.4000*21

2021-12-04T18:33:20.376Z,1638642800.376 [Micromodem](INFO): Nmea in: $CAREV,183320,COPROC,0.20.0.39330*70

2021-12-04T18:33:22.390Z,1638642802.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:25.222Z,1638642805.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:28.055Z,1638642808.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:30.057Z,1638642810.057 [Micromodem](INFO): Nmea in: $CAREV,183330,AUV,2.1.4000*20

2021-12-04T18:33:30.059Z,1638642810.059 [Micromodem](INFO): Nmea in: $CAREV,183330,COPROC,0.20.0.39330*71

2021-12-04T18:33:30.871Z,1638642810.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:33.739Z,1638642813.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:36.527Z,1638642816.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:39.358Z,1638642819.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:40.148Z,1638642820.148 [Micromodem](INFO): Nmea in: $CAREV,183340,AUV,2.1.4000*27

2021-12-04T18:33:40.149Z,1638642820.149 [Micromodem](INFO): Nmea in: $CAREV,183340,COPROC,0.20.0.39330*76

2021-12-04T18:33:42.194Z,1638642822.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:45.038Z,1638642825.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:47.860Z,1638642827.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:50.248Z,1638642830.248 [Micromodem](INFO): Nmea in: $CAREV,183350,AUV,2.1.4000*26

2021-12-04T18:33:50.249Z,1638642830.249 [Micromodem](INFO): Nmea in: $CAREV,183350,COPROC,0.20.0.39330*77

2021-12-04T18:33:50.673Z,1638642830.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:53.496Z,1638642833.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:56.056Z,1638642836.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:33:58.745Z,1638642838.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:00.352Z,1638642840.352 [Micromodem](INFO): Nmea in: $CAREV,183400,AUV,2.1.4000*24

2021-12-04T18:34:00.354Z,1638642840.354 [Micromodem](INFO): Nmea in: $CAREV,183400,COPROC,0.20.0.39330*75

2021-12-04T18:34:01.577Z,1638642841.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:04.415Z,1638642844.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:07.260Z,1638642847.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:10.062Z,1638642850.062 [Micromodem](INFO): Nmea in: $CAREV,183410,AUV,2.1.4000*25

2021-12-04T18:34:10.064Z,1638642850.064 [Micromodem](INFO): Nmea in: $CAREV,183410,COPROC,0.20.0.39330*74

2021-12-04T18:34:10.095Z,1638642850.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:12.893Z,1638642852.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:15.729Z,1638642855.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:18.544Z,1638642858.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:20.144Z,1638642860.144 [Micromodem](INFO): Nmea in: $CAREV,183420,AUV,2.1.4000*26

2021-12-04T18:34:20.145Z,1638642860.145 [Micromodem](INFO): Nmea in: $CAREV,183420,COPROC,0.20.0.39330*77

2021-12-04T18:34:21.366Z,1638642861.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:24.216Z,1638642864.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:27.042Z,1638642867.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:29.904Z,1638642869.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:30.254Z,1638642870.254 [Micromodem](INFO): Nmea in: $CAREV,183430,AUV,2.1.4000*27

2021-12-04T18:34:30.258Z,1638642870.258 [Micromodem](INFO): Nmea in: $CAREV,183430,COPROC,0.20.0.39330*76

2021-12-04T18:34:32.678Z,1638642872.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:35.506Z,1638642875.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:38.343Z,1638642878.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:40.343Z,1638642880.343 [Micromodem](INFO): Nmea in: $CAREV,183440,AUV,2.1.4000*20

2021-12-04T18:34:40.344Z,1638642880.344 [Micromodem](INFO): Nmea in: $CAREV,183440,COPROC,0.20.0.39330*71

2021-12-04T18:34:41.182Z,1638642881.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:44.042Z,1638642884.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:46.840Z,1638642886.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:49.719Z,1638642889.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:50.039Z,1638642890.039 [Micromodem](INFO): Nmea in: $CAREV,183450,AUV,2.1.4000*21

2021-12-04T18:34:50.040Z,1638642890.040 [Micromodem](INFO): Nmea in: $CAREV,183450,COPROC,0.20.0.39330*70

2021-12-04T18:34:52.477Z,1638642892.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:55.317Z,1638642895.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:34:58.162Z,1638642898.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:00.149Z,1638642900.149 [Micromodem](INFO): Nmea in: $CAREV,183500,AUV,2.1.4000*25

2021-12-04T18:35:00.151Z,1638642900.151 [Micromodem](INFO): Nmea in: $CAREV,183500,COPROC,0.20.0.39330*74

2021-12-04T18:35:00.988Z,1638642900.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:03.860Z,1638642903.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:06.626Z,1638642906.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:09.447Z,1638642909.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:10.255Z,1638642910.255 [Micromodem](INFO): Nmea in: $CAREV,183510,AUV,2.1.4000*24

2021-12-04T18:35:10.256Z,1638642910.256 [Micromodem](INFO): Nmea in: $CAREV,183510,COPROC,0.20.0.39330*75

2021-12-04T18:35:11.055Z,1638642911.055 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T18:35:12.287Z,1638642912.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:15.110Z,1638642915.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:15.982Z,1638642915.982 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:35:17.990Z,1638642917.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:20.349Z,1638642920.349 [Micromodem](INFO): Nmea in: $CAREV,183520,AUV,2.1.4000*27

2021-12-04T18:35:20.350Z,1638642920.350 [Micromodem](INFO): Nmea in: $CAREV,183520,COPROC,0.20.0.39330*76

2021-12-04T18:35:20.774Z,1638642920.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:21.165Z,1638642921.165 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:35:23.600Z,1638642923.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:26.168Z,1638642926.168 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T18:35:26.179Z,1638642926.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:28.840Z,1638642928.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:30.036Z,1638642930.036 [Micromodem](INFO): Nmea in: $CAREV,183530,AUV,2.1.4000*26

2021-12-04T18:35:30.037Z,1638642930.037 [Micromodem](INFO): Nmea in: $CAREV,183530,COPROC,0.20.0.39330*77

2021-12-04T18:35:31.264Z,1638642931.264 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-12-04T18:35:31.704Z,1638642931.704 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:34.492Z,1638642934.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:36.117Z,1638642936.117 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T18:35:37.327Z,1638642937.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:40.137Z,1638642940.137 [Micromodem](INFO): Nmea in: $CAREV,183540,AUV,2.1.4000*21

2021-12-04T18:35:40.138Z,1638642940.138 [Micromodem](INFO): Nmea in: $CAREV,183540,COPROC,0.20.0.39330*70

2021-12-04T18:35:40.160Z,1638642940.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:43.005Z,1638642943.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:45.833Z,1638642945.833 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:48.638Z,1638642948.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:50.243Z,1638642950.243 [Micromodem](INFO): Nmea in: $CAREV,183550,AUV,2.1.4000*20

2021-12-04T18:35:50.245Z,1638642950.245 [Micromodem](INFO): Nmea in: $CAREV,183550,COPROC,0.20.0.39330*71

2021-12-04T18:35:51.464Z,1638642951.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:54.312Z,1638642954.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:35:57.134Z,1638642957.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:00.032Z,1638642960.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:00.334Z,1638642960.334 [Micromodem](INFO): Nmea in: $CAREV,183600,AUV,2.1.4000*26

2021-12-04T18:36:00.335Z,1638642960.335 [Micromodem](INFO): Nmea in: $CAREV,183600,COPROC,0.20.0.39330*77

2021-12-04T18:36:02.782Z,1638642962.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:05.620Z,1638642965.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:06.027Z,1638642966.027 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:36:08.425Z,1638642968.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:10.039Z,1638642970.039 [Micromodem](INFO): Nmea in: $CAREV,183610,AUV,2.1.4000*27

2021-12-04T18:36:10.040Z,1638642970.040 [Micromodem](INFO): Nmea in: $CAREV,183610,COPROC,0.20.0.39330*76

2021-12-04T18:36:11.265Z,1638642971.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:14.110Z,1638642974.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:16.967Z,1638642976.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:19.777Z,1638642979.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:20.147Z,1638642980.147 [Micromodem](INFO): Nmea in: $CAREV,183620,AUV,2.1.4000*24

2021-12-04T18:36:20.150Z,1638642980.150 [Micromodem](INFO): Nmea in: $CAREV,183620,COPROC,0.20.0.39330*75

2021-12-04T18:36:22.568Z,1638642982.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:25.406Z,1638642985.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:28.245Z,1638642988.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:30.236Z,1638642990.236 [Micromodem](INFO): Nmea in: $CAREV,183630,AUV,2.1.4000*25

2021-12-04T18:36:30.237Z,1638642990.237 [Micromodem](INFO): Nmea in: $CAREV,183630,COPROC,0.20.0.39330*74

2021-12-04T18:36:31.062Z,1638642991.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:33.945Z,1638642993.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:36.711Z,1638642996.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:39.548Z,1638642999.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:40.331Z,1638643000.331 [Micromodem](INFO): Nmea in: $CAREV,183640,AUV,2.1.4000*22

2021-12-04T18:36:40.332Z,1638643000.332 [Micromodem](INFO): Nmea in: $CAREV,183640,COPROC,0.20.0.39330*73

2021-12-04T18:36:42.369Z,1638643002.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:45.205Z,1638643005.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:48.075Z,1638643008.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:50.039Z,1638643010.039 [Micromodem](INFO): Nmea in: $CAREV,183650,AUV,2.1.4000*23

2021-12-04T18:36:50.040Z,1638643010.040 [Micromodem](INFO): Nmea in: $CAREV,183650,COPROC,0.20.0.39330*72

2021-12-04T18:36:50.856Z,1638643010.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:53.729Z,1638643013.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:56.514Z,1638643016.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:36:59.347Z,1638643019.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:00.143Z,1638643020.143 [Micromodem](INFO): Nmea in: $CAREV,183700,AUV,2.1.4000*27

2021-12-04T18:37:00.145Z,1638643020.145 [Micromodem](INFO): Nmea in: $CAREV,183700,COPROC,0.20.0.39330*76

2021-12-04T18:37:02.181Z,1638643022.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:04.999Z,1638643024.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:07.859Z,1638643027.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:10.232Z,1638643030.232 [Micromodem](INFO): Nmea in: $CAREV,183710,AUV,2.1.4000*26

2021-12-04T18:37:10.233Z,1638643030.233 [Micromodem](INFO): Nmea in: $CAREV,183710,COPROC,0.20.0.39330*77

2021-12-04T18:37:10.643Z,1638643030.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:13.475Z,1638643033.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:16.035Z,1638643036.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:18.731Z,1638643038.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:20.329Z,1638643040.329 [Micromodem](INFO): Nmea in: $CAREV,183720,AUV,2.1.4000*25

2021-12-04T18:37:20.330Z,1638643040.330 [Micromodem](INFO): Nmea in: $CAREV,183720,COPROC,0.20.0.39330*74

2021-12-04T18:37:21.567Z,1638643041.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:24.379Z,1638643044.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:27.238Z,1638643047.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:30.037Z,1638643050.037 [Micromodem](INFO): Nmea in: $CAREV,183730,AUV,2.1.4000*24

2021-12-04T18:37:30.076Z,1638643050.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:30.429Z,1638643050.429 [Micromodem](INFO): Nmea in: $CAREV,183730,COPROC,0.20.0.39330*75

2021-12-04T18:37:32.880Z,1638643052.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:35.719Z,1638643055.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:38.531Z,1638643058.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:40.131Z,1638643060.131 [Micromodem](INFO): Nmea in: $CAREV,183740,AUV,2.1.4000*23

2021-12-04T18:37:40.132Z,1638643060.132 [Micromodem](INFO): Nmea in: $CAREV,183740,COPROC,0.20.0.39330*72

2021-12-04T18:37:41.368Z,1638643061.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:44.212Z,1638643064.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:47.017Z,1638643067.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:49.849Z,1638643069.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:50.225Z,1638643070.225 [Micromodem](INFO): Nmea in: $CAREV,183750,AUV,2.1.4000*22

2021-12-04T18:37:50.226Z,1638643070.226 [Micromodem](INFO): Nmea in: $CAREV,183750,COPROC,0.20.0.39330*73

2021-12-04T18:37:52.663Z,1638643072.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:55.502Z,1638643075.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:37:58.331Z,1638643078.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:00.323Z,1638643080.323 [Micromodem](INFO): Nmea in: $CAREV,183800,AUV,2.1.4000*28

2021-12-04T18:38:00.324Z,1638643080.324 [Micromodem](INFO): Nmea in: $CAREV,183800,COPROC,0.20.0.39330*79

2021-12-04T18:38:01.159Z,1638643081.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:04.022Z,1638643084.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:06.798Z,1638643086.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:09.694Z,1638643089.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:10.429Z,1638643090.429 [Micromodem](INFO): Nmea in: $CAREV,183810,AUV,2.1.4000*29

2021-12-04T18:38:10.430Z,1638643090.430 [Micromodem](INFO): Nmea in: $CAREV,183810,COPROC,0.20.0.39330*78

2021-12-04T18:38:12.463Z,1638643092.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:15.298Z,1638643095.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:18.138Z,1638643098.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:20.124Z,1638643100.124 [Micromodem](INFO): Nmea in: $CAREV,183820,AUV,2.1.4000*2A

2021-12-04T18:38:20.126Z,1638643100.126 [Micromodem](INFO): Nmea in: $CAREV,183820,COPROC,0.20.0.39330*7B

2021-12-04T18:38:20.970Z,1638643100.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:23.792Z,1638643103.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:26.665Z,1638643106.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:29.427Z,1638643109.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:30.221Z,1638643110.221 [Micromodem](INFO): Nmea in: $CAREV,183830,AUV,2.1.4000*2B

2021-12-04T18:38:30.222Z,1638643110.222 [Micromodem](INFO): Nmea in: $CAREV,183830,COPROC,0.20.0.39330*7A

2021-12-04T18:38:32.275Z,1638643112.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:35.094Z,1638643115.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:38.007Z,1638643118.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:40.335Z,1638643120.335 [Micromodem](INFO): Nmea in: $CAREV,183840,AUV,2.1.4000*2C

2021-12-04T18:38:40.337Z,1638643120.337 [Micromodem](INFO): Nmea in: $CAREV,183840,COPROC,0.20.0.39330*7D

2021-12-04T18:38:40.756Z,1638643120.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:43.585Z,1638643123.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:46.087Z,1638643126.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:48.814Z,1638643128.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:50.420Z,1638643130.420 [Micromodem](INFO): Nmea in: $CAREV,183850,AUV,2.1.4000*2D

2021-12-04T18:38:50.421Z,1638643130.421 [Micromodem](INFO): Nmea in: $CAREV,183850,COPROC,0.20.0.39330*7C

2021-12-04T18:38:51.695Z,1638643131.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:54.488Z,1638643134.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:38:57.319Z,1638643137.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:00.117Z,1638643140.117 [Micromodem](INFO): Nmea in: $CAREV,183900,AUV,2.1.4000*29

2021-12-04T18:39:00.118Z,1638643140.118 [Micromodem](INFO): Nmea in: $CAREV,183900,COPROC,0.20.0.39330*78

2021-12-04T18:39:00.140Z,1638643140.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:02.967Z,1638643142.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:05.812Z,1638643145.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:08.623Z,1638643148.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:10.220Z,1638643150.220 [Micromodem](INFO): Nmea in: $CAREV,183910,AUV,2.1.4000*28

2021-12-04T18:39:10.222Z,1638643150.222 [Micromodem](INFO): Nmea in: $CAREV,183910,COPROC,0.20.0.39330*79

2021-12-04T18:39:11.450Z,1638643151.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:14.279Z,1638643154.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:17.104Z,1638643157.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:20.002Z,1638643160.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:20.335Z,1638643160.335 [Micromodem](INFO): Nmea in: $CAREV,183920,AUV,2.1.4000*2B

2021-12-04T18:39:20.336Z,1638643160.336 [Micromodem](INFO): Nmea in: $CAREV,183920,COPROC,0.20.0.39330*7A

2021-12-04T18:39:22.768Z,1638643162.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:23.985Z,1638643163.985 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:39:25.589Z,1638643165.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:28.420Z,1638643168.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:30.422Z,1638643170.422 [Micromodem](INFO): Nmea in: $CAREV,183930,AUV,2.1.4000*2A

2021-12-04T18:39:30.423Z,1638643170.423 [Micromodem](INFO): Nmea in: $CAREV,183930,COPROC,0.20.0.39330*7B

2021-12-04T18:39:31.264Z,1638643171.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:34.103Z,1638643174.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:36.948Z,1638643176.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:39.736Z,1638643179.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:40.117Z,1638643180.117 [Micromodem](INFO): Nmea in: $CAREV,183940,AUV,2.1.4000*2D

2021-12-04T18:39:40.119Z,1638643180.119 [Micromodem](INFO): Nmea in: $CAREV,183940,COPROC,0.20.0.39330*7C

2021-12-04T18:39:42.555Z,1638643182.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:45.391Z,1638643185.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:48.213Z,1638643188.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:50.213Z,1638643190.213 [Micromodem](INFO): Nmea in: $CAREV,183950,AUV,2.1.4000*2C

2021-12-04T18:39:50.214Z,1638643190.214 [Micromodem](INFO): Nmea in: $CAREV,183950,COPROC,0.20.0.39330*7D

2021-12-04T18:39:51.047Z,1638643191.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:53.898Z,1638643193.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:56.702Z,1638643196.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:39:59.524Z,1638643199.524 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:00.316Z,1638643200.316 [Micromodem](INFO): Nmea in: $CAREV,184000,AUV,2.1.4000*27

2021-12-04T18:40:00.318Z,1638643200.318 [Micromodem](INFO): Nmea in: $CAREV,184000,COPROC,0.20.0.39330*76

2021-12-04T18:40:02.349Z,1638643202.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:05.185Z,1638643205.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:08.048Z,1638643208.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:10.421Z,1638643210.421 [Micromodem](INFO): Nmea in: $CAREV,184010,AUV,2.1.4000*26

2021-12-04T18:40:10.423Z,1638643210.423 [Micromodem](INFO): Nmea in: $CAREV,184010,COPROC,0.20.0.39330*77

2021-12-04T18:40:10.839Z,1638643210.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:13.761Z,1638643213.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:16.492Z,1638643216.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:19.340Z,1638643219.340 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:20.112Z,1638643220.112 [Micromodem](INFO): Nmea in: $CAREV,184020,AUV,2.1.4000*25

2021-12-04T18:40:20.113Z,1638643220.113 [Micromodem](INFO): Nmea in: $CAREV,184020,COPROC,0.20.0.39330*74

2021-12-04T18:40:22.171Z,1638643222.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:24.987Z,1638643224.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:27.851Z,1638643227.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:30.208Z,1638643230.208 [Micromodem](INFO): Nmea in: $CAREV,184030,AUV,2.1.4000*24

2021-12-04T18:40:30.209Z,1638643230.209 [Micromodem](INFO): Nmea in: $CAREV,184030,COPROC,0.20.0.39330*75

2021-12-04T18:40:30.627Z,1638643230.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:33.449Z,1638643233.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:36.298Z,1638643236.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:39.115Z,1638643239.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:40.312Z,1638643240.312 [Micromodem](INFO): Nmea in: $CAREV,184040,AUV,2.1.4000*23

2021-12-04T18:40:40.313Z,1638643240.313 [Micromodem](INFO): Nmea in: $CAREV,184040,COPROC,0.20.0.39330*72

2021-12-04T18:40:41.987Z,1638643241.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:44.775Z,1638643244.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:47.608Z,1638643247.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:50.412Z,1638643250.412 [Micromodem](INFO): Nmea in: $CAREV,184050,AUV,2.1.4000*22

2021-12-04T18:40:50.414Z,1638643250.414 [Micromodem](INFO): Nmea in: $CAREV,184050,COPROC,0.20.0.39330*73

2021-12-04T18:40:50.426Z,1638643250.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:53.275Z,1638643253.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:56.094Z,1638643256.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:40:58.933Z,1638643258.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:00.104Z,1638643260.104 [Micromodem](INFO): Nmea in: $CAREV,184100,AUV,2.1.4000*26

2021-12-04T18:41:00.106Z,1638643260.106 [Micromodem](INFO): Nmea in: $CAREV,184100,COPROC,0.20.0.39330*77

2021-12-04T18:41:01.749Z,1638643261.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:04.579Z,1638643264.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:07.392Z,1638643267.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:10.208Z,1638643270.208 [Micromodem](INFO): Nmea in: $CAREV,184110,AUV,2.1.4000*27

2021-12-04T18:41:10.209Z,1638643270.209 [Micromodem](INFO): Nmea in: $CAREV,184110,COPROC,0.20.0.39330*76

2021-12-04T18:41:10.232Z,1638643270.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:13.057Z,1638643273.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:15.954Z,1638643275.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:18.706Z,1638643278.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:20.311Z,1638643280.311 [Micromodem](INFO): Nmea in: $CAREV,184120,AUV,2.1.4000*24

2021-12-04T18:41:20.312Z,1638643280.312 [Micromodem](INFO): Nmea in: $CAREV,184120,COPROC,0.20.0.39330*75

2021-12-04T18:41:21.537Z,1638643281.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:24.355Z,1638643284.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:27.203Z,1638643287.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:30.040Z,1638643290.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:30.420Z,1638643290.420 [Micromodem](INFO): Nmea in: $CAREV,184130,AUV,2.1.4000*25

2021-12-04T18:41:30.421Z,1638643290.421 [Micromodem](INFO): Nmea in: $CAREV,184130,COPROC,0.20.0.39330*74

2021-12-04T18:41:32.838Z,1638643292.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:35.710Z,1638643295.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:38.511Z,1638643298.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:40.109Z,1638643300.109 [Micromodem](INFO): Nmea in: $CAREV,184140,AUV,2.1.4000*22

2021-12-04T18:41:40.111Z,1638643300.111 [Micromodem](INFO): Nmea in: $CAREV,184140,COPROC,0.20.0.39330*73

2021-12-04T18:41:41.330Z,1638643301.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:44.162Z,1638643304.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:46.995Z,1638643306.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:49.835Z,1638643309.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:50.222Z,1638643310.222 [Micromodem](INFO): Nmea in: $CAREV,184150,AUV,2.1.4000*23

2021-12-04T18:41:50.237Z,1638643310.237 [Micromodem](INFO): Nmea in: $CAREV,184150,COPROC,0.20.0.39330*72

2021-12-04T18:41:52.645Z,1638643312.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:55.467Z,1638643315.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:41:58.291Z,1638643318.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:00.307Z,1638643320.307 [Micromodem](INFO): Nmea in: $CAREV,184200,AUV,2.1.4000*25

2021-12-04T18:42:00.308Z,1638643320.308 [Micromodem](INFO): Nmea in: $CAREV,184200,COPROC,0.20.0.39330*74

2021-12-04T18:42:01.145Z,1638643321.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:03.989Z,1638643323.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:06.777Z,1638643326.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:09.671Z,1638643329.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:10.405Z,1638643330.405 [Micromodem](INFO): Nmea in: $CAREV,184210,AUV,2.1.4000*24

2021-12-04T18:42:10.424Z,1638643330.424 [Micromodem](INFO): Nmea in: $CAREV,184210,COPROC,0.20.0.39330*75

2021-12-04T18:42:12.429Z,1638643332.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:15.298Z,1638643335.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:18.107Z,1638643338.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:20.111Z,1638643340.111 [Micromodem](INFO): Nmea in: $CAREV,184220,AUV,2.1.4000*27

2021-12-04T18:42:20.112Z,1638643340.112 [Micromodem](INFO): Nmea in: $CAREV,184220,COPROC,0.20.0.39330*76

2021-12-04T18:42:20.975Z,1638643340.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:23.771Z,1638643343.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:26.583Z,1638643346.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:29.399Z,1638643349.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:30.217Z,1638643350.217 [Micromodem](INFO): Nmea in: $CAREV,184230,AUV,2.1.4000*26

2021-12-04T18:42:30.218Z,1638643350.218 [Micromodem](INFO): Nmea in: $CAREV,184230,COPROC,0.20.0.39330*77

2021-12-04T18:42:32.238Z,1638643352.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:35.083Z,1638643355.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:37.968Z,1638643357.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:40.304Z,1638643360.304 [Micromodem](INFO): Nmea in: $CAREV,184240,AUV,2.1.4000*21

2021-12-04T18:42:40.306Z,1638643360.306 [Micromodem](INFO): Nmea in: $CAREV,184240,COPROC,0.20.0.39330*70

2021-12-04T18:42:40.724Z,1638643360.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:43.544Z,1638643363.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:46.371Z,1638643366.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:49.223Z,1638643369.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:50.399Z,1638643370.399 [Micromodem](INFO): Nmea in: $CAREV,184250,AUV,2.1.4000*20

2021-12-04T18:42:50.400Z,1638643370.400 [Micromodem](INFO): Nmea in: $CAREV,184250,COPROC,0.20.0.39330*71

2021-12-04T18:42:52.041Z,1638643372.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:54.852Z,1638643374.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:42:57.717Z,1638643377.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:00.106Z,1638643380.106 [Micromodem](INFO): Nmea in: $CAREV,184300,AUV,2.1.4000*24

2021-12-04T18:43:00.107Z,1638643380.107 [Micromodem](INFO): Nmea in: $CAREV,184300,COPROC,0.20.0.39330*75

2021-12-04T18:43:00.506Z,1638643380.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:03.339Z,1638643383.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:06.183Z,1638643386.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:09.020Z,1638643389.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:10.197Z,1638643390.197 [Micromodem](INFO): Nmea in: $CAREV,184310,AUV,2.1.4000*25

2021-12-04T18:43:10.198Z,1638643390.198 [Micromodem](INFO): Nmea in: $CAREV,184310,COPROC,0.20.0.39330*74

2021-12-04T18:43:11.863Z,1638643391.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:14.647Z,1638643394.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:17.483Z,1638643397.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:20.296Z,1638643400.296 [Micromodem](INFO): Nmea in: $CAREV,184320,AUV,2.1.4000*26

2021-12-04T18:43:20.297Z,1638643400.297 [Micromodem](INFO): Nmea in: $CAREV,184320,COPROC,0.20.0.39330*77

2021-12-04T18:43:20.337Z,1638643400.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:23.155Z,1638643403.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:26.000Z,1638643406.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:28.786Z,1638643408.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:30.390Z,1638643410.390 [Micromodem](INFO): Nmea in: $CAREV,184330,AUV,2.1.4000*27

2021-12-04T18:43:30.392Z,1638643410.392 [Micromodem](INFO): Nmea in: $CAREV,184330,COPROC,0.20.0.39330*76

2021-12-04T18:43:31.680Z,1638643411.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:34.452Z,1638643414.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:37.281Z,1638643417.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:40.111Z,1638643420.111 [Micromodem](INFO): Nmea in: $CAREV,184340,AUV,2.1.4000*20

2021-12-04T18:43:40.112Z,1638643420.112 [Micromodem](INFO): Nmea in: $CAREV,184340,COPROC,0.20.0.39330*71

2021-12-04T18:43:40.153Z,1638643420.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:42.964Z,1638643422.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:45.784Z,1638643425.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:48.592Z,1638643428.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:50.197Z,1638643430.197 [Micromodem](INFO): Nmea in: $CAREV,184350,AUV,2.1.4000*21

2021-12-04T18:43:50.198Z,1638643430.198 [Micromodem](INFO): Nmea in: $CAREV,184350,COPROC,0.20.0.39330*70

2021-12-04T18:43:51.415Z,1638643431.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:54.260Z,1638643434.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:57.098Z,1638643437.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:43:59.977Z,1638643439.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:00.293Z,1638643440.293 [Micromodem](INFO): Nmea in: $CAREV,184400,AUV,2.1.4000*23

2021-12-04T18:44:00.295Z,1638643440.295 [Micromodem](INFO): Nmea in: $CAREV,184400,COPROC,0.20.0.39330*72

2021-12-04T18:44:02.745Z,1638643442.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:05.560Z,1638643445.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:08.380Z,1638643448.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:10.386Z,1638643450.386 [Micromodem](INFO): Nmea in: $CAREV,184410,AUV,2.1.4000*22

2021-12-04T18:44:10.388Z,1638643450.388 [Micromodem](INFO): Nmea in: $CAREV,184410,COPROC,0.20.0.39330*73

2021-12-04T18:44:11.218Z,1638643451.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:14.054Z,1638643454.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:16.862Z,1638643456.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:19.715Z,1638643459.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:20.499Z,1638643460.499 [Micromodem](INFO): Nmea in: $CAREV,184420,AUV,2.1.4000*21

2021-12-04T18:44:20.500Z,1638643460.500 [Micromodem](INFO): Nmea in: $CAREV,184420,COPROC,0.20.0.39330*70

2021-12-04T18:44:22.545Z,1638643462.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:25.356Z,1638643465.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:28.186Z,1638643468.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:30.182Z,1638643470.182 [Micromodem](INFO): Nmea in: $CAREV,184430,AUV,2.1.4000*20

2021-12-04T18:44:30.183Z,1638643470.183 [Micromodem](INFO): Nmea in: $CAREV,184430,COPROC,0.20.0.39330*71

2021-12-04T18:44:31.039Z,1638643471.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:33.860Z,1638643473.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:36.675Z,1638643476.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:39.492Z,1638643479.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:40.288Z,1638643480.288 [Micromodem](INFO): Nmea in: $CAREV,184440,AUV,2.1.4000*27

2021-12-04T18:44:40.290Z,1638643480.290 [Micromodem](INFO): Nmea in: $CAREV,184440,COPROC,0.20.0.39330*76

2021-12-04T18:44:42.322Z,1638643482.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:45.161Z,1638643485.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:48.020Z,1638643488.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:50.388Z,1638643490.388 [Micromodem](INFO): Nmea in: $CAREV,184450,AUV,2.1.4000*26

2021-12-04T18:44:50.404Z,1638643490.404 [Micromodem](INFO): Nmea in: $CAREV,184450,COPROC,0.20.0.39330*77

2021-12-04T18:44:50.825Z,1638643490.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:53.690Z,1638643493.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:56.473Z,1638643496.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:44:59.320Z,1638643499.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:00.482Z,1638643500.482 [Micromodem](INFO): Nmea in: $CAREV,184500,AUV,2.1.4000*22

2021-12-04T18:45:00.483Z,1638643500.483 [Micromodem](INFO): Nmea in: $CAREV,184500,COPROC,0.20.0.39330*73

2021-12-04T18:45:02.147Z,1638643502.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:04.968Z,1638643504.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:07.792Z,1638643507.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:10.180Z,1638643510.180 [Micromodem](INFO): Nmea in: $CAREV,184510,AUV,2.1.4000*23

2021-12-04T18:45:10.182Z,1638643510.182 [Micromodem](INFO): Nmea in: $CAREV,184510,COPROC,0.20.0.39330*72

2021-12-04T18:45:10.595Z,1638643510.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:13.428Z,1638643513.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:16.269Z,1638643516.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:19.090Z,1638643519.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:20.284Z,1638643520.284 [Micromodem](INFO): Nmea in: $CAREV,184520,AUV,2.1.4000*20

2021-12-04T18:45:20.285Z,1638643520.285 [Micromodem](INFO): Nmea in: $CAREV,184520,COPROC,0.20.0.39330*71

2021-12-04T18:45:21.973Z,1638643521.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:24.756Z,1638643524.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:27.583Z,1638643527.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:30.380Z,1638643530.380 [Micromodem](INFO): Nmea in: $CAREV,184530,AUV,2.1.4000*21

2021-12-04T18:45:30.381Z,1638643530.381 [Micromodem](INFO): Nmea in: $CAREV,184530,COPROC,0.20.0.39330*70

2021-12-04T18:45:30.394Z,1638643530.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:33.263Z,1638643533.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:36.077Z,1638643536.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:38.932Z,1638643538.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:40.484Z,1638643540.484 [Micromodem](INFO): Nmea in: $CAREV,184540,AUV,2.1.4000*26

2021-12-04T18:45:40.485Z,1638643540.485 [Micromodem](INFO): Nmea in: $CAREV,184540,COPROC,0.20.0.39330*77

2021-12-04T18:45:41.732Z,1638643541.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:44.539Z,1638643544.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:47.358Z,1638643547.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:50.192Z,1638643550.192 [Micromodem](INFO): Nmea in: $CAREV,184550,AUV,2.1.4000*27

2021-12-04T18:45:50.195Z,1638643550.195 [Micromodem](INFO): Nmea in: $CAREV,184550,COPROC,0.20.0.39330*76

2021-12-04T18:45:50.220Z,1638643550.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:53.027Z,1638643553.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:55.932Z,1638643555.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:45:58.675Z,1638643558.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:00.280Z,1638643560.280 [Micromodem](INFO): Nmea in: $CAREV,184600,AUV,2.1.4000*21

2021-12-04T18:46:00.281Z,1638643560.281 [Micromodem](INFO): Nmea in: $CAREV,184600,COPROC,0.20.0.39330*70

2021-12-04T18:46:01.514Z,1638643561.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:04.332Z,1638643564.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:07.185Z,1638643567.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:10.005Z,1638643570.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:10.374Z,1638643570.374 [Micromodem](INFO): Nmea in: $CAREV,184610,AUV,2.1.4000*20

2021-12-04T18:46:10.376Z,1638643570.376 [Micromodem](INFO): Nmea in: $CAREV,184610,COPROC,0.20.0.39330*71

2021-12-04T18:46:12.813Z,1638643572.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:15.693Z,1638643575.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:18.466Z,1638643578.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:20.480Z,1638643580.480 [Micromodem](INFO): Nmea in: $CAREV,184620,AUV,2.1.4000*23

2021-12-04T18:46:20.481Z,1638643580.481 [Micromodem](INFO): Nmea in: $CAREV,184620,COPROC,0.20.0.39330*72

2021-12-04T18:46:21.315Z,1638643581.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:24.144Z,1638643584.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:26.970Z,1638643586.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:29.823Z,1638643589.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:30.187Z,1638643590.187 [Micromodem](INFO): Nmea in: $CAREV,184630,AUV,2.1.4000*22

2021-12-04T18:46:30.189Z,1638643590.189 [Micromodem](INFO): Nmea in: $CAREV,184630,COPROC,0.20.0.39330*73

2021-12-04T18:46:32.611Z,1638643592.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:35.450Z,1638643595.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:38.286Z,1638643598.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:40.276Z,1638643600.276 [Micromodem](INFO): Nmea in: $CAREV,184640,AUV,2.1.4000*25

2021-12-04T18:46:40.277Z,1638643600.277 [Micromodem](INFO): Nmea in: $CAREV,184640,COPROC,0.20.0.39330*74

2021-12-04T18:46:41.106Z,1638643601.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:43.983Z,1638643603.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:46.747Z,1638643606.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:49.654Z,1638643609.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:50.385Z,1638643610.385 [Micromodem](INFO): Nmea in: $CAREV,184650,AUV,2.1.4000*24

2021-12-04T18:46:50.388Z,1638643610.388 [Micromodem](INFO): Nmea in: $CAREV,184650,COPROC,0.20.0.39330*75

2021-12-04T18:46:52.413Z,1638643612.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:55.243Z,1638643615.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:46:58.071Z,1638643618.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:00.476Z,1638643620.476 [Micromodem](INFO): Nmea in: $CAREV,184700,AUV,2.1.4000*20

2021-12-04T18:47:00.477Z,1638643620.477 [Micromodem](INFO): Nmea in: $CAREV,184700,COPROC,0.20.0.39330*71

2021-12-04T18:47:00.890Z,1638643620.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:03.747Z,1638643623.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:06.561Z,1638643626.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:09.379Z,1638643629.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:10.183Z,1638643630.183 [Micromodem](INFO): Nmea in: $CAREV,184710,AUV,2.1.4000*21

2021-12-04T18:47:10.184Z,1638643630.184 [Micromodem](INFO): Nmea in: $CAREV,184710,COPROC,0.20.0.39330*70

2021-12-04T18:47:12.230Z,1638643632.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:15.055Z,1638643635.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:17.889Z,1638643637.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:20.267Z,1638643640.267 [Micromodem](INFO): Nmea in: $CAREV,184720,AUV,2.1.4000*22

2021-12-04T18:47:20.268Z,1638643640.268 [Micromodem](INFO): Nmea in: $CAREV,184720,COPROC,0.20.0.39330*73

2021-12-04T18:47:20.685Z,1638643640.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:23.510Z,1638643643.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:26.189Z,1638643646.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:28.763Z,1638643648.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:30.376Z,1638643650.376 [Micromodem](INFO): Nmea in: $CAREV,184730,AUV,2.1.4000*23

2021-12-04T18:47:30.378Z,1638643650.378 [Micromodem](INFO): Nmea in: $CAREV,184730,COPROC,0.20.0.39330*72

2021-12-04T18:47:31.662Z,1638643651.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:34.439Z,1638643654.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:37.264Z,1638643657.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:40.104Z,1638643660.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:40.478Z,1638643660.478 [Micromodem](INFO): Nmea in: $CAREV,184740,AUV,2.1.4000*24

2021-12-04T18:47:40.479Z,1638643660.479 [Micromodem](INFO): Nmea in: $CAREV,184740,COPROC,0.20.0.39330*75

2021-12-04T18:47:42.948Z,1638643662.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:45.772Z,1638643665.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:48.575Z,1638643668.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:50.185Z,1638643670.185 [Micromodem](INFO): Nmea in: $CAREV,184750,AUV,2.1.4000*25

2021-12-04T18:47:50.195Z,1638643670.195 [Micromodem](INFO): Nmea in: $CAREV,184750,COPROC,0.20.0.39330*74

2021-12-04T18:47:51.402Z,1638643671.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:54.230Z,1638643674.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:57.055Z,1638643677.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:47:59.963Z,1638643679.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:00.269Z,1638643680.269 [Micromodem](INFO): Nmea in: $CAREV,184800,AUV,2.1.4000*2F

2021-12-04T18:48:00.271Z,1638643680.271 [Micromodem](INFO): Nmea in: $CAREV,184800,COPROC,0.20.0.39330*7E

2021-12-04T18:48:02.703Z,1638643682.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:05.539Z,1638643685.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:08.359Z,1638643688.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:10.368Z,1638643690.368 [Micromodem](INFO): Nmea in: $CAREV,184810,AUV,2.1.4000*2E

2021-12-04T18:48:10.370Z,1638643690.370 [Micromodem](INFO): Nmea in: $CAREV,184810,COPROC,0.20.0.39330*7F

2021-12-04T18:48:11.209Z,1638643691.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:14.073Z,1638643694.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:16.843Z,1638643696.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:19.705Z,1638643699.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:20.468Z,1638643700.468 [Micromodem](INFO): Nmea in: $CAREV,184820,AUV,2.1.4000*2D

2021-12-04T18:48:20.484Z,1638643700.484 [Micromodem](INFO): Nmea in: $CAREV,184820,COPROC,0.20.0.39330*7C

2021-12-04T18:48:22.500Z,1638643702.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:25.329Z,1638643705.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:28.165Z,1638643708.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:30.173Z,1638643710.173 [Micromodem](INFO): Nmea in: $CAREV,184830,AUV,2.1.4000*2C

2021-12-04T18:48:30.174Z,1638643710.174 [Micromodem](INFO): Nmea in: $CAREV,184830,COPROC,0.20.0.39330*7D

2021-12-04T18:48:31.049Z,1638643711.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:31.787Z,1638643711.787 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:48:33.852Z,1638643713.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:36.643Z,1638643716.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:39.487Z,1638643719.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:40.264Z,1638643720.264 [Micromodem](INFO): Nmea in: $CAREV,184840,AUV,2.1.4000*2B

2021-12-04T18:48:40.265Z,1638643720.265 [Micromodem](INFO): Nmea in: $CAREV,184840,COPROC,0.20.0.39330*7A

2021-12-04T18:48:41.890Z,1638643721.890 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:48:42.307Z,1638643722.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:45.133Z,1638643725.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:47.993Z,1638643727.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:50.369Z,1638643730.369 [Micromodem](INFO): Nmea in: $CAREV,184850,AUV,2.1.4000*2A

2021-12-04T18:48:50.371Z,1638643730.371 [Micromodem](INFO): Nmea in: $CAREV,184850,COPROC,0.20.0.39330*7B

2021-12-04T18:48:50.795Z,1638643730.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:51.677Z,1638643731.677 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-12-04T18:48:53.657Z,1638643733.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:56.445Z,1638643736.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:48:59.275Z,1638643739.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:00.461Z,1638643740.461 [Micromodem](INFO): Nmea in: $CAREV,184900,AUV,2.1.4000*2E

2021-12-04T18:49:00.462Z,1638643740.462 [Micromodem](INFO): Nmea in: $CAREV,184900,COPROC,0.20.0.39330*7F

2021-12-04T18:49:02.101Z,1638643742.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:04.966Z,1638643744.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:07.776Z,1638643747.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:10.174Z,1638643750.174 [Micromodem](INFO): Nmea in: $CAREV,184910,AUV,2.1.4000*2F

2021-12-04T18:49:10.175Z,1638643750.175 [Micromodem](INFO): Nmea in: $CAREV,184910,COPROC,0.20.0.39330*7E

2021-12-04T18:49:10.575Z,1638643750.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:13.441Z,1638643753.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:16.266Z,1638643756.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:19.097Z,1638643759.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:20.284Z,1638643760.284 [Micromodem](INFO): Nmea in: $CAREV,184920,AUV,2.1.4000*2C

2021-12-04T18:49:20.285Z,1638643760.285 [Micromodem](INFO): Nmea in: $CAREV,184920,COPROC,0.20.0.39330*7D

2021-12-04T18:49:21.941Z,1638643761.941 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-12-04T18:49:21.964Z,1638643761.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:24.748Z,1638643764.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:27.577Z,1638643767.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:30.388Z,1638643770.388 [Micromodem](INFO): Nmea in: $CAREV,184930,AUV,2.1.4000*2D

2021-12-04T18:49:30.390Z,1638643770.390 [Micromodem](INFO): Nmea in: $CAREV,184930,COPROC,0.20.0.39330*7C

2021-12-04T18:49:30.403Z,1638643770.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:33.263Z,1638643773.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:36.071Z,1638643776.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:38.889Z,1638643778.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:40.488Z,1638643780.488 [Micromodem](INFO): Nmea in: $CAREV,184940,AUV,2.1.4000*2A

2021-12-04T18:49:40.489Z,1638643780.489 [Micromodem](INFO): Nmea in: $CAREV,184940,COPROC,0.20.0.39330*7B

2021-12-04T18:49:41.717Z,1638643781.717 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:49:41.729Z,1638643781.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:44.533Z,1638643784.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:47.368Z,1638643787.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:50.191Z,1638643790.191 [Micromodem](INFO): Nmea in: $CAREV,184950,AUV,2.1.4000*2B

2021-12-04T18:49:50.192Z,1638643790.192 [Micromodem](INFO): Nmea in: $CAREV,184950,COPROC,0.20.0.39330*7A

2021-12-04T18:49:50.214Z,1638643790.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:53.033Z,1638643793.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:55.892Z,1638643795.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:49:58.676Z,1638643798.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:00.278Z,1638643800.278 [Micromodem](INFO): Nmea in: $CAREV,185000,AUV,2.1.4000*26

2021-12-04T18:50:00.280Z,1638643800.280 [Micromodem](INFO): Nmea in: $CAREV,185000,COPROC,0.20.0.39330*77

2021-12-04T18:50:01.507Z,1638643801.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:04.341Z,1638643804.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:07.186Z,1638643807.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:10.036Z,1638643810.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:10.399Z,1638643810.399 [Micromodem](INFO): Nmea in: $CAREV,185010,AUV,2.1.4000*27

2021-12-04T18:50:10.403Z,1638643810.403 [Micromodem](INFO): Nmea in: $CAREV,185010,COPROC,0.20.0.39330*76

2021-12-04T18:50:12.819Z,1638643812.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:15.687Z,1638643815.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:18.482Z,1638643818.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:20.488Z,1638643820.488 [Micromodem](INFO): Nmea in: $CAREV,185020,AUV,2.1.4000*24

2021-12-04T18:50:20.489Z,1638643820.489 [Micromodem](INFO): Nmea in: $CAREV,185020,COPROC,0.20.0.39330*75

2021-12-04T18:50:21.330Z,1638643821.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:24.143Z,1638643824.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:26.982Z,1638643826.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:29.831Z,1638643829.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:30.190Z,1638643830.190 [Micromodem](INFO): Nmea in: $CAREV,185030,AUV,2.1.4000*25

2021-12-04T18:50:30.192Z,1638643830.192 [Micromodem](INFO): Nmea in: $CAREV,185030,COPROC,0.20.0.39330*74

2021-12-04T18:50:32.610Z,1638643832.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:35.449Z,1638643835.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:38.278Z,1638643838.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:40.280Z,1638643840.280 [Micromodem](INFO): Nmea in: $CAREV,185040,AUV,2.1.4000*22

2021-12-04T18:50:40.281Z,1638643840.281 [Micromodem](INFO): Nmea in: $CAREV,185040,COPROC,0.20.0.39330*73

2021-12-04T18:50:41.104Z,1638643841.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:43.985Z,1638643843.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:46.756Z,1638643846.756 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:49.629Z,1638643849.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:50.391Z,1638643850.391 [Micromodem](INFO): Nmea in: $CAREV,185050,AUV,2.1.4000*23

2021-12-04T18:50:50.392Z,1638643850.392 [Micromodem](INFO): Nmea in: $CAREV,185050,COPROC,0.20.0.39330*72

2021-12-04T18:50:52.411Z,1638643852.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:55.250Z,1638643855.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:50:58.091Z,1638643858.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:00.481Z,1638643860.481 [Micromodem](INFO): Nmea in: $CAREV,185100,AUV,2.1.4000*27

2021-12-04T18:51:00.514Z,1638643860.514 [Micromodem](INFO): Nmea in: $CAREV,185100,COPROC,0.20.0.39330*76

2021-12-04T18:51:00.936Z,1638643860.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:03.785Z,1638643863.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:06.553Z,1638643866.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:09.374Z,1638643869.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:10.192Z,1638643870.192 [Micromodem](INFO): Nmea in: $CAREV,185110,AUV,2.1.4000*26

2021-12-04T18:51:10.193Z,1638643870.193 [Micromodem](INFO): Nmea in: $CAREV,185110,COPROC,0.20.0.39330*77

2021-12-04T18:51:12.234Z,1638643872.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:15.051Z,1638643875.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:17.925Z,1638643877.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:20.272Z,1638643880.272 [Micromodem](INFO): Nmea in: $CAREV,185120,AUV,2.1.4000*25

2021-12-04T18:51:20.273Z,1638643880.273 [Micromodem](INFO): Nmea in: $CAREV,185120,COPROC,0.20.0.39330*74

2021-12-04T18:51:20.699Z,1638643880.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:23.520Z,1638643883.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:26.362Z,1638643886.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:29.195Z,1638643889.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:30.370Z,1638643890.370 [Micromodem](INFO): Nmea in: $CAREV,185130,AUV,2.1.4000*24

2021-12-04T18:51:30.372Z,1638643890.372 [Micromodem](INFO): Nmea in: $CAREV,185130,COPROC,0.20.0.39330*75

2021-12-04T18:51:32.033Z,1638643892.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:34.835Z,1638643894.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:37.695Z,1638643897.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:40.476Z,1638643900.476 [Micromodem](INFO): Nmea in: $CAREV,185140,AUV,2.1.4000*23

2021-12-04T18:51:40.477Z,1638643900.477 [Micromodem](INFO): Nmea in: $CAREV,185140,COPROC,0.20.0.39330*72

2021-12-04T18:51:40.514Z,1638643900.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:43.321Z,1638643903.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:46.166Z,1638643906.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:48.981Z,1638643908.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:50.588Z,1638643910.588 [Micromodem](INFO): Nmea in: $CAREV,185150,AUV,2.1.4000*22

2021-12-04T18:51:50.589Z,1638643910.589 [Micromodem](INFO): Nmea in: $CAREV,185150,COPROC,0.20.0.39330*73

2021-12-04T18:51:51.822Z,1638643911.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:54.641Z,1638643914.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:57.453Z,1638643917.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:51:59.957Z,1638643919.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:00.279Z,1638643920.279 [Micromodem](INFO): Nmea in: $CAREV,185200,AUV,2.1.4000*24

2021-12-04T18:52:00.282Z,1638643920.282 [Micromodem](INFO): Nmea in: $CAREV,185200,COPROC,0.20.0.39330*75

2021-12-04T18:52:02.714Z,1638643922.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:05.533Z,1638643925.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:08.360Z,1638643928.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:10.373Z,1638643930.373 [Micromodem](INFO): Nmea in: $CAREV,185210,AUV,2.1.4000*25

2021-12-04T18:52:10.375Z,1638643930.375 [Micromodem](INFO): Nmea in: $CAREV,185210,COPROC,0.20.0.39330*74

2021-12-04T18:52:11.213Z,1638643931.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:14.039Z,1638643934.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:16.869Z,1638643936.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:19.692Z,1638643939.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:20.472Z,1638643940.472 [Micromodem](INFO): Nmea in: $CAREV,185220,AUV,2.1.4000*26

2021-12-04T18:52:20.473Z,1638643940.473 [Micromodem](INFO): Nmea in: $CAREV,185220,COPROC,0.20.0.39330*77

2021-12-04T18:52:22.504Z,1638643942.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:25.331Z,1638643945.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:28.181Z,1638643948.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:30.568Z,1638643950.568 [Micromodem](INFO): Nmea in: $CAREV,185230,AUV,2.1.4000*27

2021-12-04T18:52:30.569Z,1638643950.569 [Micromodem](INFO): Nmea in: $CAREV,185230,COPROC,0.20.0.39330*76

2021-12-04T18:52:31.003Z,1638643951.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:32.197Z,1638643952.197 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:52:33.835Z,1638643953.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:36.643Z,1638643956.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:39.481Z,1638643959.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:40.279Z,1638643960.279 [Micromodem](INFO): Nmea in: $CAREV,185240,AUV,2.1.4000*20

2021-12-04T18:52:40.280Z,1638643960.280 [Micromodem](INFO): Nmea in: $CAREV,185240,COPROC,0.20.0.39330*71

2021-12-04T18:52:42.304Z,1638643962.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:45.137Z,1638643965.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:47.993Z,1638643967.993 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:50.365Z,1638643970.365 [Micromodem](INFO): Nmea in: $CAREV,185250,AUV,2.1.4000*21

2021-12-04T18:52:50.366Z,1638643970.366 [Micromodem](INFO): Nmea in: $CAREV,185250,COPROC,0.20.0.39330*70

2021-12-04T18:52:50.790Z,1638643970.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:53.677Z,1638643973.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:54.468Z,1638643974.468 [CBIT](IMPORTANT): Beginning ground fault scan
2021-12-04T18:52:56.437Z,1638643976.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:52:59.277Z,1638643979.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:00.462Z,1638643980.462 [Micromodem](INFO): Nmea in: $CAREV,185300,AUV,2.1.4000*25

2021-12-04T18:53:00.463Z,1638643980.463 [Micromodem](INFO): Nmea in: $CAREV,185300,COPROC,0.20.0.39330*74

2021-12-04T18:53:02.117Z,1638643982.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:04.973Z,1638643984.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:05.369Z,1638643985.369 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.004708
CHAN A1 (24V): -0.021595
CHAN A2 (12V): -0.004686
CHAN A3 (5V): -0.001557
CHAN B0 (3.3V): 0.000441
CHAN B1 (3.15aV): 0.000130
CHAN B2 (3.15bV): -0.000140
CHAN B3 (GND): 0.001507
OPEN: 0.006415
Full Scale: +/- 1 mA
2021-12-04T18:53:07.772Z,1638643987.772 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:10.576Z,1638643990.576 [Micromodem](INFO): Nmea in: $CAREV,185310,AUV,2.1.4000*24

2021-12-04T18:53:10.577Z,1638643990.577 [Micromodem](INFO): Nmea in: $CAREV,185310,COPROC,0.20.0.39330*75

2021-12-04T18:53:10.623Z,1638643990.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:13.408Z,1638643993.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:16.252Z,1638643996.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:19.075Z,1638643999.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:20.259Z,1638644000.259 [Micromodem](INFO): Nmea in: $CAREV,185320,AUV,2.1.4000*27

2021-12-04T18:53:20.260Z,1638644000.260 [Micromodem](INFO): Nmea in: $CAREV,185320,COPROC,0.20.0.39330*76

2021-12-04T18:53:21.982Z,1638644001.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:24.714Z,1638644004.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:27.565Z,1638644007.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:30.360Z,1638644010.360 [Micromodem](INFO): Nmea in: $CAREV,185330,AUV,2.1.4000*26

2021-12-04T18:53:30.376Z,1638644010.376 [Micromodem](INFO): Nmea in: $CAREV,185330,COPROC,0.20.0.39330*77

2021-12-04T18:53:30.388Z,1638644010.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:33.215Z,1638644013.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:36.042Z,1638644016.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:38.860Z,1638644018.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:40.459Z,1638644020.459 [Micromodem](INFO): Nmea in: $CAREV,185340,AUV,2.1.4000*21

2021-12-04T18:53:40.460Z,1638644020.460 [Micromodem](INFO): Nmea in: $CAREV,185340,COPROC,0.20.0.39330*70

2021-12-04T18:53:41.727Z,1638644021.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:44.515Z,1638644024.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:47.350Z,1638644027.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:50.189Z,1638644030.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:50.564Z,1638644030.564 [Micromodem](INFO): Nmea in: $CAREV,185350,AUV,2.1.4000*20

2021-12-04T18:53:50.567Z,1638644030.567 [Micromodem](INFO): Nmea in: $CAREV,185350,COPROC,0.20.0.39330*71

2021-12-04T18:53:53.009Z,1638644033.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:55.859Z,1638644035.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:53:58.677Z,1638644038.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:00.260Z,1638644040.260 [Micromodem](INFO): Nmea in: $CAREV,185400,AUV,2.1.4000*22

2021-12-04T18:54:00.262Z,1638644040.262 [Micromodem](INFO): Nmea in: $CAREV,185400,COPROC,0.20.0.39330*73

2021-12-04T18:54:01.483Z,1638644041.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:04.343Z,1638644044.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:07.150Z,1638644047.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:10.035Z,1638644050.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:10.357Z,1638644050.357 [Micromodem](INFO): Nmea in: $CAREV,185410,AUV,2.1.4000*23

2021-12-04T18:54:10.359Z,1638644050.359 [Micromodem](INFO): Nmea in: $CAREV,185410,COPROC,0.20.0.39330*72

2021-12-04T18:54:12.791Z,1638644052.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:15.686Z,1638644055.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:18.452Z,1638644058.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:20.460Z,1638644060.460 [Micromodem](INFO): Nmea in: $CAREV,185420,AUV,2.1.4000*20

2021-12-04T18:54:20.462Z,1638644060.462 [Micromodem](INFO): Nmea in: $CAREV,185420,COPROC,0.20.0.39330*71

2021-12-04T18:54:21.304Z,1638644061.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:24.128Z,1638644064.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:26.954Z,1638644066.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:29.795Z,1638644069.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:30.569Z,1638644070.569 [Micromodem](INFO): Nmea in: $CAREV,185430,AUV,2.1.4000*21

2021-12-04T18:54:30.570Z,1638644070.570 [Micromodem](INFO): Nmea in: $CAREV,185430,COPROC,0.20.0.39330*70

2021-12-04T18:54:32.180Z,1638644072.180 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:54:32.585Z,1638644072.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:35.430Z,1638644075.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:37.037Z,1638644077.037 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T18:54:38.255Z,1638644078.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:40.256Z,1638644080.256 [Micromodem](INFO): Nmea in: $CAREV,185440,AUV,2.1.4000*26

2021-12-04T18:54:40.257Z,1638644080.257 [Micromodem](INFO): Nmea in: $CAREV,185440,COPROC,0.20.0.39330*77

2021-12-04T18:54:41.081Z,1638644081.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:43.979Z,1638644083.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:46.732Z,1638644086.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:49.570Z,1638644089.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:50.352Z,1638644090.352 [Micromodem](INFO): Nmea in: $CAREV,185450,AUV,2.1.4000*27

2021-12-04T18:54:50.353Z,1638644090.353 [Micromodem](INFO): Nmea in: $CAREV,185450,COPROC,0.20.0.39330*76

2021-12-04T18:54:52.396Z,1638644092.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:55.223Z,1638644095.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:54:58.079Z,1638644098.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:00.461Z,1638644100.461 [Micromodem](INFO): Nmea in: $CAREV,185500,AUV,2.1.4000*23

2021-12-04T18:55:00.463Z,1638644100.463 [Micromodem](INFO): Nmea in: $CAREV,185500,COPROC,0.20.0.39330*72

2021-12-04T18:55:00.875Z,1638644100.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:02.925Z,1638644102.925 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T18:55:03.737Z,1638644103.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:06.557Z,1638644106.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:09.355Z,1638644109.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:10.553Z,1638644110.553 [Micromodem](INFO): Nmea in: $CAREV,185510,AUV,2.1.4000*22

2021-12-04T18:55:10.554Z,1638644110.554 [Micromodem](INFO): Nmea in: $CAREV,185510,COPROC,0.20.0.39330*73

2021-12-04T18:55:12.182Z,1638644112.182 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T18:55:12.193Z,1638644112.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:15.022Z,1638644115.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:17.024Z,1638644117.024 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-12-04T18:55:17.897Z,1638644117.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:20.257Z,1638644120.257 [Micromodem](INFO): Nmea in: $CAREV,185520,AUV,2.1.4000*21

2021-12-04T18:55:20.259Z,1638644120.259 [Micromodem](INFO): Nmea in: $CAREV,185520,COPROC,0.20.0.39330*70

2021-12-04T18:55:20.684Z,1638644120.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:23.502Z,1638644123.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:26.320Z,1638644126.320 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:29.161Z,1638644129.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:30.346Z,1638644130.346 [Micromodem](INFO): Nmea in: $CAREV,185530,AUV,2.1.4000*20

2021-12-04T18:55:30.348Z,1638644130.348 [Micromodem](INFO): Nmea in: $CAREV,185530,COPROC,0.20.0.39330*71

2021-12-04T18:55:32.013Z,1638644132.013 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:55:32.023Z,1638644132.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:34.815Z,1638644134.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:37.226Z,1638644137.226 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-12-04T18:55:37.688Z,1638644137.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:40.452Z,1638644140.452 [Micromodem](INFO): Nmea in: $CAREV,185540,AUV,2.1.4000*27

2021-12-04T18:55:40.453Z,1638644140.453 [Micromodem](INFO): Nmea in: $CAREV,185540,COPROC,0.20.0.39330*76

2021-12-04T18:55:40.465Z,1638644140.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:43.311Z,1638644143.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:46.134Z,1638644146.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:48.957Z,1638644148.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:50.606Z,1638644150.606 [Micromodem](INFO): Nmea in: $CAREV,185550,AUV,2.1.4000*26

2021-12-04T18:55:50.607Z,1638644150.607 [Micromodem](INFO): Nmea in: $CAREV,185550,COPROC,0.20.0.39330*77

2021-12-04T18:55:51.811Z,1638644151.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:54.604Z,1638644154.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:55:57.459Z,1638644157.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:00.257Z,1638644160.257 [Micromodem](INFO): Nmea in: $CAREV,185600,AUV,2.1.4000*20

2021-12-04T18:56:00.258Z,1638644160.258 [Micromodem](INFO): Nmea in: $CAREV,185600,COPROC,0.20.0.39330*71

2021-12-04T18:56:00.284Z,1638644160.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:03.099Z,1638644163.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:06.050Z,1638644166.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:08.763Z,1638644168.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:10.343Z,1638644170.343 [Micromodem](INFO): Nmea in: $CAREV,185610,AUV,2.1.4000*21

2021-12-04T18:56:10.344Z,1638644170.344 [Micromodem](INFO): Nmea in: $CAREV,185610,COPROC,0.20.0.39330*70

2021-12-04T18:56:11.599Z,1638644171.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:14.406Z,1638644174.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:17.235Z,1638644177.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:20.062Z,1638644180.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:20.445Z,1638644180.445 [Micromodem](INFO): Nmea in: $CAREV,185620,AUV,2.1.4000*22

2021-12-04T18:56:20.446Z,1638644180.446 [Micromodem](INFO): Nmea in: $CAREV,185620,COPROC,0.20.0.39330*73

2021-12-04T18:56:22.919Z,1638644182.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:25.737Z,1638644185.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:28.538Z,1638644188.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:30.554Z,1638644190.554 [Micromodem](INFO): Nmea in: $CAREV,185630,AUV,2.1.4000*23

2021-12-04T18:56:30.555Z,1638644190.555 [Micromodem](INFO): Nmea in: $CAREV,185630,COPROC,0.20.0.39330*72

2021-12-04T18:56:31.367Z,1638644191.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:34.225Z,1638644194.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:37.044Z,1638644197.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:39.869Z,1638644199.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:40.263Z,1638644200.263 [Micromodem](INFO): Nmea in: $CAREV,185640,AUV,2.1.4000*24

2021-12-04T18:56:40.265Z,1638644200.265 [Micromodem](INFO): Nmea in: $CAREV,185640,COPROC,0.20.0.39330*75

2021-12-04T18:56:42.683Z,1638644202.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:45.525Z,1638644205.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:48.337Z,1638644208.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:50.347Z,1638644210.347 [Micromodem](INFO): Nmea in: $CAREV,185650,AUV,2.1.4000*25

2021-12-04T18:56:50.348Z,1638644210.348 [Micromodem](INFO): Nmea in: $CAREV,185650,COPROC,0.20.0.39330*74

2021-12-04T18:56:51.178Z,1638644211.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:54.021Z,1638644214.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:56.820Z,1638644216.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:56:59.689Z,1638644219.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:00.440Z,1638644220.440 [Micromodem](INFO): Nmea in: $CAREV,185700,AUV,2.1.4000*21

2021-12-04T18:57:00.442Z,1638644220.442 [Micromodem](INFO): Nmea in: $CAREV,185700,COPROC,0.20.0.39330*70

2021-12-04T18:57:02.470Z,1638644222.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:05.318Z,1638644225.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:08.149Z,1638644228.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:10.544Z,1638644230.544 [Micromodem](INFO): Nmea in: $CAREV,185710,AUV,2.1.4000*20

2021-12-04T18:57:10.545Z,1638644230.545 [Micromodem](INFO): Nmea in: $CAREV,185710,COPROC,0.20.0.39330*71

2021-12-04T18:57:11.115Z,1638644231.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:13.830Z,1638644233.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:16.615Z,1638644236.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:19.452Z,1638644239.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:20.259Z,1638644240.259 [Micromodem](INFO): Nmea in: $CAREV,185720,AUV,2.1.4000*23

2021-12-04T18:57:20.260Z,1638644240.260 [Micromodem](INFO): Nmea in: $CAREV,185720,COPROC,0.20.0.39330*72

2021-12-04T18:57:22.269Z,1638644242.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:25.110Z,1638644245.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:27.975Z,1638644247.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:30.352Z,1638644250.352 [Micromodem](INFO): Nmea in: $CAREV,185730,AUV,2.1.4000*22

2021-12-04T18:57:30.354Z,1638644250.354 [Micromodem](INFO): Nmea in: $CAREV,185730,COPROC,0.20.0.39330*73

2021-12-04T18:57:30.751Z,1638644250.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:33.629Z,1638644253.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:36.428Z,1638644256.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:39.265Z,1638644259.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:40.437Z,1638644260.437 [Micromodem](INFO): Nmea in: $CAREV,185740,AUV,2.1.4000*25

2021-12-04T18:57:40.438Z,1638644260.438 [Micromodem](INFO): Nmea in: $CAREV,185740,COPROC,0.20.0.39330*74

2021-12-04T18:57:42.079Z,1638644262.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:44.927Z,1638644264.927 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-12-04T18:57:44.944Z,1638644264.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:47.746Z,1638644267.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:50.540Z,1638644270.540 [Micromodem](INFO): Nmea in: $CAREV,185750,AUV,2.1.4000*24

2021-12-04T18:57:50.541Z,1638644270.541 [Micromodem](INFO): Nmea in: $CAREV,185750,COPROC,0.20.0.39330*75

2021-12-04T18:57:50.586Z,1638644270.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:53.376Z,1638644273.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:56.214Z,1638644276.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:57:59.051Z,1638644279.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:00.295Z,1638644280.295 [Micromodem](INFO): Nmea in: $CAREV,185800,AUV,2.1.4000*2E

2021-12-04T18:58:00.296Z,1638644280.296 [Micromodem](INFO): Nmea in: $CAREV,185800,COPROC,0.20.0.39330*7F

2021-12-04T18:58:01.928Z,1638644281.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:04.691Z,1638644284.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:07.527Z,1638644287.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:10.333Z,1638644290.333 [Micromodem](INFO): Nmea in: $CAREV,185810,AUV,2.1.4000*2F

2021-12-04T18:58:10.335Z,1638644290.335 [Micromodem](INFO): Nmea in: $CAREV,185810,COPROC,0.20.0.39330*7E

2021-12-04T18:58:10.347Z,1638644290.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:13.244Z,1638644293.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:16.014Z,1638644296.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:18.832Z,1638644298.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:20.433Z,1638644300.433 [Micromodem](INFO): Nmea in: $CAREV,185820,AUV,2.1.4000*2C

2021-12-04T18:58:20.436Z,1638644300.436 [Micromodem](INFO): Nmea in: $CAREV,185820,COPROC,0.20.0.39330*7D

2021-12-04T18:58:21.688Z,1638644301.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:24.496Z,1638644304.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:27.100Z,1638644307.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:29.768Z,1638644309.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:30.539Z,1638644310.539 [Micromodem](INFO): Nmea in: $CAREV,185830,AUV,2.1.4000*2D

2021-12-04T18:58:30.541Z,1638644310.541 [Micromodem](INFO): Nmea in: $CAREV,185830,COPROC,0.20.0.39330*7C

2021-12-04T18:58:32.564Z,1638644312.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:35.404Z,1638644315.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:37.905Z,1638644317.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:40.343Z,1638644320.343 [Micromodem](INFO): Nmea in: $CAREV,185840,AUV,2.1.4000*2A

2021-12-04T18:58:40.345Z,1638644320.345 [Micromodem](INFO): Nmea in: $CAREV,185840,COPROC,0.20.0.39330*7B

2021-12-04T18:58:40.688Z,1638644320.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:43.475Z,1638644323.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:45.981Z,1638644325.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:48.732Z,1638644328.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:50.336Z,1638644330.336 [Micromodem](INFO): Nmea in: $CAREV,185850,AUV,2.1.4000*2B

2021-12-04T18:58:50.337Z,1638644330.337 [Micromodem](INFO): Nmea in: $CAREV,185850,COPROC,0.20.0.39330*7A

2021-12-04T18:58:51.551Z,1638644331.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:54.409Z,1638644334.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:58:57.231Z,1638644337.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:00.057Z,1638644340.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:00.427Z,1638644340.427 [Micromodem](INFO): Nmea in: $CAREV,185900,AUV,2.1.4000*2F

2021-12-04T18:59:00.428Z,1638644340.428 [Micromodem](INFO): Nmea in: $CAREV,185900,COPROC,0.20.0.39330*7E

2021-12-04T18:59:02.876Z,1638644342.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:05.735Z,1638644345.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:08.536Z,1638644348.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:10.533Z,1638644350.533 [Micromodem](INFO): Nmea in: $CAREV,185910,AUV,2.1.4000*2E

2021-12-04T18:59:10.534Z,1638644350.534 [Micromodem](INFO): Nmea in: $CAREV,185910,COPROC,0.20.0.39330*7F

2021-12-04T18:59:11.352Z,1638644351.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:14.193Z,1638644354.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:17.013Z,1638644357.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:19.971Z,1638644359.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:20.339Z,1638644360.339 [Micromodem](INFO): Nmea in: $CAREV,185920,AUV,2.1.4000*2D

2021-12-04T18:59:20.343Z,1638644360.343 [Micromodem](INFO): Nmea in: $CAREV,185920,COPROC,0.20.0.39330*7C

2021-12-04T18:59:22.672Z,1638644362.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:25.489Z,1638644365.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:27.992Z,1638644367.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:30.340Z,1638644370.340 [Micromodem](INFO): Nmea in: $CAREV,185930,AUV,2.1.4000*2C

2021-12-04T18:59:30.342Z,1638644370.342 [Micromodem](INFO): Nmea in: $CAREV,185930,COPROC,0.20.0.39330*7D

2021-12-04T18:59:30.762Z,1638644370.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:33.706Z,1638644373.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:36.396Z,1638644376.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:39.237Z,1638644379.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:40.428Z,1638644380.428 [Micromodem](INFO): Nmea in: $CAREV,185940,AUV,2.1.4000*2B

2021-12-04T18:59:40.429Z,1638644380.429 [Micromodem](INFO): Nmea in: $CAREV,185940,COPROC,0.20.0.39330*7A

2021-12-04T18:59:42.060Z,1638644382.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:44.925Z,1638644384.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:47.755Z,1638644387.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:50.526Z,1638644390.526 [Micromodem](INFO): Nmea in: $CAREV,185950,AUV,2.1.4000*2A

2021-12-04T18:59:50.527Z,1638644390.527 [Micromodem](INFO): Nmea in: $CAREV,185950,COPROC,0.20.0.39330*7B

2021-12-04T18:59:50.540Z,1638644390.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:53.364Z,1638644393.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:56.210Z,1638644396.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T18:59:59.034Z,1638644399.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:00.360Z,1638644400.360 [Micromodem](INFO): Nmea in: $CAREV,190000,AUV,2.1.4000*22

2021-12-04T19:00:00.361Z,1638644400.361 [Micromodem](INFO): Nmea in: $CAREV,190000,COPROC,0.20.0.39330*73

2021-12-04T19:00:01.899Z,1638644401.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:04.678Z,1638644404.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:07.502Z,1638644407.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:10.336Z,1638644410.336 [Micromodem](INFO): Nmea in: $CAREV,190010,AUV,2.1.4000*23

2021-12-04T19:00:10.337Z,1638644410.337 [Micromodem](INFO): Nmea in: $CAREV,190010,COPROC,0.20.0.39330*72

2021-12-04T19:00:10.349Z,1638644410.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:13.173Z,1638644413.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:15.729Z,1638644415.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:18.544Z,1638644418.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:20.547Z,1638644420.547 [Micromodem](INFO): Nmea in: $CAREV,190020,AUV,2.1.4000*20

2021-12-04T19:00:20.548Z,1638644420.548 [Micromodem](INFO): Nmea in: $CAREV,190020,COPROC,0.20.0.39330*71

2021-12-04T19:00:21.048Z,1638644421.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:23.809Z,1638644423.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:26.619Z,1638644426.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:29.457Z,1638644429.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:30.648Z,1638644430.648 [Micromodem](INFO): Nmea in: $CAREV,190030,AUV,2.1.4000*21

2021-12-04T19:00:30.649Z,1638644430.649 [Micromodem](INFO): Nmea in: $CAREV,190030,COPROC,0.20.0.39330*70

2021-12-04T19:00:31.966Z,1638644431.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:34.707Z,1638644434.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:37.541Z,1638644437.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:40.469Z,1638644440.469 [Micromodem](INFO): Nmea in: $CAREV,190040,AUV,2.1.4000*26

2021-12-04T19:00:40.471Z,1638644440.471 [Micromodem](INFO): Nmea in: $CAREV,190040,COPROC,0.20.0.39330*77

2021-12-04T19:00:40.500Z,1638644440.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:43.221Z,1638644443.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:46.039Z,1638644446.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:48.838Z,1638644448.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:50.448Z,1638644450.448 [Micromodem](INFO): Nmea in: $CAREV,190050,AUV,2.1.4000*27

2021-12-04T19:00:50.449Z,1638644450.449 [Micromodem](INFO): Nmea in: $CAREV,190050,COPROC,0.20.0.39330*76

2021-12-04T19:00:51.697Z,1638644451.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:54.250Z,1638644454.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:56.960Z,1638644456.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:00:59.791Z,1638644459.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:00.560Z,1638644460.560 [Micromodem](INFO): Nmea in: $CAREV,190100,AUV,2.1.4000*23

2021-12-04T19:01:00.562Z,1638644460.562 [Micromodem](INFO): Nmea in: $CAREV,190100,COPROC,0.20.0.39330*72

2021-12-04T19:01:02.590Z,1638644462.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:05.404Z,1638644465.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:08.286Z,1638644468.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:10.643Z,1638644470.643 [Micromodem](INFO): Nmea in: $CAREV,190110,AUV,2.1.4000*22

2021-12-04T19:01:10.644Z,1638644470.644 [Micromodem](INFO): Nmea in: $CAREV,190110,COPROC,0.20.0.39330*73

2021-12-04T19:01:11.073Z,1638644471.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:13.969Z,1638644473.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:16.732Z,1638644476.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:19.545Z,1638644479.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:20.340Z,1638644480.340 [Micromodem](INFO): Nmea in: $CAREV,190120,AUV,2.1.4000*21

2021-12-04T19:01:20.341Z,1638644480.341 [Micromodem](INFO): Nmea in: $CAREV,190120,COPROC,0.20.0.39330*70

2021-12-04T19:01:22.376Z,1638644482.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:25.226Z,1638644485.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:28.050Z,1638644488.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:30.444Z,1638644490.444 [Micromodem](INFO): Nmea in: $CAREV,190130,AUV,2.1.4000*20

2021-12-04T19:01:30.445Z,1638644490.445 [Micromodem](INFO): Nmea in: $CAREV,190130,COPROC,0.20.0.39330*71

2021-12-04T19:01:30.866Z,1638644490.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:33.728Z,1638644493.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:36.515Z,1638644496.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:39.365Z,1638644499.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:40.539Z,1638644500.539 [Micromodem](INFO): Nmea in: $CAREV,190140,AUV,2.1.4000*27

2021-12-04T19:01:40.540Z,1638644500.540 [Micromodem](INFO): Nmea in: $CAREV,190140,COPROC,0.20.0.39330*76

2021-12-04T19:01:42.187Z,1638644502.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:45.014Z,1638644505.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:48.021Z,1638644508.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:50.639Z,1638644510.639 [Micromodem](INFO): Nmea in: $CAREV,190150,AUV,2.1.4000*26

2021-12-04T19:01:50.640Z,1638644510.640 [Micromodem](INFO): Nmea in: $CAREV,190150,COPROC,0.20.0.39330*77

2021-12-04T19:01:50.676Z,1638644510.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:53.480Z,1638644513.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:55.992Z,1638644515.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:01:58.748Z,1638644518.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:00.336Z,1638644520.336 [Micromodem](INFO): Nmea in: $CAREV,190200,AUV,2.1.4000*20

2021-12-04T19:02:00.338Z,1638644520.338 [Micromodem](INFO): Nmea in: $CAREV,190200,COPROC,0.20.0.39330*71

2021-12-04T19:02:01.295Z,1638644521.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:01.657Z,1638644521.657 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T19:02:04.037Z,1638644524.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:06.810Z,1638644526.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:09.681Z,1638644529.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:10.440Z,1638644530.440 [Micromodem](INFO): Nmea in: $CAREV,190210,AUV,2.1.4000*21

2021-12-04T19:02:10.441Z,1638644530.441 [Micromodem](INFO): Nmea in: $CAREV,190210,COPROC,0.20.0.39330*70

2021-12-04T19:02:12.474Z,1638644532.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:15.075Z,1638644535.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:17.743Z,1638644537.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:19.764Z,1638644539.764 [lineCaptureDepth](INFO): Timed out from 2021-12-04T15:02:19.7Z
2021-12-04T19:02:19.764Z,1638644539.764 [MissionManager](INFO): lineCaptureDepth is completed.
2021-12-04T19:02:19.765Z,1638644539.765 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth] Stopped
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:Science] Stopped
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-12-04T19:02:19.765Z,1638644539.765 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:LineCapture] Stopped
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-12-04T19:02:19.766Z,1638644539.766 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:G] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:H] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-12-04T19:02:19.767Z,1638644539.767 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped
2021-12-04T19:02:19.768Z,1638644539.768 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize.
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:TrackAC.] Stopped
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:Lap] Stopped
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:Lap:B] Stopped
2021-12-04T19:02:19.769Z,1638644539.769 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-12-04T19:02:19.926Z,1638644539.926 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-12-04T19:02:20.152Z,1638644540.152 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-12-04T19:02:20.152Z,1638644540.152 [DefaultWithUndock] Running Loop=1
2021-12-04T19:02:20.152Z,1638644540.152 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-12-04T19:02:20.152Z,1638644540.152 [DefaultWithUndock:A.Wait] Running Loop=1
2021-12-04T19:02:20.152Z,1638644540.152 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-12-04T19:02:20.537Z,1638644540.537 [Micromodem](INFO): Nmea in: $CAREV,190220,AUV,2.1.4000*22

2021-12-04T19:02:20.539Z,1638644540.539 [Micromodem](INFO): Nmea in: $CAREV,190220,COPROC,0.20.0.39330*73

2021-12-04T19:02:30.636Z,1638644550.636 [Micromodem](INFO): Nmea in: $CAREV,190230,AUV,2.1.4000*23

2021-12-04T19:02:30.637Z,1638644550.637 [Micromodem](INFO): Nmea in: $CAREV,190230,COPROC,0.20.0.39330*72

2021-12-04T19:02:40.336Z,1638644560.336 [Micromodem](INFO): Nmea in: $CAREV,190240,AUV,2.1.4000*24

2021-12-04T19:02:40.337Z,1638644560.337 [Micromodem](INFO): Nmea in: $CAREV,190240,COPROC,0.20.0.39330*75

2021-12-04T19:02:50.436Z,1638644570.436 [Micromodem](INFO): Nmea in: $CAREV,190250,AUV,2.1.4000*25

2021-12-04T19:02:50.437Z,1638644570.437 [Micromodem](INFO): Nmea in: $CAREV,190250,COPROC,0.20.0.39330*74

2021-12-04T19:02:50.464Z,1638644570.464 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-12-04T19:02:50.464Z,1638644570.464 [DefaultWithUndock:A.Wait] Stopped
2021-12-04T19:02:50.464Z,1638644570.464 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-12-04T19:02:50.465Z,1638644570.465 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-12-04T19:02:53.331Z,1638644573.331 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-12-04T19:02:53.331Z,1638644573.331 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:53.738Z,1638644573.738 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-12-04T19:02:56.148Z,1638644576.148 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:02:58.981Z,1638644578.981 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:00.564Z,1638644580.564 [Micromodem](INFO): Nmea in: $CAREV,190300,AUV,2.1.4000*21

2021-12-04T19:03:00.565Z,1638644580.565 [Micromodem](INFO): Nmea in: $CAREV,190300,COPROC,0.20.0.39330*70

2021-12-04T19:03:01.797Z,1638644581.797 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:03.829Z,1638644583.829 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-12-04T19:03:04.235Z,1638644584.235 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-12-04T19:03:04.619Z,1638644584.619 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:07.442Z,1638644587.442 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:09.964Z,1638644589.964 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:10.664Z,1638644590.664 [Micromodem](INFO): Nmea in: $CAREV,190310,AUV,2.1.4000*20

2021-12-04T19:03:10.666Z,1638644590.666 [Micromodem](INFO): Nmea in: $CAREV,190310,COPROC,0.20.0.39330*71

2021-12-04T19:03:12.694Z,1638644592.694 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:15.539Z,1638644595.539 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:18.364Z,1638644598.364 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:20.364Z,1638644600.364 [Micromodem](INFO): Nmea in: $CAREV,190320,AUV,2.1.4000*23

2021-12-04T19:03:20.365Z,1638644600.365 [Micromodem](INFO): Nmea in: $CAREV,190320,COPROC,0.20.0.39330*72

2021-12-04T19:03:21.184Z,1638644601.184 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:24.052Z,1638644604.052 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:24.419Z,1638644604.419 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 12.18 m. Transitioning DDM to standby.
2021-12-04T19:03:26.458Z,1638644606.458 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-12-04T19:03:26.834Z,1638644606.834 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-12-04T19:03:26.834Z,1638644606.834 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:LeaveDock] Stopped
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-12-04T19:03:26.835Z,1638644606.835 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-12-04T19:03:26.836Z,1638644606.836 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-12-04T19:03:26.837Z,1638644606.837 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-12-04T19:03:26.837Z,1638644606.837 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-12-04T19:03:26.837Z,1638644606.837 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-12-04T19:03:27.228Z,1638644607.228 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-12-04T19:03:27.228Z,1638644607.228 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-12-04T19:03:27.229Z,1638644607.229 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-12-04T19:03:27.234Z,1638644607.234 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense Dock.docking_state
2021-12-04T19:03:27.696Z,1638644607.696 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2021-12-04T19:03:27.742Z,1638644607.742 [Radio_Surface](INFO): Powering up
2021-12-04T19:03:30.484Z,1638644610.484 [Micromodem](INFO): Nmea in: $CAREV,190330,AUV,2.1.4000*22

2021-12-04T19:03:30.485Z,1638644610.485 [Micromodem](INFO): Nmea in: $CAREV,190330,COPROC,0.20.0.39330*73

2021-12-04T19:03:33.466Z,1638644613.466 [DataOverHttps](INFO): Radio surface powered ON.
2021-12-04T19:03:40.568Z,1638644620.568 [Micromodem](INFO): Nmea in: $CAREV,190340,AUV,2.1.4000*25

2021-12-04T19:03:40.569Z,1638644620.569 [Micromodem](INFO): Nmea in: $CAREV,190340,COPROC,0.20.0.39330*74

2021-12-04T19:03:50.652Z,1638644630.652 [Micromodem](INFO): Nmea in: $CAREV,190350,AUV,2.1.4000*24

2021-12-04T19:03:50.654Z,1638644630.654 [Micromodem](INFO): Nmea in: $CAREV,190350,COPROC,0.20.0.39330*75

2021-12-04T19:04:00.372Z,1638644640.372 [Micromodem](INFO): Nmea in: $CAREV,190400,AUV,2.1.4000*26

2021-12-04T19:04:00.374Z,1638644640.374 [Micromodem](INFO): Nmea in: $CAREV,190400,COPROC,0.20.0.39330*77

2021-12-04T19:04:03.587Z,1638644643.587 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-12-04T19:04:04.407Z,1638644644.407 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-12-04T19:04:10.452Z,1638644650.452 [Micromodem](INFO): Nmea in: $CAREV,190410,AUV,2.1.4000*27

2021-12-04T19:04:10.453Z,1638644650.453 [Micromodem](INFO): Nmea in: $CAREV,190410,COPROC,0.20.0.39330*76

2021-12-04T19:04:15.274Z,1638644655.274 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-12-04T19:04:15.277Z,1638644655.277 [BPC1](INFO): Received data from all battery sticks.
2021-12-04T19:04:20.524Z,1638644660.524 [Micromodem](INFO): Nmea in: $CAREV,190420,AUV,2.1.4000*24

2021-12-04T19:04:20.525Z,1638644660.525 [Micromodem](INFO): Nmea in: $CAREV,190420,COPROC,0.20.0.39330*75

2021-12-04T19:04:30.628Z,1638644670.628 [Micromodem](INFO): Nmea in: $CAREV,190430,AUV,2.1.4000*25

2021-12-04T19:04:30.630Z,1638644670.630 [Micromodem](INFO): Nmea in: $CAREV,190430,COPROC,0.20.0.39330*74

2021-12-04T19:04:38.730Z,1638644678.730 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T19:04:40.333Z,1638644680.333 [Micromodem](INFO): Nmea in: $CAREV,190440,AUV,2.1.4000*22

2021-12-04T19:04:40.728Z,1638644680.728 [Micromodem](INFO): Nmea in: $CAREV,190440,COPROC,0.20.0.39330*73

2021-12-04T19:04:47.193Z,1638644687.193 [NAL9602](INFO): SBD MO Status=0, MOMSN=30144, MT Status=0, MTMSN=0
2021-12-04T19:04:47.193Z,1638644687.193 [NAL9602](INFO): No messages in MT queue
2021-12-04T19:04:47.656Z,1638644687.656 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-12-04T19:04:50.420Z,1638644690.420 [Micromodem](INFO): Nmea in: $CAREV,190450,AUV,2.1.4000*23

2021-12-04T19:04:50.421Z,1638644690.421 [Micromodem](INFO): Nmea in: $CAREV,190450,COPROC,0.20.0.39330*72

2021-12-04T19:05:00.518Z,1638644700.518 [Micromodem](INFO): Nmea in: $CAREV,190500,AUV,2.1.4000*27

2021-12-04T19:05:00.519Z,1638644700.519 [Micromodem](INFO): Nmea in: $CAREV,190500,COPROC,0.20.0.39330*76

2021-12-04T19:05:10.619Z,1638644710.619 [Micromodem](INFO): Nmea in: $CAREV,190510,AUV,2.1.4000*26

2021-12-04T19:05:10.620Z,1638644710.620 [Micromodem](INFO): Nmea in: $CAREV,190510,COPROC,0.20.0.39330*77

2021-12-04T19:05:13.886Z,1638644713.886 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T19:05:20.724Z,1638644720.724 [Micromodem](INFO): Nmea in: $CAREV,190520,AUV,2.1.4000*25

2021-12-04T19:05:20.725Z,1638644720.725 [Micromodem](INFO): Nmea in: $CAREV,190520,COPROC,0.20.0.39330*74

2021-12-04T19:05:26.782Z,1638644726.782 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,190526.00,A,4133.06821,N,07042.48136,W,0.486,284.94,041221,,,A*79
2021-12-04T19:05:26.784Z,1638644726.784 [NAL9602](INFO): GPS fix at 20211204T190526: (41.551137, -70.708023)
2021-12-04T19:05:26.796Z,1638644726.796 [UniversalFixResidualReporter](INFO): Fix residual: 1.3 %DT, over the last 8580.0 m. Residual distance 115.3 m at bearing -16.2 degrees. Fix at (41.5511, -70.7080) with 548.6 m made good.
2021-12-04T19:05:26.798Z,1638644726.798 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T19:05:26.798Z,1638644726.798 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T19:05:30.420Z,1638644730.420 [Micromodem](INFO): Nmea in: $CAREV,190530,AUV,2.1.4000*24

2021-12-04T19:05:30.824Z,1638644730.824 [Micromodem](INFO): Nmea in: $CAREV,190530,COPROC,0.20.0.39330*75

2021-12-04T19:05:40.650Z,1638644740.650 [Micromodem](INFO): Nmea in: $CAREV,190540,AUV,2.1.4000*23

2021-12-04T19:05:41.052Z,1638644741.052 [Micromodem](INFO): Nmea in: $CAREV,190540,COPROC,0.20.0.39330*72

2021-12-04T19:05:49.026Z,1638644749.026 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T19:05:50.351Z,1638644750.351 [Micromodem](INFO): Nmea in: $CAREV,190550,AUV,2.1.4000*22

2021-12-04T19:05:50.748Z,1638644750.748 [Micromodem](INFO): Nmea in: $CAREV,190550,COPROC,0.20.0.39330*73

2021-12-04T19:06:00.438Z,1638644760.438 [Micromodem](INFO): Nmea in: $CAREV,190600,AUV,2.1.4000*24

2021-12-04T19:06:00.849Z,1638644760.849 [Micromodem](INFO): Nmea in: $CAREV,190600,COPROC,0.20.0.39330*75

2021-12-04T19:06:10.540Z,1638644770.540 [Micromodem](INFO): Nmea in: $CAREV,190610,AUV,2.1.4000*25

2021-12-04T19:06:10.942Z,1638644770.942 [Micromodem](INFO): Nmea in: $CAREV,190610,COPROC,0.20.0.39330*74

2021-12-04T19:06:20.644Z,1638644780.644 [Micromodem](INFO): Nmea in: $CAREV,190620,AUV,2.1.4000*26

2021-12-04T19:06:21.051Z,1638644781.051 [Micromodem](INFO): Nmea in: $CAREV,190620,COPROC,0.20.0.39330*77

2021-12-04T19:06:24.166Z,1638644784.166 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-12-04T19:06:30.345Z,1638644790.345 [Micromodem](INFO): Nmea in: $CAREV,190630,AUV,2.1.4000*27

2021-12-04T19:06:30.744Z,1638644790.744 [Micromodem](INFO): Nmea in: $CAREV,190630,COPROC,0.20.0.39330*76

2021-12-04T19:06:33.166Z,1638644793.166 [NAL9602](INFO): SBD MO Status=2, MOMSN=30145, MT Status=2, MTMSN=0
2021-12-04T19:06:33.166Z,1638644793.166 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-12-04T19:06:40.584Z,1638644800.584 [Micromodem](INFO): Nmea in: $CAREV,190640,AUV,2.1.4000*20

2021-12-04T19:06:40.960Z,1638644800.960 [Micromodem](INFO): Nmea in: $CAREV,190640,COPROC,0.20.0.39330*71

2021-12-04T19:06:50.650Z,1638644810.650 [Micromodem](INFO): Nmea in: $CAREV,190650,AUV,2.1.4000*21

2021-12-04T19:06:51.060Z,1638644811.060 [Micromodem](INFO): Nmea in: $CAREV,190650,COPROC,0.20.0.39330*70

2021-12-04T19:06:52.675Z,1638644812.675 [NAL9602](INFO): SBD MO Status=1, MOMSN=30145, MT Status=0, MTMSN=0
2021-12-04T19:06:52.726Z,1638644812.726 [NAL9602](INFO): Sent 101 bytes from file Logs/20211204T085114/Courier0055.lzma
2021-12-04T19:06:52.726Z,1638644812.726 [NAL9602](INFO): Packets left to send: 0
2021-12-04T19:06:53.311Z,1638644813.311 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003601
2021-12-04T19:06:57.253Z,1638644817.253 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-12-04T19:06:57.327Z,1638644817.327 [DataOverHttps](INFO): Sending 479 bytes from file Logs/20211204T085114/Express0047.lzma
2021-12-04T19:06:58.329Z,1638644818.329 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0047.lzma.bak
2021-12-04T19:06:58.329Z,1638644818.329 [DataOverHttps](INFO): SBD MOMSN=623359
2021-12-04T19:07:00.476Z,1638644820.476 [Micromodem](INFO): Nmea in: $CAREV,190700,AUV,2.1.4000*25

2021-12-04T19:07:00.885Z,1638644820.885 [Micromodem](INFO): Nmea in: $CAREV,190700,COPROC,0.20.0.39330*74

2021-12-04T19:07:07.371Z,1638644827.371 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20211204T085114/Express0050.lzma
2021-12-04T19:07:08.372Z,1638644828.372 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0050.lzma.bak
2021-12-04T19:07:08.372Z,1638644828.372 [DataOverHttps](INFO): SBD MOMSN=623372
2021-12-04T19:07:08.552Z,1638644828.552 [NAL9602](INFO): SBD MO Status=2, MOMSN=30146, MT Status=2, MTMSN=0
2021-12-04T19:07:08.552Z,1638644828.552 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-12-04T19:07:10.576Z,1638644830.576 [Micromodem](INFO): Nmea in: $CAREV,190710,AUV,2.1.4000*24

2021-12-04T19:07:10.976Z,1638644830.976 [Micromodem](INFO): Nmea in: $CAREV,190710,COPROC,0.20.0.39330*75

2021-12-04T19:07:17.411Z,1638644837.411 [DataOverHttps](INFO): Sending 859 bytes from file Logs/20211204T085114/Express0053.lzma
2021-12-04T19:07:18.412Z,1638644838.412 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0053.lzma.bak
2021-12-04T19:07:18.412Z,1638644838.412 [DataOverHttps](INFO): SBD MOMSN=623374
2021-12-04T19:07:20.676Z,1638644840.676 [Micromodem](INFO): Nmea in: $CAREV,190720,AUV,2.1.4000*27

2021-12-04T19:07:21.085Z,1638644841.085 [Micromodem](INFO): Nmea in: $CAREV,190720,COPROC,0.20.0.39330*76

2021-12-04T19:07:27.450Z,1638644847.450 [DataOverHttps](INFO): Sending 499 bytes from file Logs/20211204T085114/Express0056.lzma
2021-12-04T19:07:28.452Z,1638644848.452 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0056.lzma.bak
2021-12-04T19:07:28.452Z,1638644848.452 [DataOverHttps](INFO): SBD MOMSN=623398
2021-12-04T19:07:29.999Z,1638644849.999 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T19:07:29.000Z,1638644850.000 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T19:07:29.000Z,1638644850.000 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T19:07:30.380Z,1638644850.380 [Micromodem](INFO): Nmea in: $CAREV,190730,AUV,2.1.4000*26

2021-12-04T19:07:30.381Z,1638644850.381 [Micromodem](INFO): Nmea in: $CAREV,190730,COPROC,0.20.0.39330*77

2021-12-04T19:07:39.258Z,1638644859.258 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T19:07:40.477Z,1638644860.477 [Micromodem](INFO): Nmea in: $CAREV,190740,AUV,2.1.4000*21

2021-12-04T19:07:40.479Z,1638644860.479 [Micromodem](INFO): Nmea in: $CAREV,190740,COPROC,0.20.0.39330*70

2021-12-04T19:07:50.576Z,1638644870.576 [Micromodem](INFO): Nmea in: $CAREV,190750,AUV,2.1.4000*20

2021-12-04T19:07:50.577Z,1638644870.577 [Micromodem](INFO): Nmea in: $CAREV,190750,COPROC,0.20.0.39330*71

2021-12-04T19:08:00.678Z,1638644880.678 [Micromodem](INFO): Nmea in: $CAREV,190800,AUV,2.1.4000*2A

2021-12-04T19:08:00.679Z,1638644880.679 [Micromodem](INFO): Nmea in: $CAREV,190800,COPROC,0.20.0.39330*7B

2021-12-04T19:08:10.376Z,1638644890.376 [Micromodem](INFO): Nmea in: $CAREV,190810,AUV,2.1.4000*2B

2021-12-04T19:08:10.377Z,1638644890.377 [Micromodem](INFO): Nmea in: $CAREV,190810,COPROC,0.20.0.39330*7A

2021-12-04T19:08:20.472Z,1638644900.472 [Micromodem](INFO): Nmea in: $CAREV,190820,AUV,2.1.4000*28

2021-12-04T19:08:20.473Z,1638644900.473 [Micromodem](INFO): Nmea in: $CAREV,190820,COPROC,0.20.0.39330*79

2021-12-04T19:08:30.569Z,1638644910.569 [Micromodem](INFO): Nmea in: $CAREV,190830,AUV,2.1.4000*29

2021-12-04T19:08:30.570Z,1638644910.570 [Micromodem](INFO): Nmea in: $CAREV,190830,COPROC,0.20.0.39330*78

2021-12-04T19:08:40.678Z,1638644920.678 [Micromodem](INFO): Nmea in: $CAREV,190840,AUV,2.1.4000*2E

2021-12-04T19:08:40.679Z,1638644920.679 [Micromodem](INFO): Nmea in: $CAREV,190840,COPROC,0.20.0.39330*7F

2021-12-04T19:08:50.411Z,1638644930.411 [Micromodem](INFO): Nmea in: $CAREV,190850,AUV,2.1.4000*2F

2021-12-04T19:08:50.412Z,1638644930.412 [Micromodem](INFO): Nmea in: $CAREV,190850,COPROC,0.20.0.39330*7E

2021-12-04T19:09:00.464Z,1638644940.464 [Micromodem](INFO): Nmea in: $CAREV,190900,AUV,2.1.4000*2B

2021-12-04T19:09:00.465Z,1638644940.465 [Micromodem](INFO): Nmea in: $CAREV,190900,COPROC,0.20.0.39330*7A

2021-12-04T19:09:07.802Z,1638644947.802 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-12-04T19:09:07.802Z,1638644947.802 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-12-04T19:09:07.802Z,1638644947.802 [RDI_Pathfinder](ERROR): Communications Fault
2021-12-04T19:09:07.857Z,1638644947.857 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-12-04T19:09:08.210Z,1638644948.210 [RDI_Pathfinder](INFO): Powering down
2021-12-04T19:09:08.996Z,1638644948.996 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-12-04T19:09:08.996Z,1638644948.996 [RDI_Pathfinder] No Fault, FailCount= 1
2021-12-04T19:09:10.573Z,1638644950.573 [Micromodem](INFO): Nmea in: $CAREV,190910,AUV,2.1.4000*2A

2021-12-04T19:09:10.574Z,1638644950.574 [Micromodem](INFO): Nmea in: $CAREV,190910,COPROC,0.20.0.39330*7B

2021-12-04T19:09:20.664Z,1638644960.664 [Micromodem](INFO): Nmea in: $CAREV,190920,AUV,2.1.4000*29

2021-12-04T19:09:20.665Z,1638644960.665 [Micromodem](INFO): Nmea in: $CAREV,190920,COPROC,0.20.0.39330*78

2021-12-04T19:09:30.768Z,1638644970.768 [Micromodem](INFO): Nmea in: $CAREV,190930,AUV,2.1.4000*28

2021-12-04T19:09:30.769Z,1638644970.769 [Micromodem](INFO): Nmea in: $CAREV,190930,COPROC,0.20.0.39330*79

2021-12-04T19:09:40.557Z,1638644980.557 [Micromodem](INFO): Nmea in: $CAREV,190940,AUV,2.1.4000*2F

2021-12-04T19:09:40.559Z,1638644980.559 [Micromodem](INFO): Nmea in: $CAREV,190940,COPROC,0.20.0.39330*7E

2021-12-04T19:09:50.724Z,1638644990.724 [Micromodem](INFO): Nmea in: $CAREV,190950,AUV,2.1.4000*2E

2021-12-04T19:09:50.725Z,1638644990.725 [Micromodem](INFO): Nmea in: $CAREV,190950,COPROC,0.20.0.39330*7F

2021-12-04T19:10:00.432Z,1638645000.432 [Micromodem](INFO): Nmea in: $CAREV,191000,AUV,2.1.4000*23

2021-12-04T19:10:00.433Z,1638645000.433 [Micromodem](INFO): Nmea in: $CAREV,191000,COPROC,0.20.0.39330*72

2021-12-04T19:10:10.533Z,1638645010.533 [Micromodem](INFO): Nmea in: $CAREV,191010,AUV,2.1.4000*22

2021-12-04T19:10:10.534Z,1638645010.534 [Micromodem](INFO): Nmea in: $CAREV,191010,COPROC,0.20.0.39330*73

2021-12-04T19:10:20.632Z,1638645020.632 [Micromodem](INFO): Nmea in: $CAREV,191020,AUV,2.1.4000*21

2021-12-04T19:10:20.633Z,1638645020.633 [Micromodem](INFO): Nmea in: $CAREV,191020,COPROC,0.20.0.39330*70

2021-12-04T19:10:30.732Z,1638645030.732 [Micromodem](INFO): Nmea in: $CAREV,191030,AUV,2.1.4000*20

2021-12-04T19:10:30.733Z,1638645030.733 [Micromodem](INFO): Nmea in: $CAREV,191030,COPROC,0.20.0.39330*71

2021-12-04T19:10:40.428Z,1638645040.428 [Micromodem](INFO): Nmea in: $CAREV,191040,AUV,2.1.4000*27

2021-12-04T19:10:40.430Z,1638645040.430 [Micromodem](INFO): Nmea in: $CAREV,191040,COPROC,0.20.0.39330*76

2021-12-04T19:10:50.528Z,1638645050.528 [Micromodem](INFO): Nmea in: $CAREV,191050,AUV,2.1.4000*26

2021-12-04T19:10:50.529Z,1638645050.529 [Micromodem](INFO): Nmea in: $CAREV,191050,COPROC,0.20.0.39330*77

2021-12-04T19:11:00.628Z,1638645060.628 [Micromodem](INFO): Nmea in: $CAREV,191100,AUV,2.1.4000*22

2021-12-04T19:11:00.629Z,1638645060.629 [Micromodem](INFO): Nmea in: $CAREV,191100,COPROC,0.20.0.39330*73

2021-12-04T19:11:10.728Z,1638645070.728 [Micromodem](INFO): Nmea in: $CAREV,191110,AUV,2.1.4000*23

2021-12-04T19:11:10.729Z,1638645070.729 [Micromodem](INFO): Nmea in: $CAREV,191110,COPROC,0.20.0.39330*72

2021-12-04T19:11:20.424Z,1638645080.424 [Micromodem](INFO): Nmea in: $CAREV,191120,AUV,2.1.4000*20

2021-12-04T19:11:20.425Z,1638645080.425 [Micromodem](INFO): Nmea in: $CAREV,191120,COPROC,0.20.0.39330*71

2021-12-04T19:11:30.528Z,1638645090.528 [Micromodem](INFO): Nmea in: $CAREV,191130,AUV,2.1.4000*21

2021-12-04T19:11:30.529Z,1638645090.529 [Micromodem](INFO): Nmea in: $CAREV,191130,COPROC,0.20.0.39330*70

2021-12-04T19:11:40.664Z,1638645100.664 [Micromodem](INFO): Nmea in: $CAREV,191140,AUV,2.1.4000*26

2021-12-04T19:11:40.670Z,1638645100.670 [Micromodem](INFO): Nmea in: $CAREV,191140,COPROC,0.20.0.39330*77

2021-12-04T19:11:50.436Z,1638645110.436 [Micromodem](INFO): Nmea in: $CAREV,191150,AUV,2.1.4000*27

2021-12-04T19:11:50.437Z,1638645110.437 [Micromodem](INFO): Nmea in: $CAREV,191150,COPROC,0.20.0.39330*76

2021-12-04T19:12:00.592Z,1638645120.592 [Micromodem](INFO): Nmea in: $CAREV,191200,AUV,2.1.4000*21

2021-12-04T19:12:00.593Z,1638645120.593 [Micromodem](INFO): Nmea in: $CAREV,191200,COPROC,0.20.0.39330*70

2021-12-04T19:12:10.701Z,1638645130.701 [Micromodem](INFO): Nmea in: $CAREV,191210,AUV,2.1.4000*20

2021-12-04T19:12:10.702Z,1638645130.702 [Micromodem](INFO): Nmea in: $CAREV,191210,COPROC,0.20.0.39330*71

2021-12-04T19:12:20.796Z,1638645140.796 [Micromodem](INFO): Nmea in: $CAREV,191220,AUV,2.1.4000*23

2021-12-04T19:12:20.812Z,1638645140.812 [Micromodem](INFO): Nmea in: $CAREV,191220,COPROC,0.20.0.39330*72

2021-12-04T19:12:30.492Z,1638645150.492 [Micromodem](INFO): Nmea in: $CAREV,191230,AUV,2.1.4000*22

2021-12-04T19:12:30.493Z,1638645150.493 [Micromodem](INFO): Nmea in: $CAREV,191230,COPROC,0.20.0.39330*73

2021-12-04T19:12:30.537Z,1638645150.537 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T19:12:30.537Z,1638645150.537 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T19:12:30.537Z,1638645150.537 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T19:12:30.542Z,1638645150.542 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T19:12:30.950Z,1638645150.950 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T19:12:30.950Z,1638645150.950 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.179971 min 
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-12-04T19:12:31.311Z,1638645151.311 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-12-04T19:12:31.312Z,1638645151.312 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:12:31.312Z,1638645151.312 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T19:12:33.318Z,1638645153.318 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191232.00,A,4133.03764,N,07042.50429,W,0.700,274.35,041221,,,A*7A
2021-12-04T19:12:33.320Z,1638645153.320 [NAL9602](INFO): GPS fix at 20211204T191232: (41.550627, -70.708405)
2021-12-04T19:12:33.451Z,1638645153.451 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T19:12:33.451Z,1638645153.451 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T19:12:36.896Z,1638645156.896 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20211204T085114/Courier0058.lzma
2021-12-04T19:12:37.896Z,1638645157.896 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0058.lzma.bak
2021-12-04T19:12:37.897Z,1638645157.897 [DataOverHttps](INFO): SBD MOMSN=623410
2021-12-04T19:12:40.524Z,1638645160.524 [Micromodem](INFO): Nmea in: $CAREV,191240,AUV,2.1.4000*25

2021-12-04T19:12:40.944Z,1638645160.944 [Micromodem](INFO): Nmea in: $CAREV,191240,COPROC,0.20.0.39330*74

2021-12-04T19:12:43.348Z,1638645163.348 [NAL9602](INFO): SBD MO Status=1, MOMSN=30146, MT Status=0, MTMSN=0
2021-12-04T19:12:43.348Z,1638645163.348 [NAL9602](INFO): No messages in MT queue
2021-12-04T19:12:46.930Z,1638645166.930 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20211204T085114/Express0059.lzma
2021-12-04T19:12:47.932Z,1638645167.932 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0059.lzma.bak
2021-12-04T19:12:47.932Z,1638645167.932 [DataOverHttps](INFO): SBD MOMSN=623412
2021-12-04T19:12:49.473Z,1638645169.473 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T19:12:49.473Z,1638645169.473 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T19:12:49.473Z,1638645169.473 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T19:12:50.624Z,1638645170.624 [Micromodem](INFO): Nmea in: $CAREV,191250,AUV,2.1.4000*24

2021-12-04T19:12:50.625Z,1638645170.625 [Micromodem](INFO): Nmea in: $CAREV,191250,COPROC,0.20.0.39330*75

2021-12-04T19:13:00.724Z,1638645180.724 [Micromodem](INFO): Nmea in: $CAREV,191300,AUV,2.1.4000*20

2021-12-04T19:13:00.725Z,1638645180.725 [Micromodem](INFO): Nmea in: $CAREV,191300,COPROC,0.20.0.39330*71

2021-12-04T19:13:10.424Z,1638645190.424 [Micromodem](INFO): Nmea in: $CAREV,191310,AUV,2.1.4000*21

2021-12-04T19:13:10.824Z,1638645190.824 [Micromodem](INFO): Nmea in: $CAREV,191310,COPROC,0.20.0.39330*70

2021-12-04T19:13:14.051Z,1638645194.051 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T19:13:20.520Z,1638645200.520 [Micromodem](INFO): Nmea in: $CAREV,191320,AUV,2.1.4000*22

2021-12-04T19:13:20.521Z,1638645200.521 [Micromodem](INFO): Nmea in: $CAREV,191320,COPROC,0.20.0.39330*73

2021-12-04T19:13:30.614Z,1638645210.614 [Micromodem](INFO): Nmea in: $CAREV,191330,AUV,2.1.4000*23

2021-12-04T19:13:30.615Z,1638645210.615 [Micromodem](INFO): Nmea in: $CAREV,191330,COPROC,0.20.0.39330*72

2021-12-04T19:13:40.715Z,1638645220.715 [Micromodem](INFO): Nmea in: $CAREV,191340,AUV,2.1.4000*24

2021-12-04T19:13:40.716Z,1638645220.716 [Micromodem](INFO): Nmea in: $CAREV,191340,COPROC,0.20.0.39330*75

2021-12-04T19:13:50.418Z,1638645230.418 [Micromodem](INFO): Nmea in: $CAREV,191350,AUV,2.1.4000*25

2021-12-04T19:13:50.820Z,1638645230.820 [Micromodem](INFO): Nmea in: $CAREV,191350,COPROC,0.20.0.39330*74

2021-12-04T19:14:00.516Z,1638645240.516 [Micromodem](INFO): Nmea in: $CAREV,191400,AUV,2.1.4000*27

2021-12-04T19:14:00.518Z,1638645240.518 [Micromodem](INFO): Nmea in: $CAREV,191400,COPROC,0.20.0.39330*76

2021-12-04T19:14:10.610Z,1638645250.610 [Micromodem](INFO): Nmea in: $CAREV,191410,AUV,2.1.4000*26

2021-12-04T19:14:10.611Z,1638645250.611 [Micromodem](INFO): Nmea in: $CAREV,191410,COPROC,0.20.0.39330*77

2021-12-04T19:14:17.915Z,1638645257.915 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T19:14:20.711Z,1638645260.711 [Micromodem](INFO): Nmea in: $CAREV,191420,AUV,2.1.4000*25

2021-12-04T19:14:20.712Z,1638645260.712 [Micromodem](INFO): Nmea in: $CAREV,191420,COPROC,0.20.0.39330*74

2021-12-04T19:14:30.812Z,1638645270.812 [Micromodem](INFO): Nmea in: $CAREV,191430,AUV,2.1.4000*24

2021-12-04T19:14:30.814Z,1638645270.814 [Micromodem](INFO): Nmea in: $CAREV,191430,COPROC,0.20.0.39330*75

2021-12-04T19:14:40.512Z,1638645280.512 [Micromodem](INFO): Nmea in: $CAREV,191440,AUV,2.1.4000*23

2021-12-04T19:14:40.514Z,1638645280.514 [Micromodem](INFO): Nmea in: $CAREV,191440,COPROC,0.20.0.39330*72

2021-12-04T19:14:50.607Z,1638645290.607 [Micromodem](INFO): Nmea in: $CAREV,191450,AUV,2.1.4000*22

2021-12-04T19:14:50.609Z,1638645290.609 [Micromodem](INFO): Nmea in: $CAREV,191450,COPROC,0.20.0.39330*73

2021-12-04T19:15:00.713Z,1638645300.713 [Micromodem](INFO): Nmea in: $CAREV,191500,AUV,2.1.4000*26

2021-12-04T19:15:00.714Z,1638645300.714 [Micromodem](INFO): Nmea in: $CAREV,191500,COPROC,0.20.0.39330*77

2021-12-04T19:15:10.812Z,1638645310.812 [Micromodem](INFO): Nmea in: $CAREV,191510,AUV,2.1.4000*27

2021-12-04T19:15:10.813Z,1638645310.813 [Micromodem](INFO): Nmea in: $CAREV,191510,COPROC,0.20.0.39330*76

2021-12-04T19:15:20.503Z,1638645320.503 [Micromodem](INFO): Nmea in: $CAREV,191520,AUV,2.1.4000*24

2021-12-04T19:15:20.504Z,1638645320.504 [Micromodem](INFO): Nmea in: $CAREV,191520,COPROC,0.20.0.39330*75

2021-12-04T19:15:30.604Z,1638645330.604 [Micromodem](INFO): Nmea in: $CAREV,191530,AUV,2.1.4000*25

2021-12-04T19:15:30.605Z,1638645330.605 [Micromodem](INFO): Nmea in: $CAREV,191530,COPROC,0.20.0.39330*74

2021-12-04T19:15:40.712Z,1638645340.712 [Micromodem](INFO): Nmea in: $CAREV,191540,AUV,2.1.4000*22

2021-12-04T19:15:40.713Z,1638645340.713 [Micromodem](INFO): Nmea in: $CAREV,191540,COPROC,0.20.0.39330*73

2021-12-04T19:15:50.808Z,1638645350.808 [Micromodem](INFO): Nmea in: $CAREV,191550,AUV,2.1.4000*23

2021-12-04T19:15:50.809Z,1638645350.809 [Micromodem](INFO): Nmea in: $CAREV,191550,COPROC,0.20.0.39330*72

2021-12-04T19:16:00.499Z,1638645360.499 [Micromodem](INFO): Nmea in: $CAREV,191600,AUV,2.1.4000*25

2021-12-04T19:16:00.500Z,1638645360.500 [Micromodem](INFO): Nmea in: $CAREV,191600,COPROC,0.20.0.39330*74

2021-12-04T19:16:10.599Z,1638645370.599 [Micromodem](INFO): Nmea in: $CAREV,191610,AUV,2.1.4000*24

2021-12-04T19:16:10.600Z,1638645370.600 [Micromodem](INFO): Nmea in: $CAREV,191610,COPROC,0.20.0.39330*75

2021-12-04T19:16:20.704Z,1638645380.704 [Micromodem](INFO): Nmea in: $CAREV,191620,AUV,2.1.4000*27

2021-12-04T19:16:20.705Z,1638645380.705 [Micromodem](INFO): Nmea in: $CAREV,191620,COPROC,0.20.0.39330*76

2021-12-04T19:16:30.804Z,1638645390.804 [Micromodem](INFO): Nmea in: $CAREV,191630,AUV,2.1.4000*26

2021-12-04T19:16:30.805Z,1638645390.805 [Micromodem](INFO): Nmea in: $CAREV,191630,COPROC,0.20.0.39330*77

2021-12-04T19:16:40.500Z,1638645400.500 [Micromodem](INFO): Nmea in: $CAREV,191640,AUV,2.1.4000*21

2021-12-04T19:16:40.501Z,1638645400.501 [Micromodem](INFO): Nmea in: $CAREV,191640,COPROC,0.20.0.39330*70

2021-12-04T19:16:50.601Z,1638645410.601 [Micromodem](INFO): Nmea in: $CAREV,191650,AUV,2.1.4000*20

2021-12-04T19:16:50.603Z,1638645410.603 [Micromodem](INFO): Nmea in: $CAREV,191650,COPROC,0.20.0.39330*71

2021-12-04T19:17:00.700Z,1638645420.700 [Micromodem](INFO): Nmea in: $CAREV,191700,AUV,2.1.4000*24

2021-12-04T19:17:00.701Z,1638645420.701 [Micromodem](INFO): Nmea in: $CAREV,191700,COPROC,0.20.0.39330*75

2021-12-04T19:17:10.800Z,1638645430.800 [Micromodem](INFO): Nmea in: $CAREV,191710,AUV,2.1.4000*25

2021-12-04T19:17:10.802Z,1638645430.802 [Micromodem](INFO): Nmea in: $CAREV,191710,COPROC,0.20.0.39330*74

2021-12-04T19:17:20.496Z,1638645440.496 [Micromodem](INFO): Nmea in: $CAREV,191720,AUV,2.1.4000*26

2021-12-04T19:17:20.497Z,1638645440.497 [Micromodem](INFO): Nmea in: $CAREV,191720,COPROC,0.20.0.39330*77

2021-12-04T19:17:30.590Z,1638645450.590 [Micromodem](INFO): Nmea in: $CAREV,191730,AUV,2.1.4000*27

2021-12-04T19:17:30.591Z,1638645450.591 [Micromodem](INFO): Nmea in: $CAREV,191730,COPROC,0.20.0.39330*76

2021-12-04T19:17:40.697Z,1638645460.697 [Micromodem](INFO): Nmea in: $CAREV,191740,AUV,2.1.4000*20

2021-12-04T19:17:40.698Z,1638645460.698 [Micromodem](INFO): Nmea in: $CAREV,191740,COPROC,0.20.0.39330*71

2021-12-04T19:17:49.998Z,1638645469.998 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T19:17:49.998Z,1638645469.998 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T19:17:49.998Z,1638645469.998 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T19:17:49.998Z,1638645469.998 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T19:17:50.436Z,1638645470.436 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T19:17:50.436Z,1638645470.436 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T19:17:50.793Z,1638645470.793 [Micromodem](INFO): Nmea in: $CAREV,191750,AUV,2.1.4000*21

2021-12-04T19:17:50.795Z,1638645470.795 [Micromodem](INFO): Nmea in: $CAREV,191750,COPROC,0.20.0.39330*70

2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 15.504730 min 
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-12-04T19:17:50.806Z,1638645470.806 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:17:50.807Z,1638645470.807 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T19:17:52.812Z,1638645472.812 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,191752.00,A,4133.01435,N,07042.52060,W,0.700,115.23,041221,,,A*74
2021-12-04T19:17:52.814Z,1638645472.814 [NAL9602](INFO): GPS fix at 20211204T191752: (41.550239, -70.708677)
2021-12-04T19:17:52.850Z,1638645472.850 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T19:17:52.850Z,1638645472.850 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T19:17:57.374Z,1638645477.374 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20211204T085114/Courier0061.lzma
2021-12-04T19:17:58.376Z,1638645478.376 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0061.lzma.bak
2021-12-04T19:17:58.376Z,1638645478.376 [DataOverHttps](INFO): SBD MOMSN=623416
2021-12-04T19:18:00.886Z,1638645480.886 [Micromodem](INFO): Nmea in: $CAREV,191800,AUV,2.1.4000*2B

2021-12-04T19:18:01.291Z,1638645481.291 [Micromodem](INFO): Nmea in: $CAREV,191800,COPROC,0.20.0.39330*7A

2021-12-04T19:18:07.414Z,1638645487.414 [DataOverHttps](INFO): Sending 129 bytes from file Logs/20211204T085114/Express0062.lzma
2021-12-04T19:18:08.416Z,1638645488.416 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0062.lzma.bak
2021-12-04T19:18:08.416Z,1638645488.416 [DataOverHttps](INFO): SBD MOMSN=623418
2021-12-04T19:18:09.827Z,1638645489.827 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T19:18:09.827Z,1638645489.827 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T19:18:09.827Z,1638645489.827 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T19:18:10.995Z,1638645490.995 [Micromodem](INFO): Nmea in: $CAREV,191810,AUV,2.1.4000*2A

2021-12-04T19:18:10.996Z,1638645490.996 [Micromodem](INFO): Nmea in: $CAREV,191810,COPROC,0.20.0.39330*7B

2021-12-04T19:18:16.339Z,1638645496.339 [NAL9602](INFO): SBD MO Status=1, MOMSN=30147, MT Status=0, MTMSN=0
2021-12-04T19:18:16.340Z,1638645496.340 [NAL9602](INFO): No messages in MT queue
2021-12-04T19:18:20.693Z,1638645500.693 [Micromodem](INFO): Nmea in: $CAREV,191820,AUV,2.1.4000*29

2021-12-04T19:18:20.694Z,1638645500.694 [Micromodem](INFO): Nmea in: $CAREV,191820,COPROC,0.20.0.39330*78

2021-12-04T19:18:30.785Z,1638645510.785 [Micromodem](INFO): Nmea in: $CAREV,191830,AUV,2.1.4000*28

2021-12-04T19:18:30.786Z,1638645510.786 [Micromodem](INFO): Nmea in: $CAREV,191830,COPROC,0.20.0.39330*79

2021-12-04T19:18:40.889Z,1638645520.889 [Micromodem](INFO): Nmea in: $CAREV,191840,AUV,2.1.4000*2F

2021-12-04T19:18:40.890Z,1638645520.890 [Micromodem](INFO): Nmea in: $CAREV,191840,COPROC,0.20.0.39330*7E

2021-12-04T19:18:43.312Z,1638645523.312 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-12-04T19:18:46.942Z,1638645526.942 [NAL9602](INFO): Not Powering down - fast GPS
2021-12-04T19:18:50.983Z,1638645530.983 [Micromodem](INFO): Nmea in: $CAREV,191850,AUV,2.1.4000*2E

2021-12-04T19:18:50.984Z,1638645530.984 [Micromodem](INFO): Nmea in: $CAREV,191850,COPROC,0.20.0.39330*7F

2021-12-04T19:19:00.685Z,1638645540.685 [Micromodem](INFO): Nmea in: $CAREV,191900,AUV,2.1.4000*2A

2021-12-04T19:19:00.686Z,1638645540.686 [Micromodem](INFO): Nmea in: $CAREV,191900,COPROC,0.20.0.39330*7B

2021-12-04T19:19:10.784Z,1638645550.784 [Micromodem](INFO): Nmea in: $CAREV,191910,AUV,2.1.4000*2B

2021-12-04T19:19:10.786Z,1638645550.786 [Micromodem](INFO): Nmea in: $CAREV,191910,COPROC,0.20.0.39330*7A

2021-12-04T19:19:20.882Z,1638645560.882 [Micromodem](INFO): Nmea in: $CAREV,191920,AUV,2.1.4000*28

2021-12-04T19:19:20.883Z,1638645560.883 [Micromodem](INFO): Nmea in: $CAREV,191920,COPROC,0.20.0.39330*79

2021-12-04T19:19:30.993Z,1638645570.993 [Micromodem](INFO): Nmea in: $CAREV,191930,AUV,2.1.4000*29

2021-12-04T19:19:30.994Z,1638645570.994 [Micromodem](INFO): Nmea in: $CAREV,191930,COPROC,0.20.0.39330*78

2021-12-04T19:19:40.682Z,1638645580.682 [Micromodem](INFO): Nmea in: $CAREV,191940,AUV,2.1.4000*2E

2021-12-04T19:19:40.683Z,1638645580.683 [Micromodem](INFO): Nmea in: $CAREV,191940,COPROC,0.20.0.39330*7F

2021-12-04T19:19:50.775Z,1638645590.775 [Micromodem](INFO): Nmea in: $CAREV,191950,AUV,2.1.4000*2F

2021-12-04T19:19:50.776Z,1638645590.776 [Micromodem](INFO): Nmea in: $CAREV,191950,COPROC,0.20.0.39330*7E

2021-12-04T19:20:00.875Z,1638645600.875 [Micromodem](INFO): Nmea in: $CAREV,192000,AUV,2.1.4000*20

2021-12-04T19:20:00.876Z,1638645600.876 [Micromodem](INFO): Nmea in: $CAREV,192000,COPROC,0.20.0.39330*71

2021-12-04T19:20:10.981Z,1638645610.981 [Micromodem](INFO): Nmea in: $CAREV,192010,AUV,2.1.4000*21

2021-12-04T19:20:10.982Z,1638645610.982 [Micromodem](INFO): Nmea in: $CAREV,192010,COPROC,0.20.0.39330*70

2021-12-04T19:20:20.681Z,1638645620.681 [Micromodem](INFO): Nmea in: $CAREV,192020,AUV,2.1.4000*22

2021-12-04T19:20:20.682Z,1638645620.682 [Micromodem](INFO): Nmea in: $CAREV,192020,COPROC,0.20.0.39330*73

2021-12-04T19:20:29.620Z,1638645629.620 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-12-04T19:20:30.776Z,1638645630.776 [Micromodem](INFO): Nmea in: $CAREV,192030,AUV,2.1.4000*23

2021-12-04T19:20:30.778Z,1638645630.778 [Micromodem](INFO): Nmea in: $CAREV,192030,COPROC,0.20.0.39330*72

2021-12-04T19:20:40.871Z,1638645640.871 [Micromodem](INFO): Nmea in: $CAREV,192040,AUV,2.1.4000*24

2021-12-04T19:20:40.872Z,1638645640.872 [Micromodem](INFO): Nmea in: $CAREV,192040,COPROC,0.20.0.39330*75

2021-12-04T19:20:50.973Z,1638645650.973 [Micromodem](INFO): Nmea in: $CAREV,192050,AUV,2.1.4000*25

2021-12-04T19:20:50.975Z,1638645650.975 [Micromodem](INFO): Nmea in: $CAREV,192050,COPROC,0.20.0.39330*74

2021-12-04T19:21:00.691Z,1638645660.691 [Micromodem](INFO): Nmea in: $CAREV,192100,AUV,2.1.4000*21

2021-12-04T19:21:00.692Z,1638645660.692 [Micromodem](INFO): Nmea in: $CAREV,192100,COPROC,0.20.0.39330*70

2021-12-04T19:21:10.776Z,1638645670.776 [Micromodem](INFO): Nmea in: $CAREV,192110,AUV,2.1.4000*20

2021-12-04T19:21:10.778Z,1638645670.778 [Micromodem](INFO): Nmea in: $CAREV,192110,COPROC,0.20.0.39330*71

2021-12-04T19:21:20.869Z,1638645680.869 [Micromodem](INFO): Nmea in: $CAREV,192120,AUV,2.1.4000*23

2021-12-04T19:21:20.883Z,1638645680.883 [Micromodem](INFO): Nmea in: $CAREV,192120,COPROC,0.20.0.39330*72

2021-12-04T19:21:30.973Z,1638645690.973 [Micromodem](INFO): Nmea in: $CAREV,192130,AUV,2.1.4000*22

2021-12-04T19:21:30.974Z,1638645690.974 [Micromodem](INFO): Nmea in: $CAREV,192130,COPROC,0.20.0.39330*73

2021-12-04T19:21:40.683Z,1638645700.683 [Micromodem](INFO): Nmea in: $CAREV,192140,AUV,2.1.4000*25

2021-12-04T19:21:40.684Z,1638645700.684 [Micromodem](INFO): Nmea in: $CAREV,192140,COPROC,0.20.0.39330*74

2021-12-04T19:21:50.772Z,1638645710.772 [Micromodem](INFO): Nmea in: $CAREV,192150,AUV,2.1.4000*24

2021-12-04T19:21:50.774Z,1638645710.774 [Micromodem](INFO): Nmea in: $CAREV,192150,COPROC,0.20.0.39330*75

2021-12-04T19:22:00.863Z,1638645720.863 [Micromodem](INFO): Nmea in: $CAREV,192200,AUV,2.1.4000*22

2021-12-04T19:22:00.864Z,1638645720.864 [Micromodem](INFO): Nmea in: $CAREV,192200,COPROC,0.20.0.39330*73

2021-12-04T19:22:10.969Z,1638645730.969 [Micromodem](INFO): Nmea in: $CAREV,192210,AUV,2.1.4000*23

2021-12-04T19:22:10.970Z,1638645730.970 [Micromodem](INFO): Nmea in: $CAREV,192210,COPROC,0.20.0.39330*72

2021-12-04T19:22:20.676Z,1638645740.676 [Micromodem](INFO): Nmea in: $CAREV,192220,AUV,2.1.4000*20

2021-12-04T19:22:21.065Z,1638645741.065 [Micromodem](INFO): Nmea in: $CAREV,192220,COPROC,0.20.0.39330*71

2021-12-04T19:22:30.764Z,1638645750.764 [Micromodem](INFO): Nmea in: $CAREV,192230,AUV,2.1.4000*21

2021-12-04T19:22:30.766Z,1638645750.766 [Micromodem](INFO): Nmea in: $CAREV,192230,COPROC,0.20.0.39330*70

2021-12-04T19:22:40.865Z,1638645760.865 [Micromodem](INFO): Nmea in: $CAREV,192240,AUV,2.1.4000*26

2021-12-04T19:22:40.866Z,1638645760.866 [Micromodem](INFO): Nmea in: $CAREV,192240,COPROC,0.20.0.39330*77

2021-12-04T19:22:50.970Z,1638645770.970 [Micromodem](INFO): Nmea in: $CAREV,192250,AUV,2.1.4000*27

2021-12-04T19:22:50.971Z,1638645770.971 [Micromodem](INFO): Nmea in: $CAREV,192250,COPROC,0.20.0.39330*76

2021-12-04T19:23:01.065Z,1638645781.065 [Micromodem](INFO): Nmea in: $CAREV,192300,AUV,2.1.4000*23

2021-12-04T19:23:01.067Z,1638645781.067 [Micromodem](INFO): Nmea in: $CAREV,192300,COPROC,0.20.0.39330*72

2021-12-04T19:23:10.379Z,1638645790.379 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-12-04T19:23:10.380Z,1638645790.380 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T19:23:10.380Z,1638645790.380 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T19:23:10.380Z,1638645790.380 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-12-04T19:23:10.757Z,1638645790.757 [Micromodem](INFO): Nmea in: $CAREV,192310,AUV,2.1.4000*22

2021-12-04T19:23:10.759Z,1638645790.759 [Micromodem](INFO): Nmea in: $CAREV,192310,COPROC,0.20.0.39330*73

2021-12-04T19:23:10.769Z,1638645790.769 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-12-04T19:23:10.769Z,1638645790.769 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-12-04T19:23:11.235Z,1638645791.235 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 20.843616 min 
2021-12-04T19:23:11.235Z,1638645791.235 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-12-04T19:23:11.235Z,1638645791.235 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:23:11.235Z,1638645791.235 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T19:23:11.235Z,1638645791.235 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:23:11.235Z,1638645791.235 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-12-04T19:23:11.236Z,1638645791.236 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-12-04T19:23:11.236Z,1638645791.236 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:23:11.236Z,1638645791.236 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-12-04T19:23:13.187Z,1638645793.187 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,192312.00,A,4132.99399,N,07042.53846,W,0.175,202.96,041221,,,A*74
2021-12-04T19:23:13.189Z,1638645793.189 [NAL9602](INFO): GPS fix at 20211204T192312: (41.549900, -70.708974)
2021-12-04T19:23:13.229Z,1638645793.229 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-12-04T19:23:13.229Z,1638645793.229 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-12-04T19:23:16.702Z,1638645796.702 [DataOverHttps](INFO): Sending 79 bytes from file Logs/20211204T085114/Courier0064.lzma
2021-12-04T19:23:17.708Z,1638645797.708 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Courier0064.lzma.bak
2021-12-04T19:23:17.709Z,1638645797.709 [DataOverHttps](INFO): SBD MOMSN=623422
2021-12-04T19:23:21.007Z,1638645801.007 [Micromodem](INFO): Nmea in: $CAREV,192320,AUV,2.1.4000*21

2021-12-04T19:23:21.410Z,1638645801.410 [Micromodem](INFO): Nmea in: $CAREV,192320,COPROC,0.20.0.39330*70

2021-12-04T19:23:26.742Z,1638645806.742 [DataOverHttps](INFO): Sending 132 bytes from file Logs/20211204T085114/Express0065.lzma
2021-12-04T19:23:27.744Z,1638645807.744 [DataOverHttps](INFO): Moved sent file to Logs/20211204T085114/Express0065.lzma.bak
2021-12-04T19:23:27.744Z,1638645807.744 [DataOverHttps](INFO): SBD MOMSN=623424
2021-12-04T19:23:29.109Z,1638645809.109 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-12-04T19:23:29.109Z,1638645809.109 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-12-04T19:23:29.109Z,1638645809.109 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-12-04T19:23:30.703Z,1638645810.703 [Micromodem](INFO): Nmea in: $CAREV,192330,AUV,2.1.4000*20

2021-12-04T19:23:30.704Z,1638645810.704 [Micromodem](INFO): Nmea in: $CAREV,192330,COPROC,0.20.0.39330*71

2021-12-04T19:23:40.801Z,1638645820.801 [Micromodem](INFO): Nmea in: $CAREV,192340,AUV,2.1.4000*27

2021-12-04T19:23:40.803Z,1638645820.803 [Micromodem](INFO): Nmea in: $CAREV,192340,COPROC,0.20.0.39330*76

2021-12-04T19:23:41.028Z,1638645821.028 [CommandExec](IMPORTANT): got command restart application
2021-12-04T19:23:42.031Z,1638645822.031 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-12-04T19:23:42.031Z,1638645822.031 [CommandExec ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:42.031Z,1638645822.031 [CommandExec](INFO): Uninitializing the command executive.
2021-12-04T19:23:42.031Z,1638645822.031 [CommandExec](INFO): Uninitializing the command scheduler.
2021-12-04T19:23:42.031Z,1638645822.031 [CommandExec ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.210Z,1638645822.210 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-12-04T19:23:42.210Z,1638645822.210 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-12-04T19:23:42.210Z,1638645822.210 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.211Z,1638645822.211 [NavChartDb](INFO): Join timeout helper Thread ID is 5176
2021-12-04T19:23:42.391Z,1638645822.391 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:42.391Z,1638645822.391 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.410Z,1638645822.410 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2021-12-04T19:23:42.411Z,1638645822.411 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.411Z,1638645822.411 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 5177
2021-12-04T19:23:42.455Z,1638645822.455 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:42.455Z,1638645822.455 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-12-04T19:23:42.456Z,1638645822.456 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.457Z,1638645822.457 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-12-04T19:23:42.457Z,1638645822.457 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.457Z,1638645822.457 [Radio_Surface](INFO): Join timeout helper Thread ID is 5178
2021-12-04T19:23:42.858Z,1638645822.858 [Radio_Surface](INFO): Powering down
2021-12-04T19:23:42.859Z,1638645822.859 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:42.860Z,1638645822.860 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.860Z,1638645822.860 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-12-04T19:23:42.860Z,1638645822.860 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:42.860Z,1638645822.860 [Onboard](INFO): Join timeout helper Thread ID is 5179
2021-12-04T19:23:43.490Z,1638645823.490 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:43.491Z,1638645823.491 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.498Z,1638645823.498 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-12-04T19:23:43.498Z,1638645823.498 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.499Z,1638645823.499 [DataOverHttps](INFO): Join timeout helper Thread ID is 5180
2021-12-04T19:23:43.810Z,1638645823.810 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:43.811Z,1638645823.811 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.819Z,1638645823.819 [ComponentRegistry](INFO): Shutting down BackseatComponent ThreadHandler
2021-12-04T19:23:43.819Z,1638645823.819 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.820Z,1638645823.820 [BackseatComponent](INFO): Join timeout helper Thread ID is 5181
2021-12-04T19:23:43.855Z,1638645823.855 [BackseatComponent ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:43.855Z,1638645823.855 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.859Z,1638645823.859 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-12-04T19:23:43.859Z,1638645823.859 [logger ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.860Z,1638645823.860 [logger](INFO): Join timeout helper Thread ID is 5182
2021-12-04T19:23:43.895Z,1638645823.895 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:43.895Z,1638645823.895 [logger ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.911Z,1638645823.911 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-12-04T19:23:43.911Z,1638645823.911 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.911Z,1638645823.911 [CommandLine](INFO): Join timeout helper Thread ID is 5183
2021-12-04T19:23:43.954Z,1638645823.954 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:43.955Z,1638645823.955 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.971Z,1638645823.971 [ComponentRegistry](INFO): Shutting down CommandExec ThreadHandler
2021-12-04T19:23:43.971Z,1638645823.971 [CommandExec ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.971Z,1638645823.971 [CommandExec](INFO): Join timeout helper Thread ID is 5184
2021-12-04T19:23:43.973Z,1638645823.973 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-12-04T19:23:43.973Z,1638645823.973 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:43.973Z,1638645823.973 [controlThread](INFO): Join timeout helper Thread ID is 5185
2021-12-04T19:23:44.011Z,1638645824.011 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-12-04T19:23:44.012Z,1638645824.012 [controlThread](DEBUG): Uninitializing ControlThread
2021-12-04T19:23:44.013Z,1638645824.013 [AHRS_M2](INFO): Powering down
2021-12-04T19:23:44.087Z,1638645824.087 [DDM](INFO): Powering down
2021-12-04T19:23:44.159Z,1638645824.159 [DUSBL_Hydroid](INFO): Powering down
2021-12-04T19:23:44.231Z,1638645824.231 [Micromodem](INFO): Powering down
2021-12-04T19:23:44.327Z,1638645824.327 [NAL9602](INFO): Powering down
2021-12-04T19:23:44.398Z,1638645824.398 [RDI_Pathfinder](INFO): Powering down
2021-12-04T19:23:44.470Z,1638645824.470 [RDI_PathfinderUp](INFO): Powering down
2021-12-04T19:23:44.471Z,1638645824.471 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-12-04T19:23:44.472Z,1638645824.472 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-12-04T19:23:44.473Z,1638645824.473 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-12-04T19:23:44.475Z,1638645824.475 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock] Stopped
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault] Stopped
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-12-04T19:23:44.475Z,1638645824.475 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-12-04T19:23:44.482Z,1638645824.482 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-12-04T19:23:44.483Z,1638645824.483 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-12-04T19:23:44.483Z,1638645824.483 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-12-04T19:23:44.483Z,1638645824.483 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-12-04T19:23:44.483Z,1638645824.483 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-12-04T19:23:44.483Z,1638645824.483 [BuoyancyServo](INFO): Powering down
2021-12-04T19:23:44.498Z,1638645824.498 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-12-04T19:23:44.498Z,1638645824.498 [ElevatorServo](INFO): Powering down
2021-12-04T19:23:44.499Z,1638645824.499 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-12-04T19:23:44.499Z,1638645824.499 [MassServo](INFO): Powering down
2021-12-04T19:23:44.500Z,1638645824.500 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-12-04T19:23:44.500Z,1638645824.500 [RudderServo](INFO): Powering down
2021-12-04T19:23:44.501Z,1638645824.501 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2021-12-04T19:23:44.501Z,1638645824.501 [ThrusterHE](INFO): Powering down
2021-12-04T19:23:44.502Z,1638645824.502 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-12-04T19:23:44.502Z,1638645824.502 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-12-04T19:23:44.503Z,1638645824.503 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-12-04T19:23:44.503Z,1638645824.503 [CBIT](DEBUG): Powering off loads.
2021-12-04T19:23:44.514Z,1638645824.514 [CBIT](DEBUG): Disabling WDT.
2021-12-04T19:23:44.526Z,1638645824.526 [CBIT](DEBUG): Opening all GF detection circuits.
2021-12-04T19:23:44.527Z,1638645824.527 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.536Z,1638645824.536 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.539Z,1638645824.539 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.551Z,1638645824.551 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.594Z,1638645824.594 [BackseatComponent ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.679Z,1638645824.679 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.753Z,1638645824.753 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-12-04T19:23:44.824Z,1638645824.824 [logger ThreadHandler](INFO): Thread cancelled.